Added LSM6DSL driver template (working on it)

git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@11733 110e8d01-0319-4d1e-a829-52ad28d1bb01

3 files changed, 2183 insertions, 0 deletions

diff --git a/os/ex/ST/lsm6dsl.c b/os/ex/ST/lsm6dsl.c
new file mode 100644
index 000000000..6a1fc34fc
--- /dev/null
+++ b/os/ex/ST/lsm6dsl.c
@@ -0,0 +1,1113 @@
+/*

+    ChibiOS - Copyright (C) 2016..2018 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    lsm6dsl.c

+ * @brief   LSM6DSL MEMS interface module code.

+ *

+ * @addtogroup LSM6DSL

+ * @ingroup EX_ST

+ * @{

+ */

+

+#include "hal.h"

+#include "lsm6dsl.h"

+

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

+/* Driver local definitions.                                                 */

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

+

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

+/* Driver exported variables.                                                */

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

+

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

+/* Driver local variables and types.                                         */

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

+

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

+/* Driver local functions.                                                   */

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

+

+#if (LSM6DSL_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

+ * @param[out] rxbuf     pointer to an output buffer

+ * @param[in]  n         number of consecutive register to read

+ * @return               the operation status.

+ * @notapi

+ */

+msg_t lsm6dslI2CReadRegister(I2CDriver *i2cp, lsm6dsl_sad_t sad, uint8_t reg,

+                             uint8_t* rxbuf, size_t n) {

+

+  return i2cMasterTransmitTimeout(i2cp, sad, &reg, 1, rxbuf, n,

+                                  TIME_INFINITE);

+}

+

+/**

+ * @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] 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

+ */

+#define lsm6dslI2CWriteRegister(i2cp, sad, txbuf, n)                        \

+        i2cMasterTransmitTimeout(i2cp, sad, txbuf, n + 1, NULL, 0,          \

+                                  TIME_INFINITE)

+#endif /* LSM6DSL_USE_I2C */

+

+/**

+ * @brief   Return the number of axes of the BaseAccelerometer.

+ *

+ * @param[in] ip        pointer to @p BaseAccelerometer interface.

+ *

+ * @return              the number of axes.

+ */

+static size_t acc_get_axes_number(void *ip) {

+  (void)ip;

+                

+  return LSM6DSL_ACC_NUMBER_OF_AXES;

+}

+

+/**

+ * @brief   Retrieves raw data from the BaseAccelerometer.

+ * @note    This data is retrieved from MEMS register without any algebraical

+ *          manipulation.

+ * @note    The axes array must be at least the same size of the

+ *          BaseAccelerometer axes number.

+ *

+ * @param[in] ip        pointer to @p BaseAccelerometer interface.

+ * @param[out] axes     a buffer which would be filled with raw data.

+ *

+ * @return              The operation status.

+ * @retval MSG_OK       if the function succeeded.

+ * @retval MSG_RESET    if one or more I2C errors occurred, the errors can

+ *                      be retrieved using @p i2cGetErrors().

+ * @retval MSG_TIMEOUT  if a timeout occurred before operation end.

+ */

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

+  LSM6DSLDriver* devp;

+  uint8_t buff [LSM6DSL_ACC_NUMBER_OF_AXES * 2], i;

+  int16_t tmp;

+  msg_t msg;

+

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

+    

+  /* Getting parent instance pointer.*/

+  devp = objGetInstance(LSM6DSLDriver*, (BaseAccelerometer*)ip);

+

+  osalDbgAssert((devp->state == LSM6DSL_READY),

+                "acc_read_raw(), invalid state");

+#if LSM6DSL_USE_I2C

+  osalDbgAssert((devp->config->i2cp->state == I2C_READY),

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

+

+#if LSM6DSL_SHARED_I2C

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

+  i2cStart(devp->config->i2cp,

+           devp->config->i2ccfg);

+#endif /* LSM6DSL_SHARED_I2C */

+

+  msg = lsm6dslI2CReadRegister(devp->config->i2cp, devp->config->slaveaddress, 

+                               LSM6DSL_AD_OUT_X_L_XL, buff, 

+                               LSM6DSL_ACC_NUMBER_OF_AXES * 2);

+

+#if LSM6DSL_SHARED_I2C

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

+#endif /* LSM6DSL_SHARED_I2C */

+#endif /* LSM6DSL_USE_I2C */

+  if(msg == MSG_OK)

+    for(i = 0; i < LSM6DSL_ACC_NUMBER_OF_AXES; i++) {

+      tmp = buff[2 * i] + (buff[2 * i + 1] << 8);

+      axes[i] = (int32_t)tmp;

+    }

+  return msg;

+}

+

+/**

+ * @brief   Retrieves cooked data from the BaseAccelerometer.

+ * @note    This data is manipulated according to the formula

+ *          cooked = (raw * sensitivity) - bias.

+ * @note    Final data is expressed as milli-G.

+ * @note    The axes array must be at least the same size of the

+ *          BaseAccelerometer axes number.

+ *

+ * @param[in] ip        pointer to @p BaseAccelerometer interface.

+ * @param[out] axes     a buffer which would be filled with cooked data.

+ *

+ * @return              The operation status.

+ * @retval MSG_OK       if the function succeeded.

+ * @retval MSG_RESET    if one or more I2C errors occurred, the errors can

+ *                      be retrieved using @p i2cGetErrors().

+ * @retval MSG_TIMEOUT  if a timeout occurred before operation end.

+ */

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

+  LSM6DSLDriver* devp;

+  uint32_t i;

+  int32_t raw[LSM6DSL_ACC_NUMBER_OF_AXES];

+  msg_t msg;

+

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

+

+  /* Getting parent instance pointer.*/

+  devp = objGetInstance(LSM6DSLDriver*, (BaseAccelerometer*)ip);

+

+  osalDbgAssert((devp->state == LSM6DSL_READY),

+                "acc_read_cooked(), invalid state");

+

+  msg = acc_read_raw(ip, raw);

+  for(i = 0; i < LSM6DSL_ACC_NUMBER_OF_AXES; i++) {

+    axes[i] = (raw[i] * devp->accsensitivity[i]) - devp->accbias[i];

+  }

+  return msg;

+}

+

+/**

+ * @brief   Set bias values for the BaseAccelerometer.

+ * @note    Bias must be expressed as milli-G.

+ * @note    The bias buffer must be at least the same size of the

+ *          BaseAccelerometer axes number.

+ *

+ * @param[in] ip        pointer to @p BaseAccelerometer interface.

+ * @param[in] bp        a buffer which contains biases.

+ *

+ * @return              The operation status.

+ * @retval MSG_OK       if the function succeeded.

+ */

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

+  LSM6DSLDriver* devp;

+  uint32_t i;

+  msg_t msg = MSG_OK;

+

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

+

+  /* Getting parent instance pointer.*/

+  devp = objGetInstance(LSM6DSLDriver*, (BaseAccelerometer*)ip);

+

+  osalDbgAssert((devp->state == LSM6DSL_READY),

+                "acc_set_bias(), invalid state");

+

+  for(i = 0; i < LSM6DSL_ACC_NUMBER_OF_AXES; i++) {

+    devp->accbias[i] = bp[i];

+  }

+  return msg;

+}

+

+/**

+ * @brief   Reset bias values for the BaseAccelerometer.

+ * @note    Default biases value are obtained from device datasheet when

+ *          available otherwise they are considered zero.

+ *

+ * @param[in] ip        pointer to @p BaseAccelerometer interface.

+ *

+ * @return              The operation status.

+ * @retval MSG_OK       if the function succeeded.

+ */

+static msg_t acc_reset_bias(void *ip) {

+  LSM6DSLDriver* devp;

+  uint32_t i;

+  msg_t msg = MSG_OK;

+

+  osalDbgCheck(ip != NULL);

+    

+  /* Getting parent instance pointer.*/

+  devp = objGetInstance(LSM6DSLDriver*, (BaseAccelerometer*)ip);

+

+  osalDbgAssert((devp->state == LSM6DSL_READY),

+                "acc_reset_bias(), invalid state");

+

+  for(i = 0; i < LSM6DSL_ACC_NUMBER_OF_AXES; i++)

+    devp->accbias[i] = LSM6DSL_ACC_BIAS;

+  return msg;

+}

+

+/**

+ * @brief   Set sensitivity values for the BaseAccelerometer.

+ * @note    Sensitivity must be expressed as milli-G/LSB.

+ * @note    The sensitivity buffer must be at least the same size of the

+ *          BaseAccelerometer axes number.

+ *

+ * @param[in] ip        pointer to @p BaseAccelerometer interface.

+ * @param[in] sp        a buffer which contains sensitivities.

+ *

+ * @return              The operation status.

+ * @retval MSG_OK       if the function succeeded.

+ */

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

+  LSM6DSLDriver* devp;

+  uint32_t i;

+  msg_t msg = MSG_OK;

+

+  /* Getting parent instance pointer.*/

+  devp = objGetInstance(LSM6DSLDriver*, (BaseAccelerometer*)ip);

+

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

+

+  osalDbgAssert((devp->state == LSM6DSL_READY),

+                "acc_set_sensivity(), invalid state");

+

+  for(i = 0; i < LSM6DSL_ACC_NUMBER_OF_AXES; i++) {

+    devp->accsensitivity[i] = sp[i];

+  }

+  return msg;

+}

+

+/**

+ * @brief   Reset sensitivity values for the BaseAccelerometer.

+ * @note    Default sensitivities value are obtained from device datasheet.

+ *

+ * @param[in] ip        pointer to @p BaseAccelerometer interface.

+ *

+ * @return              The operation status.

+ * @retval MSG_OK       if the function succeeded.

+ * @retval MSG_RESET    otherwise.

+ */

+static msg_t acc_reset_sensivity(void *ip) {

+  LSM6DSLDriver* devp;

+  uint32_t i;

+  msg_t msg = MSG_OK;

+

+  osalDbgCheck(ip != NULL);

+    

+  /* Getting parent instance pointer.*/

+  devp = objGetInstance(LSM6DSLDriver*, (BaseAccelerometer*)ip);

+

+  osalDbgAssert((devp->state == LSM6DSL_READY),

+                "acc_reset_sensivity(), invalid state");

+

+  if(devp->config->accfullscale == LSM6DSL_ACC_FS_2G)

+    for(i = 0; i < LSM6DSL_ACC_NUMBER_OF_AXES; i++)

+      devp->accsensitivity[i] = LSM6DSL_ACC_SENS_2G;

+  else if(devp->config->accfullscale == LSM6DSL_ACC_FS_4G)

+	for(i = 0; i < LSM6DSL_ACC_NUMBER_OF_AXES; i++)

+      devp->accsensitivity[i] = LSM6DSL_ACC_SENS_4G;

+  else if(devp->config->accfullscale == LSM6DSL_ACC_FS_8G)

+	for(i = 0; i < LSM6DSL_ACC_NUMBER_OF_AXES; i++)

+      devp->accsensitivity[i] = LSM6DSL_ACC_SENS_8G;

+  else if(devp->config->accfullscale == LSM6DSL_ACC_FS_16G)

+	for(i = 0; i < LSM6DSL_ACC_NUMBER_OF_AXES; i++)

+      devp->accsensitivity[i] = LSM6DSL_ACC_SENS_16G;

+  else {

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

+    msg = MSG_RESET;

+  }

+  return msg;

+}

+

+/**

+ * @brief   Changes the LSM6DSLDriver accelerometer fullscale value.

+ * @note    This function also rescale sensitivities and biases based on 

+ *          previous and next fullscale value.

+ * @note    A recalibration is highly suggested after calling this function.

+ *

+ * @param[in] ip        pointer to @p LSM6DSLDriver interface.

+ * @param[in] fs        new fullscale value.

+ *

+ * @return              The operation status.

+ * @retval MSG_OK       if the function succeeded.

+ * @retval MSG_RESET    otherwise.

+ */

+static msg_t acc_set_full_scale(LSM6DSLDriver *devp,

+                                lsm6dsl_acc_fs_t fs) {

+  float newfs, scale;

+  uint8_t i, buff[2];

+  msg_t msg;

+

+  osalDbgCheck(devp != NULL);

+

+  osalDbgAssert((devp->state == LSM6DSL_READY),

+                "acc_set_full_scale(), invalid state");

+  osalDbgAssert((devp->config->i2cp->state == I2C_READY),

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

+

+  /* Computing new fullscale value.*/

+  if(fs == LSM6DSL_ACC_FS_2G) {

+    newfs = LSM6DSL_ACC_2G;

+  }

+  else if(fs == LSM6DSL_ACC_FS_4G) {

+    newfs = LSM6DSL_ACC_4G;

+  }

+  else if(fs == LSM6DSL_ACC_FS_8G) {

+    newfs = LSM6DSL_ACC_8G;

+  }

+  else if(fs == LSM6DSL_ACC_FS_16G) {

+    newfs = LSM6DSL_ACC_16G;

+  }

+  else {

+    msg = MSG_RESET;

+    return msg;

+  }

+

+  if(newfs != devp->accfullscale) {

+    /* Computing scale value.*/

+    scale = newfs / devp->accfullscale;

+    devp->accfullscale = newfs;

+

+#if LSM6DSL_SHARED_I2C

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

+		i2cStart(devp->config->i2cp,

+						 devp->config->i2ccfg);

+#endif /* LSM6DSL_SHARED_I2C */

+

+    /* Updating register.*/

+    msg = lsm6dslI2CReadRegister(devp->config->i2cp,

+                                 devp->config->slaveaddress,

+                                 LSM6DSL_AD_CTRL_REG6_XL, &buff[1], 1);

+

+#if LSM6DSL_SHARED_I2C

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

+#endif /* LSM6DSL_SHARED_I2C */

+

+    if(msg != MSG_OK)

+      return msg;

+

+    buff[1] &= ~(LSM6DSL_CTRL_REG6_XL_FS_MASK);

+    buff[1] |= fs;

+    buff[0] = LSM6DSL_AD_CTRL_REG6_XL;

+

+#if LSM6DSL_SHARED_I2C

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

+    i2cStart(devp->config->i2cp, devp->config->i2ccfg);

+#endif /* LSM6DSL_SHARED_I2C */

+

+    msg = lsm6dslI2CWriteRegister(devp->config->i2cp,

+                                  devp->config->slaveaddress, buff, 1);

+

+#if LSM6DSL_SHARED_I2C

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

+#endif /* LSM6DSL_SHARED_I2C */

+

+    if(msg != MSG_OK)

+      return msg;

+

+    /* Scaling sensitivity and bias. Re-calibration is suggested anyway.*/

+    for(i = 0; i < LSM6DSL_ACC_NUMBER_OF_AXES; i++) {

+      devp->accsensitivity[i] *= scale;

+      devp->accbias[i] *= scale;

+    }

+  }

+  return msg;

+}

+

+/**

+ * @brief   Return the number of axes of the BaseGyroscope.

+ *

+ * @param[in] ip        pointer to @p BaseGyroscope interface.

+ *

+ * @return              the number of axes.

+ */

+static size_t gyro_get_axes_number(void *ip) {

+  (void)ip;

+  

+  return LSM6DSL_GYRO_NUMBER_OF_AXES;

+}

+

+/**

+ * @brief   Retrieves raw data from the BaseGyroscope.

+ * @note    This data is retrieved from MEMS register without any algebraical

+ *          manipulation.

+ * @note    The axes array must be at least the same size of the

+ *          BaseGyroscope axes number.

+ *

+ * @param[in] ip        pointer to @p BaseGyroscope interface.

+ * @param[out] axes     a buffer which would be filled with raw data.

+ *

+ * @return              The operation status.

+ * @retval MSG_OK       if the function succeeded.

+ * @retval MSG_RESET    if one or more I2C errors occurred, the errors can

+ *                      be retrieved using @p i2cGetErrors().

+ * @retval MSG_TIMEOUT  if a timeout occurred before operation end.

+ */

+static msg_t gyro_read_raw(void *ip, int32_t axes[LSM6DSL_GYRO_NUMBER_OF_AXES]) {

+  LSM6DSLDriver* devp;

+  int16_t tmp;

+  uint8_t i, buff [2 * LSM6DSL_GYRO_NUMBER_OF_AXES];

+  msg_t msg = MSG_OK;

+  

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

+

+  /* Getting parent instance pointer.*/

+  devp = objGetInstance(LSM6DSLDriver*, (BaseGyroscope*)ip);

+  

+  osalDbgAssert((devp->state == LSM6DSL_READY),

+                "gyro_read_raw(), invalid state");

+#if LSM6DSL_USE_I2C

+  osalDbgAssert((devp->config->i2cp->state == I2C_READY),

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

+                

+#if LSM6DSL_SHARED_I2C

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

+  i2cStart(devp->config->i2cp,

+           devp->config->i2ccfg);

+#endif /* LSM6DSL_SHARED_I2C */

+

+  msg = lsm6dslI2CReadRegister(devp->config->i2cp, devp->config->slaveaddress, 

+                               LSM6DSL_AD_OUT_X_L_G, buff, 

+                               LSM6DSL_GYRO_NUMBER_OF_AXES * 2);

+

+#if	LSM6DSL_SHARED_I2C

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

+#endif /* LSM6DSL_SHARED_I2C */   

+#endif /* LSM6DSL_USE_I2C */ 

+

+    for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++) {

+      tmp = buff[2 * i] + (buff[2 * i + 1] << 8);

+      axes[i] = (int32_t)tmp;

+    }

+  return msg;

+}

+  

+/**

+ * @brief   Retrieves cooked data from the BaseGyroscope.

+ * @note    This data is manipulated according to the formula

+ *          cooked = (raw * sensitivity) - bias.

+ * @note    Final data is expressed as DPS.

+ * @note    The axes array must be at least the same size of the

+ *          BaseGyroscope axes number.

+ *

+ * @param[in] ip        pointer to @p BaseGyroscope interface.

+ * @param[out] axes     a buffer which would be filled with cooked data.

+ *

+ * @return              The operation status.

+ * @retval MSG_OK       if the function succeeded.

+ * @retval MSG_RESET    if one or more I2C errors occurred, the errors can

+ *                      be retrieved using @p i2cGetErrors().

+ * @retval MSG_TIMEOUT  if a timeout occurred before operation end.

+ */

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

+  LSM6DSLDriver* devp;

+  uint32_t i;

+  int32_t raw[LSM6DSL_GYRO_NUMBER_OF_AXES];

+  msg_t msg;

+

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

+

+  /* Getting parent instance pointer.*/

+  devp = objGetInstance(LSM6DSLDriver*, (BaseGyroscope*)ip);

+  

+  osalDbgAssert((devp->state == LSM6DSL_READY),

+                "gyro_read_cooked(), invalid state");

+

+  msg = gyro_read_raw(ip, raw);

+  for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++){

+    axes[i] = (raw[i] * devp->gyrosensitivity[i]) - devp->gyrobias[i];

+  }

+  return msg;

+}

+

+/**

+ * @brief   Samples bias values for the BaseGyroscope.

+ * @note    The LSM6DSL shall not be moved during the whole procedure.

+ * @note    After this function internal bias is automatically updated.

+ * @note    The behavior of this function depends on @P LSM6DSL_BIAS_ACQ_TIMES

+ *          and @p LSM6DSL_BIAS_SETTLING_US.

+ *

+ * @param[in] ip        pointer to @p BaseGyroscope interface.

+ *

+ * @return              The operation status.

+ * @retval MSG_OK       if the function succeeded.

+ */

+static msg_t gyro_sample_bias(void *ip) {

+  LSM6DSLDriver* devp;

+  uint32_t i, j;

+  int32_t raw[LSM6DSL_GYRO_NUMBER_OF_AXES];

+  int32_t buff[LSM6DSL_GYRO_NUMBER_OF_AXES] = {0, 0, 0};

+  msg_t msg;

+	

+  osalDbgCheck(ip != NULL);

+

+  /* Getting parent instance pointer.*/

+  devp = objGetInstance(LSM6DSLDriver*, (BaseGyroscope*)ip);

+  

+  osalDbgAssert((devp->state == LSM6DSL_READY),

+                "gyro_sample_bias(), invalid state");

+#if LSM6DSL_USE_I2C

+  osalDbgAssert((devp->config->i2cp->state == I2C_READY),

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

+#endif

+

+  for(i = 0; i < LSM6DSL_GYRO_BIAS_ACQ_TIMES; i++){

+    msg = gyro_read_raw(ip, raw);

+		if(msg != MSG_OK)

+			return msg;

+    for(j = 0; j < LSM6DSL_GYRO_NUMBER_OF_AXES; j++){

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

+    }

+    osalThreadSleepMicroseconds(LSM6DSL_GYRO_BIAS_SETTLING_US);

+  }

+

+  for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++){

+    devp->gyrobias[i] = (buff[i] / LSM6DSL_GYRO_BIAS_ACQ_TIMES);

+    devp->gyrobias[i] *= devp->gyrosensitivity[i];

+  }

+  return msg;

+}

+

+/**

+ * @brief   Set bias values for the BaseGyroscope.

+ * @note    Bias must be expressed as DPS.

+ * @note    The bias buffer must be at least the same size of the BaseGyroscope 

+ *          axes number.

+ *

+ * @param[in] ip        pointer to @p BaseGyroscope interface.

+ * @param[in] bp        a buffer which contains biases.

+ *

+ * @return              The operation status.

+ * @retval MSG_OK       if the function succeeded.

+ */

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

+  LSM6DSLDriver* devp;

+  uint32_t i;

+  msg_t msg = MSG_OK;

+  

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

+  

+  /* Getting parent instance pointer.*/

+  devp = objGetInstance(LSM6DSLDriver*, (BaseGyroscope*)ip);

+  

+  osalDbgAssert((devp->state == LSM6DSL_READY),

+                "gyro_set_bias(), invalid state");

+  

+  for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++) {

+    devp->gyrobias[i] = bp[i];

+  }

+  return msg;

+}

+

+/**

+ * @brief   Reset bias values for the BaseGyroscope.

+ * @note    Default biases value are obtained from device datasheet when

+ *          available otherwise they are considered zero.

+ *

+ * @param[in] ip        pointer to @p BaseGyroscope interface.

+ *

+ * @return              The operation status.

+ * @retval MSG_OK       if the function succeeded.

+ */

+static msg_t gyro_reset_bias(void *ip) {

+  LSM6DSLDriver* devp;

+  uint32_t i;

+  msg_t msg = MSG_OK;

+

+  osalDbgCheck(ip != NULL);

+  

+  /* Getting parent instance pointer.*/

+  devp = objGetInstance(LSM6DSLDriver*, (BaseGyroscope*)ip);

+  

+  osalDbgAssert((devp->state == LSM6DSL_READY),

+                "gyro_reset_bias(), invalid state");

+

+  for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++)

+    devp->gyrobias[i] = LSM6DSL_GYRO_BIAS;

+  return msg;

+}

+

+/**

+ * @brief   Set sensitivity values for the BaseGyroscope.

+ * @note    Sensitivity must be expressed as DPS/LSB.

+ * @note    The sensitivity buffer must be at least the same size of the

+ *          BaseGyroscope axes number.

+ *

+ * @param[in] ip        pointer to @p BaseGyroscope interface.

+ * @param[in] sp        a buffer which contains sensitivities.

+ *

+ * @return              The operation status.

+ * @retval MSG_OK       if the function succeeded.

+ */

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

+  LSM6DSLDriver* devp;

+  uint32_t i;

+  msg_t msg = MSG_OK;

+  

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

+

+  /* Getting parent instance pointer.*/

+  devp = objGetInstance(LSM6DSLDriver*, (BaseGyroscope*)ip);

+  

+  osalDbgAssert((devp->state == LSM6DSL_READY),

+                "gyro_set_sensivity(), invalid state");

+  

+  for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++) {

+    devp->gyrosensitivity[i] = sp[i];

+  }

+  return msg;

+}

+

+/**

+ * @brief   Reset sensitivity values for the BaseGyroscope.

+ * @note    Default sensitivities value are obtained from device datasheet.

+ *

+ * @param[in] ip        pointer to @p BaseGyroscope interface.

+ *

+ * @return              The operation status.

+ * @retval MSG_OK       if the function succeeded.

+ * @retval MSG_RESET    otherwise.

+ */

+static msg_t gyro_reset_sensivity(void *ip) {

+  LSM6DSLDriver* devp;

+  uint32_t i;

+  msg_t msg = MSG_OK;

+  

+  osalDbgCheck(ip != NULL);

+

+  /* Getting parent instance pointer.*/

+  devp = objGetInstance(LSM6DSLDriver*, (BaseGyroscope*)ip);

+  

+  osalDbgAssert((devp->state == LSM6DSL_READY),

+                "gyro_reset_sensivity(), invalid state");

+

+  if(devp->config->gyrofullscale == LSM6DSL_GYRO_FS_245DPS)

+    for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++)

+      devp->gyrosensitivity[i] = LSM6DSL_GYRO_SENS_245DPS;

+  else if(devp->config->gyrofullscale == LSM6DSL_GYRO_FS_500DPS)

+	for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++)

+      devp->gyrosensitivity[i] = LSM6DSL_GYRO_SENS_500DPS;

+  else if(devp->config->gyrofullscale == LSM6DSL_GYRO_FS_2000DPS)

+	for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++)

+      devp->gyrosensitivity[i] = LSM6DSL_GYRO_SENS_2000DPS;

+  else {

+    osalDbgAssert(FALSE, "gyro_reset_sensivity(), full scale issue");

+    return MSG_RESET;

+  }

+  return msg;

+}

+

+/**

+ * @brief   Changes the LSM6DSLDriver gyroscope fullscale value.

+ * @note    This function also rescale sensitivities and biases based on

+ *          previous and next fullscale value.

+ * @note    A recalibration is highly suggested after calling this function.

+ *

+ * @param[in] ip        pointer to @p BaseGyroscope interface.

+ * @param[in] fs        new fullscale value.

+ *

+ * @return              The operation status.

+ * @retval MSG_OK       if the function succeeded.

+ * @retval MSG_RESET    otherwise.

+ */

+static msg_t gyro_set_full_scale(LSM6DSLDriver *devp, lsm6dsl_gyro_fs_t fs) {

+  float newfs, scale;

+  uint8_t i, buff[2];

+  msg_t msg = MSG_OK;

+

+  osalDbgCheck(devp != NULL);

+

+  osalDbgAssert((devp->state == LSM6DSL_READY),

+                "gyro_set_full_scale(), invalid state");

+#if LSM6DSL_USE_I2C

+  osalDbgAssert((devp->config->i2cp->state == I2C_READY),

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

+#endif

+

+  if(fs == LSM6DSL_GYRO_FS_245DPS) {

+    newfs = LSM6DSL_GYRO_245DPS;

+  }

+  else if(fs == LSM6DSL_GYRO_FS_500DPS) {

+    newfs = LSM6DSL_GYRO_500DPS;

+  }

+  else if(fs == LSM6DSL_GYRO_FS_2000DPS) {

+    newfs = LSM6DSL_GYRO_2000DPS;

+  }

+  else {

+    return MSG_RESET;

+  }

+

+  if(newfs != devp->gyrofullscale) {

+    scale = newfs / devp->gyrofullscale;

+    devp->gyrofullscale = newfs;

+

+#if LSM6DSL_USE_I2C

+#if	LSM6DSL_SHARED_I2C

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

+		i2cStart(devp->config->i2cp,

+						 devp->config->i2ccfg);

+#endif /* LSM6DSL_SHARED_I2C */ 

+

+    /* Updating register.*/

+    msg = lsm6dslI2CReadRegister(devp->config->i2cp,

+                                 devp->config->slaveaddress,

+                                 LSM6DSL_AD_CTRL_REG1_G, &buff[1], 1);

+

+#if	LSM6DSL_SHARED_I2C

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

+#endif /* LSM6DSL_SHARED_I2C */ 

+#endif /* LSM6DSL_USE_I2C */

+

+    buff[1] &= ~(LSM6DSL_CTRL_REG1_G_FS_MASK);

+    buff[1] |= fs;

+    buff[0] = LSM6DSL_AD_CTRL_REG1_G;

+ 

+#if LSM6DSL_USE_I2C 

+#if	LSM6DSL_SHARED_I2C

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

+		i2cStart(devp->config->i2cp,

+						 devp->config->i2ccfg);

+#endif /* LSM6DSL_SHARED_I2C */ 

+

+    lsm6dslI2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,

+                            buff, 1);

+                           

+#if	LSM6DSL_SHARED_I2C

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

+#endif /* LSM6DSL_SHARED_I2C */ 

+#endif /* LSM6DSL_USE_I2C */

+

+    /* Scaling sensitivity and bias. Re-calibration is suggested anyway. */

+    for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++) {

+      devp->gyrosensitivity[i] *= scale;

+      devp->gyrobias[i] *= scale;

+    }

+  }

+  return msg;

+}

+

+static const struct LSM6DSLVMT vmt_device = {

+  (size_t)0,

+  acc_set_full_scale, gyro_set_full_scale

+};

+

+static const struct BaseAccelerometerVMT vmt_accelerometer = {

+  sizeof(struct LSM6DSLVMT*),

+  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 BaseGyroscopeVMT vmt_gyroscope = {

+  sizeof(struct LSM6DSLVMT*) + sizeof(BaseAccelerometer),

+  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

+};

+

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

+/* Driver exported functions.                                                */

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

+

+/**

+ * @brief   Initializes an instance.

+ *

+ * @param[out] devp     pointer to the @p LSM6DSLDriver object

+ *

+ * @init

+ */

+void lsm6dslObjectInit(LSM6DSLDriver *devp) {

+  devp->vmt = &vmt_device;

+  devp->acc_if.vmt = &vmt_accelerometer;

+  devp->gyro_if.vmt = &vmt_gyroscope;

+  

+  devp->config = NULL;

+  

+  devp->accaxes = LSM6DSL_ACC_NUMBER_OF_AXES;

+  devp->gyroaxes = LSM6DSL_GYRO_NUMBER_OF_AXES;

+

+  devp->state = LSM6DSL_STOP;

+}

+

+/**

+ * @brief   Configures and activates LSM6DSL Complex Driver peripheral.

+ *

+ * @param[in] devp      pointer to the @p LSM6DSLDriver object

+ * @param[in] config    pointer to the @p LSM6DSLConfig object

+ *

+ * @api

+ */

+void lsm6dslStart(LSM6DSLDriver *devp, const LSM6DSLConfig *config) {

+  uint32_t i;

+  uint8_t cr[5];

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

+

+  osalDbgAssert((devp->state == LSM6DSL_STOP) || 

+                (devp->state == LSM6DSL_READY),

+                "lsm6dslStart(), invalid state");        

+

+  devp->config = config;

+

+  /* Configuring common registers.*/

+    

+  /* Control register 8 configuration block.*/

+  {

+    cr[0] = LSM6DSL_AD_CTRL_REG8;

+    cr[1] = LSM6DSL_CTRL_REG8_IF_ADD_INC;

+#if LSM6DSL_USE_ADVANCED || defined(__DOXYGEN__)

+    cr[1] |= devp->config->endianness | devp->config->blockdataupdate;

+#endif

+  }

+#if LSM6DSL_USE_I2C

+#if LSM6DSL_SHARED_I2C

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

+#endif /* LSM6DSL_SHARED_I2C */

+

+  i2cStart(devp->config->i2cp, devp->config->i2ccfg);

+  lsm6dslI2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,

+                          cr, 1);

+

+#if LSM6DSL_SHARED_I2C

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

+#endif /* LSM6DSL_SHARED_I2C */

+#endif /* LSM6DSL_USE_I2C */

+

+  /* Configuring Accelerometer subsystem.*/

+  /* Multiple write starting address.*/

+  cr[0] = LSM6DSL_AD_CTRL_REG5_XL;

+  /* Control register 5 configuration block.*/

+  {

+      cr[1] = LSM6DSL_CTRL_REG5_XL_XEN_XL | LSM6DSL_CTRL_REG5_XL_YEN_XL |

+              LSM6DSL_CTRL_REG5_XL_ZEN_XL;

+#if LSM6DSL_ACC_USE_ADVANCED || defined(__DOXYGEN__)

+      cr[1] |= devp->config->accdecmode;

+#endif

+  }

+

+  /* Control register 6 configuration block.*/

+  {

+    cr[2] = devp->config->accoutdatarate |

+            devp->config->accfullscale;

+  }

+  

+#if LSM6DSL_USE_I2C

+#if LSM6DSL_SHARED_I2C

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

+  i2cStart(devp->config->i2cp, devp->config->i2ccfg);

+#endif /* LSM6DSL_SHARED_I2C */

+

+  lsm6dslI2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,

+                          cr, 2);

+

+#if LSM6DSL_SHARED_I2C

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

+#endif /* LSM6DSL_SHARED_I2C */

+#endif /* LSM6DSL_USE_I2C */

+

+  /* Storing sensitivity according to user settings */

+  if(devp->config->accfullscale == LSM6DSL_ACC_FS_2G) {

+    for(i = 0; i < LSM6DSL_ACC_NUMBER_OF_AXES; i++) {

+     if(devp->config->accsensitivity == NULL)

+       devp->accsensitivity[i] = LSM6DSL_ACC_SENS_2G;

+     else

+       devp->accsensitivity[i] = devp->config->accsensitivity[i];

+    }

+    devp->accfullscale = LSM6DSL_ACC_2G;

+  }

+  else if(devp->config->accfullscale == LSM6DSL_ACC_FS_4G) {

+   for(i = 0; i < LSM6DSL_ACC_NUMBER_OF_AXES; i++) {

+     if(devp->config->accsensitivity == NULL)

+       devp->accsensitivity[i] = LSM6DSL_ACC_SENS_4G;

+     else

+       devp->accsensitivity[i] = devp->config->accsensitivity[i];

+    }

+   devp->accfullscale = LSM6DSL_ACC_4G;

+  }

+  else if(devp->config->accfullscale == LSM6DSL_ACC_FS_8G) {

+   for(i = 0; i < LSM6DSL_ACC_NUMBER_OF_AXES; i++) {

+     if(devp->config->accsensitivity == NULL)

+       devp->accsensitivity[i] = LSM6DSL_ACC_SENS_8G;

+     else

+       devp->accsensitivity[i] = devp->config->accsensitivity[i];

+    }

+   devp->accfullscale = LSM6DSL_ACC_8G;

+  }

+  else if(devp->config->accfullscale == LSM6DSL_ACC_FS_16G) {

+    for(i = 0; i < LSM6DSL_ACC_NUMBER_OF_AXES; i++) {

+      if(devp->config->accsensitivity == NULL)

+        devp->accsensitivity[i] = LSM6DSL_ACC_SENS_16G;

+      else

+        devp->accsensitivity[i] = devp->config->accsensitivity[i];

+    }

+    devp->accfullscale = LSM6DSL_ACC_16G;

+  }

+  else

+    osalDbgAssert(FALSE, "lsm6dslStart(), accelerometer full scale issue");

+

+  /* Storing bias information */

+  if(devp->config->accbias != NULL)

+    for(i = 0; i < LSM6DSL_ACC_NUMBER_OF_AXES; i++)

+      devp->accbias[i] = devp->config->accbias[i];

+  else      

+    for(i = 0; i < LSM6DSL_ACC_NUMBER_OF_AXES; i++)

+      devp->accbias[i] = LSM6DSL_ACC_BIAS;

+    

+  /* Configuring Gyroscope subsystem.*/

+  /* Multiple write starting address.*/

+  cr[0] = LSM6DSL_AD_CTRL_REG1_G;

+

+  /* Control register 1 configuration block.*/

+  {

+    cr[1] = devp->config->gyrofullscale |

+            devp->config->gyrooutdatarate;

+#if LSM6DSL_GYRO_USE_ADVANCED || defined(__DOXYGEN__)

+    cr[1] |= devp->config->gyrodecmode;

+#endif

+  }

+

+  /* Control register 2 configuration block.*/

+  {

+    cr[2] = 0;

+#if LSM6DSL_GYRO_USE_ADVANCED || defined(__DOXYGEN__)

+    cr[2] |= devp->config->gyrooutsel;

+#endif

+  }

+

+  /* Control register 3 configuration block.*/

+  {

+    cr[3] = 0;

+#if LSM6DSL_GYRO_USE_ADVANCED || defined(__DOXYGEN__)

+    cr[3] |= devp->config->gyrohpfenable |

+             devp->config->gyrolowmodecfg |

+             devp->config->gyrohpcfg;

+#endif

+  }

+

+  /* Control register 4 configuration block.*/

+  {

+    cr[4] = LSM6DSL_CTRL_REG4_XEN_G | LSM6DSL_CTRL_REG4_YEN_G |

+            LSM6DSL_CTRL_REG4_ZEN_G;

+  }

+#if LSM6DSL_USE_I2C

+#if LSM6DSL_SHARED_I2C

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

+  i2cStart(devp->config->i2cp, devp->config->i2ccfg);

+#endif /* LSM6DSL_SHARED_I2C */

+

+  lsm6dslI2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,

+                          cr, 4);

+

+#if LSM6DSL_SHARED_I2C

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

+#endif /* LSM6DSL_SHARED_I2C */

+#endif /* LSM6DSL_USE_I2C */

+

+  cr[0] = LSM6DSL_AD_CTRL_REG9;

+  /* Control register 9 configuration block.*/

+  {

+      cr[1] = 0;

+  }

+#if LSM6DSL_USE_I2C

+#if LSM6DSL_SHARED_I2C

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

+  i2cStart(devp->config->i2cp, devp->config->i2ccfg);

+#endif /* LSM6DSL_SHARED_I2C */

+

+  lsm6dslI2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,

+                          cr, 1);

+

+#if LSM6DSL_SHARED_I2C

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

+#endif /* LSM6DSL_SHARED_I2C */

+#endif /* LSM6DSL_USE_I2C */

+

+  if(devp->config->gyrofullscale == LSM6DSL_GYRO_FS_245DPS) {

+    for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++) {

+      if(devp->config->gyrosensitivity == NULL)

+        devp->gyrosensitivity[i] = LSM6DSL_GYRO_SENS_245DPS;

+      else

+        devp->gyrosensitivity[i] = devp->config->gyrosensitivity[i];

+    }

+    devp->gyrofullscale = LSM6DSL_GYRO_245DPS;

+  }

+  else if(devp->config->gyrofullscale == LSM6DSL_GYRO_FS_500DPS) {

+    for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++) {

+      if(devp->config->gyrosensitivity == NULL)

+        devp->gyrosensitivity[i] = LSM6DSL_GYRO_SENS_500DPS;

+      else

+        devp->gyrosensitivity[i] = devp->config->gyrosensitivity[i];

+    }

+    devp->gyrofullscale = LSM6DSL_GYRO_500DPS;

+  }

+  else if(devp->config->gyrofullscale == LSM6DSL_GYRO_FS_2000DPS) {

+    for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++) {

+      if(devp->config->gyrosensitivity == NULL)

+        devp->gyrosensitivity[i] = LSM6DSL_GYRO_SENS_2000DPS;

+      else

+        devp->gyrosensitivity[i] = devp->config->gyrosensitivity[i];

+    }

+    devp->gyrofullscale = LSM6DSL_GYRO_2000DPS;

+  }

+  else

+    osalDbgAssert(FALSE, "lsm6dslStart(), gyroscope full scale issue");

+

+  /* Storing bias information */

+  if(devp->config->gyrobias != NULL)

+    for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++)

+      devp->gyrobias[i] = devp->config->gyrobias[i];

+  else      

+    for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++)

+      devp->gyrobias[i] = LSM6DSL_GYRO_BIAS;

+    

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

+  osalThreadSleepMilliseconds(5);

+

+  devp->state = LSM6DSL_READY;

+} 

+

+/**

+ * @brief   Deactivates the LSM6DSL Complex Driver peripheral.

+ *

+ * @param[in] devp       pointer to the @p LSM6DSLDriver object

+ *

+ * @api

+ */

+void lsm6dslStop(LSM6DSLDriver *devp) {

+  uint8_t cr[2];

+

+  osalDbgCheck(devp != NULL);

+

+  osalDbgAssert((devp->state == LSM6DSL_STOP) || (devp->state == LSM6DSL_READY),

+                "lsm6dslStop(), invalid state");

+

+  if (devp->state == LSM6DSL_READY) {

+#if LSM6DSL_USE_I2C

+#if LSM6DSL_SHARED_I2C

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

+    i2cStart(devp->config->i2cp, devp->config->i2ccfg);

+#endif /* LSM6DSL_SHARED_I2C */

+    

+    /* Disabling accelerometer.*/

+    cr[0] = LSM6DSL_AD_CTRL_REG6_XL;

+    cr[1] = 0;

+    lsm6dslI2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,

+                            cr, 1);

+

+    /* Disabling gyroscope.*/

+    cr[0] = LSM6DSL_AD_CTRL_REG9;

+    cr[1] = LSM6DSL_CTRL_REG9_SLEEP_G;

+    lsm6dslI2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,

+                            cr, 1);

+

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

+#if LSM6DSL_SHARED_I2C

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

+#endif /* LSM6DSL_SHARED_I2C */

+#endif /* LSM6DSL_USE_I2C */

+  }        

+  devp->state = LSM6DSL_STOP;

+}

+/** @} */

diff --git a/os/ex/ST/lsm6dsl.h b/os/ex/ST/lsm6dsl.h
new file mode 100644
index 000000000..4a2a92d14
--- /dev/null
+++ b/os/ex/ST/lsm6dsl.h
@@ -0,0 +1,1060 @@
+/*

+    ChibiOS - Copyright (C) 2016..2018 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.h

+ * @brief   LSM6DS0 MEMS interface module header.

+ *

+ * @addtogroup LSM6DS0

+ * @ingroup EX_ST

+ * @{

+ */

+#ifndef _LSM6DS0_H_

+#define _LSM6DS0_H_

+

+#include "hal_accelerometer.h"

+#include "hal_gyroscope.h"

+

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

+/* Driver constants.                                                         */

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

+

+/**

+ * @name    Version identification

+ * @{

+ */

+/**

+ * @brief   LSM6DS0 driver version string.

+ */

+#define EX_LSM6DS0_VERSION                  "1.0.0"

+

+/**

+ * @brief   LSM6DS0 driver version major number.

+ */

+#define EX_LSM6DS0_MAJOR                    1

+

+/**

+ * @brief   LSM6DS0 driver version minor number.

+ */

+#define EX_LSM6DS0_MINOR                    0

+

+/**

+ * @brief   LSM6DS0 driver version patch number.

+ */

+#define EX_LSM6DS0_PATCH                    0

+/** @} */

+

+/**

+ * @brief   LSM6DS0 accelerometer subsystem characteristics.

+ * @note    Sensitivity is expressed as milli-G/LSB whereas 

+ *          1 milli-G = 0.00980665 m/s^2.

+ * @note    Bias is expressed as milli-G.

+ *

+ * @{

+ */

+#define LSM6DS0_ACC_NUMBER_OF_AXES          3U

+

+#define LSM6DS0_ACC_2G                      2.0f

+#define LSM6DS0_ACC_4G                      4.0f

+#define LSM6DS0_ACC_8G                      8.0f

+#define LSM6DS0_ACC_16G                     16.0f

+

+#define LSM6DS0_ACC_SENS_2G                 0.061f

+#define LSM6DS0_ACC_SENS_4G                 0.122f

+#define LSM6DS0_ACC_SENS_8G                 0.244f

+#define LSM6DS0_ACC_SENS_16G                0.488f

+

+#define LSM6DS0_ACC_BIAS                    0.0f

+/** @} */

+

+/**

+ * @brief   L3GD20 gyroscope system characteristics.

+ * @note    Sensitivity is expressed as DPS/LSB whereas DPS stand for Degree 

+ *          per second [°/s].

+ * @note    Bias is expressed as DPS.

+ *

+ * @{

+ */

+#define LSM6DS0_GYRO_NUMBER_OF_AXES         3U

+

+#define LSM6DS0_GYRO_125DPS                 125.0f

+#define LSM6DS0_GYRO_250DPS                 250.0f

+#define LSM6DS0_GYRO_500DPS                 500.0f

+#define LSM6DS0_GYRO_1000DPS                1000.0f

+#define LSM6DS0_GYRO_2000DPS                2000.0f

+

+#define LSM6DS0_GYRO_SENS_125DPS            0.004375f

+#define LSM6DS0_GYRO_SENS_250DPS            0.008750f

+#define LSM6DS0_GYRO_SENS_500DPS            0.017500f

+#define LSM6DS0_GYRO_SENS_1000DPS           0.035000f

+#define LSM6DS0_GYRO_SENS_2000DPS           0.070000f

+

+#define LSM6DS0_GYRO_BIAS                   0.0f

+/** @} */

+

+/**

+ * @name   LSM6DS0 communication interfaces related bit masks

+ * @{

+ */

+#define LSM6DS0_DI_MASK                     0xFF

+#define LSM6DS0_DI(n)                       (1 << n)

+#define LSM6DS0_AD_MASK                     0x7F

+#define LSM6DS0_AD(n)                       (1 << n)

+#define LSM6DS0_MS                          (1 << 7)

+/** @} */

+

+/**

+ * @name   LSM6DS0 register addresses

+ * @{

+ */

+#define LSM6DS0_AD_ACT_THS                  0x04

+#define LSM6DS0_AD_ACT_DUR                  0x05

+#define LSM6DS0_AD_INT_GEN_CFG_XL           0x06

+#define LSM6DS0_AD_INT_GEN_THS_X_XL         0x07

+#define LSM6DS0_AD_INT_GEN_THS_Y_XL         0x08

+#define LSM6DS0_AD_INT_GEN_THS_Z_XL         0x09

+#define LSM6DS0_AD_INT_GEN_DUR_XL           0x0A

+#define LSM6DS0_AD_REFERENCE_G              0x0B

+#define LSM6DS0_AD_INT_CTRL                 0x0C

+#define LSM6DS0_AD_WHO_AM_I                 0x0F

+#define LSM6DS0_AD_CTRL_REG1_G              0x10

+#define LSM6DS0_AD_CTRL_REG2_G              0x11

+#define LSM6DS0_AD_CTRL_REG3_G              0x12

+#define LSM6DS0_AD_ORIENT_CFG_G             0x13

+#define LSM6DS0_AD_INT_GEN_SRC_G            0x14

+#define LSM6DS0_AD_OUT_TEMP_L               0x15

+#define LSM6DS0_AD_OUT_TEMP_H               0x16

+#define LSM6DS0_AD_STATUS_REG1              0x17

+#define LSM6DS0_AD_OUT_X_L_G                0x18

+#define LSM6DS0_AD_OUT_X_H_G                0x19

+#define LSM6DS0_AD_OUT_Y_L_G                0x1A

+#define LSM6DS0_AD_OUT_Y_H_G                0x1B

+#define LSM6DS0_AD_OUT_Z_L_G                0x1C

+#define LSM6DS0_AD_OUT_Z_H_G                0x1D

+#define LSM6DS0_AD_CTRL_REG4                0x1E

+#define LSM6DS0_AD_CTRL_REG5_XL             0x1F

+#define LSM6DS0_AD_CTRL_REG6_XL             0x20

+#define LSM6DS0_AD_CTRL_REG7_XL             0x21

+#define LSM6DS0_AD_CTRL_REG8                0x22

+#define LSM6DS0_AD_CTRL_REG9                0x23

+#define LSM6DS0_AD_CTRL_REG10               0x24

+#define LSM6DS0_AD_INT_GEN_SRC_XL           0x26

+#define LSM6DS0_AD_STATUS_REG2              0x27

+#define LSM6DS0_AD_OUT_X_L_XL               0x28

+#define LSM6DS0_AD_OUT_X_H_XL               0x29

+#define LSM6DS0_AD_OUT_Y_L_XL               0x2A

+#define LSM6DS0_AD_OUT_Y_H_XL               0x2B

+#define LSM6DS0_AD_OUT_Z_L_XL               0x2C

+#define LSM6DS0_AD_OUT_Z_H_XL               0x2D

+#define LSM6DS0_AD_FIFO_CTRL                0x2E

+#define LSM6DS0_AD_FIFO_SRC                 0x2F

+#define LSM6DS0_AD_INT_GEN_CFG_G            0x30

+#define LSM6DS0_AD_INT_GEN_THS_XH_G         0x31

+#define LSM6DS0_AD_INT_GEN_THS_XL_G         0x32

+#define LSM6DS0_AD_INT_GEN_THS_YH_G         0x33

+#define LSM6DS0_AD_INT_GEN_THS_YL_G         0x34

+#define LSM6DS0_AD_INT_GEN_THS_ZH_G         0x35

+#define LSM6DS0_AD_INT_GEN_THS_ZL_G         0x36

+#define LSM6DS0_AD_INT_GEN_DUR_G            0x37

+/** @} */

+

+/**

+ * @name    LSM6DS0_AD_CTRL_REG1_G register bits definitions

+ * @{

+ */

+#define LSM6DS0_CTRL_REG1_G                 0xFA

+#define LSM6DS0_CTRL_REG1_G_BW_G0           (1 << 0)

+#define LSM6DS0_CTRL_REG1_G_BW_G1           (1 << 1)

+#define LSM6DS0_CTRL_REG1_G_FS_MASK         0x1F

+#define LSM6DS0_CTRL_REG1_G_FS_G0           (1 << 3)

+#define LSM6DS0_CTRL_REG1_G_FS_G1           (1 << 4)

+#define LSM6DS0_CTRL_REG1_G_ODR_G0          (1 << 5)

+#define LSM6DS0_CTRL_REG1_G_ODR_G1          (1 << 6)

+#define LSM6DS0_CTRL_REG1_G_ODR_G2          (1 << 7)

+/** @} */

+

+/**

+ * @name    LSM6DS0_AD_CTRL_REG2_G register bits definitions

+ * @{

+ */

+#define LSM6DS0_CTRL_REG2_G                 0x0F

+#define LSM6DS0_CTRL_REG2_G_OUT_SEL0        (1 << 0)

+#define LSM6DS0_CTRL_REG2_G_OUT_SEL1        (1 << 1)

+#define LSM6DS0_CTRL_REG2_G_INT_SEL0        (1 << 2)

+#define LSM6DS0_CTRL_REG2_G_INT_SEL1        (1 << 3)

+/** @} */

+

+/**

+ * @name    LSM6DS0_AD_CTRL_REG3_G register bits definitions

+ * @{

+ */

+#define LSM6DS0_CTRL_REG3_G                 0x64

+#define LSM6DS0_CTRL_REG3_G_HP_CF0_G        (1 << 0)

+#define LSM6DS0_CTRL_REG3_G_HP_CF1_G        (1 << 1)

+#define LSM6DS0_CTRL_REG3_G_HP_CF2_G        (1 << 2)

+#define LSM6DS0_CTRL_REG3_G_HP_CF3_G        (1 << 3)

+#define LSM6DS0_CTRL_REG3_G_HP_EN           (1 << 6)

+#define LSM6DS0_CTRL_REG3_G_LP_MODE         (1 << 7)

+/** @} */

+

+/**

+ * @name    LSM6DS0_AD_CTRL_REG4 register bits definitions

+ * @{

+ */

+#define LSM6DS0_CTRL_REG4                   0x3A

+#define LSM6DS0_CTRL_REG4_4D_XL1            (1 << 0)

+#define LSM6DS0_CTRL_REG4_LIR_XL1           (1 << 1)

+#define LSM6DS0_CTRL_REG4_XEN_G             (1 << 3)

+#define LSM6DS0_CTRL_REG4_YEN_G             (1 << 4)

+#define LSM6DS0_CTRL_REG4_ZEN_G             (1 << 5)

+/** @} */

+

+/**

+ * @name    LSM6DS0_AD_CTRL_REG5_XL register bits definitions

+ * @{

+ */

+#define LSM6DS0_CTRL_REG5_XL                0xF8

+#define LSM6DS0_CTRL_REG5_XL_XEN_XL         (1 << 3)

+#define LSM6DS0_CTRL_REG5_XL_YEN_XL         (1 << 4)

+#define LSM6DS0_CTRL_REG5_XL_ZEN_XL         (1 << 5)

+#define LSM6DS0_CTRL_REG5_XL_DEC0           (1 << 6)

+#define LSM6DS0_CTRL_REG5_XL_DEC1           (1 << 7)

+/** @} */

+

+/**

+ * @name    LSM6DS0_AD_CTRL_REG6_XL register bits definitions

+ * @{

+ */

+#define LSM6DS0_CTRL_REG6_XL                0xFF

+#define LSM6DS0_CTRL_REG6_XL_BW_XL0         (1 << 0)

+#define LSM6DS0_CTRL_REG6_XL_BW_XL1         (1 << 1)

+#define LSM6DS0_CTRL_REG6_XL_BW_SCAL_ODR    (1 << 2)

+#define LSM6DS0_CTRL_REG6_XL_FS_MASK        0x1F

+#define LSM6DS0_CTRL_REG6_XL_FS0_XL         (1 << 3)

+#define LSM6DS0_CTRL_REG6_XL_FS1_XL         (1 << 4)

+#define LSM6DS0_CTRL_REG6_XL_ODR_XL0        (1 << 5)

+#define LSM6DS0_CTRL_REG6_XL_ODR_XL1        (1 << 6)

+#define LSM6DS0_CTRL_REG6_XL_ODR_XL2        (1 << 7)

+/** @} */

+

+/**

+ * @name    LSM6DS0_AD_CTRL_REG7_XL register bits definitions

+ * @{

+ */

+#define LSM6DS0_CTRL_REG7_XL                0xE5

+#define LSM6DS0_CTRL_REG7_XL_HPIS1          (1 << 0)

+#define LSM6DS0_CTRL_REG7_XL_FDS            (1 << 2)

+#define LSM6DS0_CTRL_REG7_XL_DCF0           (1 << 5)

+#define LSM6DS0_CTRL_REG7_XL_DCF1           (1 << 6)

+#define LSM6DS0_CTRL_REG7_XL_HR             (1 << 7)

+/** @} */

+

+/**

+ * @name    LSM6DS0_AD_CTRL_REG8 register bits definitions

+ * @{

+ */

+#define LSM6DS0_CTRL_REG8                   0xFF

+#define LSM6DS0_CTRL_REG8_SW_RESET          (1 << 0)

+#define LSM6DS0_CTRL_REG8_BLE               (1 << 1)

+#define LSM6DS0_CTRL_REG8_IF_ADD_INC        (1 << 2)

+#define LSM6DS0_CTRL_REG8_SIM               (1 << 3)

+#define LSM6DS0_CTRL_REG8_PP_OD             (1 << 4)

+#define LSM6DS0_CTRL_REG8_H_LACTIVE         (1 << 5)

+#define LSM6DS0_CTRL_REG8_BDU               (1 << 6)

+#define LSM6DS0_CTRL_REG8_BOOT              (1 << 7)

+/** @} */

+

+/**

+ * @name    LSM6DS0_AD_CTRL_REG9 register bits definitions

+ * @{

+ */

+#define LSM6DS0_CTRL_REG9                   0x5F

+#define LSM6DS0_CTRL_REG9_STOP_ON_FTH       (1 << 0)

+#define LSM6DS0_CTRL_REG9_FIFO_EN           (1 << 1)

+#define LSM6DS0_CTRL_REG9_I2C_DISABLE       (1 << 2)

+#define LSM6DS0_CTRL_REG9_DRDY_MASK_BIT     (1 << 3)

+#define LSM6DS0_CTRL_REG9_FIFO_TEMP_EN      (1 << 4)

+#define LSM6DS0_CTRL_REG9_SLEEP_G           (1 << 6)

+/** @} */

+

+/**

+ * @name    LSM6DS0_AD_CTRL_REG10 register bits definitions

+ * @{

+ */

+#define LSM6DS0_CTRL_REG10                  0x05

+#define LSM6DS0_CTRL_REG10_ST_XL            (1 << 0)

+#define LSM6DS0_CTRL_REG10_ST_G             (1 << 2)

+/** @} */

+

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

+/* Driver pre-compile time settings.                                         */

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

+

+/**

+ * @name    Configuration options

+ * @{

+ */

+/**

+ * @brief   LSM6DS0 SPI interface switch.

+ * @details If set to @p TRUE the support for SPI is included.

+ * @note    The default is @p FALSE.

+ */

+#if !defined(LSM6DS0_USE_SPI) || defined(__DOXYGEN__)

+#define LSM6DS0_USE_SPI                     FALSE

+#endif

+

+/**

+ * @brief   LSM6DS0 shared SPI switch.

+ * @details If set to @p TRUE the device acquires SPI bus ownership

+ *          on each transaction.

+ * @note    The default is @p FALSE. Requires SPI_USE_MUTUAL_EXCLUSION.

+ */

+#if !defined(LSM6DS0_SHARED_SPI) || defined(__DOXYGEN__)

+#define LSM6DS0_SHARED_SPI                  FALSE

+#endif

+

+/**

+ * @brief   LSM6DS0 I2C interface switch.

+ * @details If set to @p TRUE the support for I2C is included.

+ * @note    The default is @p TRUE.

+ */

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

+#define LSM6DS0_USE_I2C                     TRUE

+#endif

+

+/**

+ * @brief   LSM6DS0 shared I2C switch.

+ * @details If set to @p TRUE the device acquires I2C bus ownership

+ *          on each transaction.

+ * @note    The default is @p FALSE. Requires I2C_USE_MUTUAL_EXCLUSION.

+ */

+#if !defined(LSM6DS0_SHARED_I2C) || defined(__DOXYGEN__)

+#define LSM6DS0_SHARED_I2C                  FALSE

+#endif

+

+/**

+ * @brief   LSM6DS0 advanced configurations switch.

+ * @details If set to @p TRUE more configurations are available.

+ * @note    The default is @p FALSE.

+ */

+#if !defined(LSM6DS0_USE_ADVANCED) || defined(__DOXYGEN__)

+#define LSM6DS0_USE_ADVANCED                FALSE

+#endif

+

+/**

+ * @brief   LSM6DS0 accelerometer subsystem advanced configurations 

+ *          switch.

+ * @details If set to @p TRUE more configurations are available.

+ * @note    The default is @p FALSE.

+ */

+#if !defined(LSM6DS0_ACC_USE_ADVANCED) || defined(__DOXYGEN__)

+#define LSM6DS0_ACC_USE_ADVANCED            FALSE

+#endif

+

+/**

+ * @brief   LSM6DS0 gyroscope subsystem advanced configurations 

+ *          switch.

+ * @details If set to @p TRUE more configurations are available.

+ * @note    The default is @p FALSE.

+ */

+#if !defined(LSM6DS0_GYRO_USE_ADVANCED) || defined(__DOXYGEN__)

+#define LSM6DS0_GYRO_USE_ADVANCED           FALSE

+#endif

+

+/**

+ * @brief   Number of acquisitions for gyroscope bias removal.

+ * @details This is the number of acquisitions performed to compute the

+ *          bias. A repetition is required in order to remove noise.

+ */

+#if !defined(LSM6DS0_GYRO_BIAS_ACQ_TIMES) || defined(__DOXYGEN__)

+#define LSM6DS0_GYRO_BIAS_ACQ_TIMES         50

+#endif

+

+/**

+ * @brief   Settling time for gyroscope bias removal.

+ * @details This is the time between each bias acquisition.

+ */

+#if !defined(LSM6DS0_GYRO_BIAS_SETTLING_US) || defined(__DOXYGEN__)

+#define LSM6DS0_GYRO_BIAS_SETTLING_US       5000

+#endif

+/** @} */

+

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

+/* Derived constants and error checks.                                       */

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

+

+#if !(LSM6DS0_USE_SPI ^ LSM6DS0_USE_I2C)

+#error "LSM6DS0_USE_SPI and LSM6DS0_USE_I2C cannot be both true or both false"

+#endif

+

+#if LSM6DS0_USE_SPI && !HAL_USE_SPI

+#error "LSM6DS0_USE_SPI requires HAL_USE_SPI"

+#endif

+

+#if LSM6DS0_SHARED_SPI && !SPI_USE_MUTUAL_EXCLUSION

+#error "LSM6DS0_SHARED_SPI requires SPI_USE_MUTUAL_EXCLUSION"

+#endif

+

+#if LSM6DS0_USE_I2C && !HAL_USE_I2C

+#error "LSM6DS0_USE_I2C requires HAL_USE_I2C"

+#endif

+

+#if LSM6DS0_SHARED_I2C && !I2C_USE_MUTUAL_EXCLUSION

+#error "LSM6DS0_SHARED_I2C requires I2C_USE_MUTUAL_EXCLUSION"

+#endif

+

+/**

+ * @todo    Add support for LSM6DS0 over SPI.

+ */

+#if LSM6DS0_USE_SPI

+#error "LSM6DS0 over SPI still not supported"

+#endif

+

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

+/* Driver data structures and types.                                         */

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

+

+/**

+ * @name    LSM6DS0 data structures and types.

+ * @{

+ */

+/**

+ * @brief   Structure representing a LSM6DS0 driver.

+ */

+typedef struct LSM6DS0Driver LSM6DS0Driver;

+

+/**

+ * @brief  Accelerometer and Gyroscope Slave Address.

+ */

+typedef enum {

+  LSM6DS0_SAD_GND = 0x6A,           /**< SAD pin connected to GND.          */

+  LSM6DS0_SAD_VCC = 0x6B            /**< SAD pin connected to VCC.          */

+} lsm6ds0_sad_t;

+

+/**

+ * @brief   LSM6DS0 accelerometer subsystem full scale.

+ */

+typedef enum {

+  LSM6DS0_ACC_FS_2G = 0x00,         /**< Full scale ±2g.                    */

+  LSM6DS0_ACC_FS_4G = 0x10,         /**< Full scale ±4g.                    */

+  LSM6DS0_ACC_FS_8G = 0x18,         /**< Full scale ±8g.                    */

+  LSM6DS0_ACC_FS_16G = 0x08         /**< Full scale ±16g.                   */

+} lsm6ds0_acc_fs_t;

+

+/**

+ * @brief   LSM6DS0 accelerometer subsystem output data rate.

+ */

+typedef enum {

+  LSM6DS0_ACC_ODR_PD = 0x00,        /**< Power down                         */

+  LSM6DS0_ACC_ODR_10Hz = 0x20,      /**< ODR 10 Hz                          */

+  LSM6DS0_ACC_ODR_50Hz = 0x40,      /**< ODR 50 Hz                          */

+  LSM6DS0_ACC_ODR_119Hz = 0x60,     /**< ODR 119 Hz                         */

+  LSM6DS0_ACC_ODR_238Hz = 0x80,     /**< ODR 238 Hz                         */

+  LSM6DS0_ACC_ODR_476Hz = 0xA0,     /**< ODR 476 Hz                         */

+  LSM6DS0_ACC_ODR_952Hz = 0xC0      /**< ODR 952 Hz                         */

+} lsm6ds0_acc_odr_t;

+

+/**

+ * @brief   LSM6DS0 accelerometer subsystem decimation mode.

+ */

+typedef enum {

+  LSM6DS0_ACC_DEC_DISABLED = 0x00,  /**< Decimation disabled.               */

+  LSM6DS0_ACC_DEC_X2 = 0x40,        /**< Output updated every 2 samples.    */

+  LSM6DS0_ACC_DEC_X4 = 0x80,        /**< Output updated every 4 samples.    */

+  LSM6DS0_ACC_DEC_X8 = 0xC0         /**< Output updated every 8 samples.    */

+} lsm6ds0_acc_dec_t;

+

+/**

+ * @brief LSM6DS0 gyroscope subsystem full scale.

+ */

+typedef enum {

+  LSM6DS0_GYRO_FS_245DPS  = 0x00,   /**< Full scale ±245 degree per second  */

+  LSM6DS0_GYRO_FS_500DPS  = 0x08,   /**< Full scale ±500 degree per second  */

+  LSM6DS0_GYRO_FS_2000DPS = 0x18    /**< Full scale ±2000 degree per second */

+} lsm6ds0_gyro_fs_t;

+

+/**

+ * @brief LSM6DS0 gyroscope subsystem output data rate.

+ */

+typedef enum {

+  LSM6DS0_GYRO_ODR_PD = 0x00,

+  LSM6DS0_GYRO_ODR_95HZ_FC_25 = 0x10,

+  LSM6DS0_GYRO_ODR_14_9HZ_FC_5 = 0X20,

+  LSM6DS0_GYRO_ODR_59_5HZ_FC_16 = 0X40,

+  LSM6DS0_GYRO_ODR_119HZ_FC_14 = 0X60,

+  LSM6DS0_GYRO_ODR_119HZ_FC_31 = 0X61,

+  LSM6DS0_GYRO_ODR_238HZ_FC_14 = 0X80,

+  LSM6DS0_GYRO_ODR_238HZ_FC_29 = 0X81,

+  LSM6DS0_GYRO_ODR_238HZ_FC_63 = 0X82,

+  LSM6DS0_GYRO_ODR_238HZ_FC_78 = 0X83,

+  LSM6DS0_GYRO_ODR_476HZ_FC_21 = 0XA0,

+  LSM6DS0_GYRO_ODR_476HZ_FC_28 = 0XA1,

+  LSM6DS0_GYRO_ODR_476HZ_FC_57 = 0XA2,

+  LSM6DS0_GYRO_ODR_476HZ_FC_100 = 0XA3,

+  LSM6DS0_GYRO_ODR_952HZ_FC_33 = 0XC0,

+  LSM6DS0_GYRO_ODR_952HZ_FC_40 = 0XC1,

+  LSM6DS0_GYRO_ODR_952HZ_FC_58 = 0XC2,

+  LSM6DS0_GYRO_ODR_952HZ_FC_100 = 0XC3

+} lsm6ds0_gyro_odr_t;

+

+/**

+ * @brief LSM6DS0 gyroscope subsystem low mode configuration.

+ */

+typedef enum {

+  LSM6DS0_GYRO_LP_DISABLED = 0x00,  /**< Low power mode disabled.           */

+  LSM6DS0_GYRO_LP_ENABLED = 0x80    /**< Low power mode enabled.            */

+} lsm6ds0_gyro_lp_t;

+

+/**

+ * @brief  LSM6DS0 gyroscope subsystem output selection.

+ */

+typedef enum {

+  LSM6DS0_GYRO_OUT_SEL_0 = 0x00,    /**< Low pass filter 1.                 */

+  LSM6DS0_GYRO_OUT_SEL_1 = 0x01,    /**< High pass filter 1 if enabled.     */

+  LSM6DS0_GYRO_OUT_SEL_2 = 0x02     /**< Low pass filter 2.                 */

+} lsm6ds0_gyro_out_sel_t;

+

+/**

+ * @brief  LSM6DS0 gyroscope subsystem high pass filter.

+ */

+typedef enum {

+  LSM6DS0_GYRO_HP_DISABLED = 0x00,  /**< High pass filter disabled.         */

+  LSM6DS0_GYRO_HP_ENABLED = 0x40    /**< High pass filter enabled.          */

+} lsm6ds0_gyro_hp_t;

+

+/**

+ * @brief  LSM6DS0 gyroscope subsystem high pass filter configuration.

+ */

+typedef enum {

+  LSM6DS0_GYRO_HPCF_0 = 0x00,       /**< Refer to table 48 of RM            */

+  LSM6DS0_GYRO_HPCF_1 = 0x01, 

+  LSM6DS0_GYRO_HPCF_2 = 0x02, 

+  LSM6DS0_GYRO_HPCF_3 = 0x03, 

+  LSM6DS0_GYRO_HPCF_4 = 0x04, 

+  LSM6DS0_GYRO_HPCF_5 = 0x05, 

+  LSM6DS0_GYRO_HPCF_6 = 0x06, 

+  LSM6DS0_GYRO_HPCF_7 = 0x07, 

+  LSM6DS0_GYRO_HPCF_8 = 0x08, 

+  LSM6DS0_GYRO_HPCF_9 = 0x09 

+} lsm6ds0_gyro_hpcf_t;

+

+/**

+ * @brief LSM6DS0 block data update.

+ */

+typedef enum {

+  LSM6DS0_BDU_CONTINUOUS = 0x00,    /**< Block data continuously updated.   */

+  LSM6DS0_BDU_BLOCKED = 0x40        /**< Block data updated after reading.  */

+} lsm6ds0_bdu_t;

+

+/**

+ * @brief LSM6DS0 endianness.

+ */

+typedef enum {

+  LSM6DS0_END_LITTLE = 0x00,        /**< Little endian.                     */

+  LSM6DS0_END_BIG = 0x20            /**< Big endian.                        */

+} lsm6ds0_end_t;

+

+/**

+ * @brief   Driver state machine possible states.

+ */

+typedef enum {

+  LSM6DS0_UNINIT = 0,               /**< Not initialized.                   */

+  LSM6DS0_STOP = 1,                 /**< Stopped.                           */

+  LSM6DS0_READY = 2,                /**< Ready.                             */

+} lsm6ds0_state_t;

+

+/**

+ * @brief LSM6DS0 configuration structure.

+ */

+typedef struct {

+#if (LSM6DS0_USE_SPI) || defined(__DOXYGEN__)

+  /**

+   * @brief SPI driver associated to this LSM6DS0.

+   */

+  SPIDriver                 *spip;

+  /**

+   * @brief SPI configuration associated to this LSM6DS0 accelerometer

+   *        subsystem.

+   */

+  const SPIConfig           *accspicfg;

+#endif /* LSM6DS0_USE_SPI */

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

+  /**

+   * @brief I2C driver associated to this LSM6DS0.

+   */

+  I2CDriver                 *i2cp;

+  /**

+   * @brief I2C configuration associated to this LSM6DS0 accelerometer

+   *        subsystem.

+   */

+  const I2CConfig           *i2ccfg;

+  /**

+   * @brief LSM6DS0 Slave Address

+   */

+  lsm6ds0_sad_t             slaveaddress;

+#endif /* LSM6DS0_USE_I2C */

+  /**

+   * @brief LSM6DS0 accelerometer subsystem initial sensitivity.

+   */

+  float                     *accsensitivity;

+  /**

+   * @brief LSM6DS0 accelerometer subsystem initial bias.

+   */

+  float                     *accbias;

+  /**

+   * @brief LSM6DS0 accelerometer subsystem full scale.

+   */

+  lsm6ds0_acc_fs_t          accfullscale;

+  /**

+   * @brief LSM6DS0 accelerometer subsystem output data rate.

+   */

+  lsm6ds0_acc_odr_t         accoutdatarate;

+#if LSM6DS0_ACC_USE_ADVANCED || defined(__DOXYGEN__)

+  /**

+   * @brief LSM6DS0 accelerometer subsystem decimation mode.

+   */

+  lsm6ds0_acc_dec_t         accdecmode;

+#endif /* LSM6DS0_ACC_USE_ADVANCED */

+  /**

+   * @brief LSM6DS0 gyroscope subsystem initial sensitivity.

+   */

+  float                     *gyrosensitivity;

+  /**

+   * @brief LSM6DS0 gyroscope subsystem initial bias.

+   */

+  float                     *gyrobias;

+  /**

+   * @brief LSM6DS0 gyroscope subsystem full scale.

+   */

+  lsm6ds0_gyro_fs_t         gyrofullscale;

+  /**

+   * @brief LSM6DS0 gyroscope subsystem output data rate.

+   */

+  lsm6ds0_gyro_odr_t        gyrooutdatarate;

+#if LSM6DS0_GYRO_USE_ADVANCED || defined(__DOXYGEN__)

+  /**

+   * @brief LSM6DS0 gyroscope subsystem low mode configuration.

+   */

+  lsm6ds0_gyro_lp_t         gyrolowmodecfg;

+  /**

+   * @brief LSM6DS0 gyroscope subsystem output selection.

+   */

+  lsm6ds0_gyro_out_sel_t    gyrooutsel;

+  /**

+   * @brief LSM6DS0 gyroscope subsystem high pass filter.

+   */

+  lsm6ds0_gyro_hp_t         gyrohpfenable;

+  /**

+   * @brief LSM6DS0 gyroscope subsystem high pass filter configuration.

+   */

+  lsm6ds0_gyro_hpcf_t       gyrohpcfg;

+  #endif /* LSM6DS0_GYRO_USE_ADVANCED */

+#if (LSM6DS0_USE_ADVANCED) || defined(__DOXYGEN__)

+  /**

+   * @brief LSM6DS0 block data update

+   */

+  lsm6ds0_bdu_t             blockdataupdate;

+  /**

+   * @brief LSM6DS0  endianness

+   */

+  lsm6ds0_end_t             endianness;

+#endif /* LSM6DS0_USE_ADVANCED */

+} LSM6DS0Config;

+

+/**

+ * @brief   @p LSM6DS0 specific methods.

+ */

+#define _lsm6ds0_methods_alone                                              \

+  /* Change full scale value of LSM6DS0 accelerometer subsystem .*/         \

+  msg_t (*acc_set_full_scale)(LSM6DS0Driver *devp, lsm6ds0_acc_fs_t fs);    \

+  /* Change full scale value of LSM6DS0 gyroscope subsystem .*/             \

+  msg_t (*gyro_set_full_scale)(LSM6DS0Driver *devp, lsm6ds0_gyro_fs_t fs);  

+  

+/**

+ * @brief   @p LSM6DS0 specific methods with inherited ones.

+ */

+#define _lsm6ds0_methods                                                    \

+  _base_object_methods                                                      \

+  _lsm6ds0_methods_alone

+

+/**

+ * @extends BaseObjectVMT

+ *

+ * @brief @p LSM6DS0 virtual methods table.

+ */

+struct LSM6DS0VMT {

+  _lsm6ds0_methods

+};

+

+/**

+ * @brief   @p LSM6DS0Driver specific data.

+ */

+#define _lsm6ds0_data                                                       \

+  _base_sensor_data                                                         \

+  /* Driver state.*/                                                        \

+  lsm6ds0_state_t           state;                                          \

+  /* Current configuration data.*/                                          \

+  const LSM6DS0Config       *config;                                        \

+  /* Accelerometer subsystem axes number.*/                                 \

+  size_t                    accaxes;                                        \

+  /* Accelerometer subsystem current sensitivity.*/                         \

+  float                     accsensitivity[LSM6DS0_ACC_NUMBER_OF_AXES];     \

+  /* Accelerometer subsystem current bias .*/                               \

+  float                     accbias[LSM6DS0_ACC_NUMBER_OF_AXES];            \

+  /* Accelerometer subsystem current full scale value.*/                    \

+  float                     accfullscale;                                   \

+  /* Gyroscope subsystem axes number.*/                                     \

+  size_t                    gyroaxes;                                       \

+  /* Gyroscope subsystem current sensitivity.*/                             \

+  float                     gyrosensitivity[LSM6DS0_GYRO_NUMBER_OF_AXES];   \

+  /* Gyroscope subsystem current Bias.*/                                    \

+  float                     gyrobias[LSM6DS0_GYRO_NUMBER_OF_AXES];          \

+  /* Gyroscope subsystem current full scale value.*/                        \

+  float                     gyrofullscale;

+  

+/**

+ * @brief LSM6DS0 6-axis accelerometer/gyroscope class.

+ */

+struct LSM6DS0Driver {

+  /** @brief Virtual Methods Table.*/

+  const struct LSM6DS0VMT     *vmt;

+  /** @brief Base accelerometer interface.*/

+  BaseAccelerometer           acc_if;

+  /** @brief Base gyroscope interface.*/

+  BaseGyroscope               gyro_if;

+  _lsm6ds0_data

+};

+/** @} */

+

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

+/* Driver macros.                                                            */

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

+

+/**

+ * @brief   Return the number of axes of the BaseAccelerometer.

+ *

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

+ *

+ * @return              the number of axes.

+ *

+ * @api

+ */

+#define lsm6ds0AccelerometerGetAxesNumber(devp)                             \

+        accelerometerGetAxesNumber(&((devp)->acc_if))

+

+/**

+ * @brief   Retrieves raw data from the BaseAccelerometer.

+ * @note    This data is retrieved from MEMS register without any algebraical

+ *          manipulation.

+ * @note    The axes array must be at least the same size of the

+ *          BaseAccelerometer axes number.

+ *

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

+ * @param[out] axes     a buffer which would be filled with raw data.

+ *

+ * @return              The operation status.

+ * @retval MSG_OK       if the function succeeded.

+ * @retval MSG_RESET    if one or more I2C errors occurred, the errors can

+ *                      be retrieved using @p i2cGetErrors().

+ * @retval MSG_TIMEOUT  if a timeout occurred before operation end.

+ *

+ * @api

+ */

+#define lsm6ds0AccelerometerReadRaw(devp, axes)                             \

+        accelerometerReadRaw(&((devp)->acc_if), axes)

+

+/**

+ * @brief   Retrieves cooked data from the BaseAccelerometer.

+ * @note    This data is manipulated according to the formula

+ *          cooked = (raw * sensitivity) - bias.

+ * @note    Final data is expressed as milli-G.

+ * @note    The axes array must be at least the same size of the

+ *          BaseAccelerometer axes number.

+ *

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

+ * @param[out] axes     a buffer which would be filled with cooked data.

+ *

+ * @return              The operation status.

+ * @retval MSG_OK       if the function succeeded.

+ * @retval MSG_RESET    if one or more I2C errors occurred, the errors can

+ *                      be retrieved using @p i2cGetErrors().

+ * @retval MSG_TIMEOUT  if a timeout occurred before operation end.

+ *

+ * @api

+ */

+#define lsm6ds0AccelerometerReadCooked(devp, axes)                          \

+        accelerometerReadCooked(&((devp)->acc_if), axes)

+

+/**

+ * @brief   Set bias values for the BaseAccelerometer.

+ * @note    Bias must be expressed as milli-G.

+ * @note    The bias buffer must be at least the same size of the

+ *          BaseAccelerometer axes number.

+ *

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

+ * @param[in] bp        a buffer which contains biases.

+ *

+ * @return              The operation status.

+ * @retval MSG_OK       if the function succeeded.

+ *

+ * @api

+ */

+#define lsm6ds0AccelerometerSetBias(devp, bp)                               \

+        accelerometerSetBias(&((devp)->acc_if), bp)

+

+/**

+ * @brief   Reset bias values for the BaseAccelerometer.

+ * @note    Default biases value are obtained from device datasheet when

+ *          available otherwise they are considered zero.

+ *

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

+ *

+ * @return              The operation status.

+ * @retval MSG_OK       if the function succeeded.

+ *

+ * @api

+ */

+#define lsm6ds0AccelerometerResetBias(devp)                                 \

+        accelerometerResetBias(&((devp)->acc_if))

+

+/**

+ * @brief   Set sensitivity values for the BaseAccelerometer.

+ * @note    Sensitivity must be expressed as milli-G/LSB.

+ * @note    The sensitivity buffer must be at least the same size of the

+ *          BaseAccelerometer axes number.

+ *

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

+ * @param[in] sp        a buffer which contains sensitivities.

+ *

+ * @return              The operation status.

+ * @retval MSG_OK       if the function succeeded.

+ *

+ * @api

+ */

+#define lsm6ds0AccelerometerSetSensitivity(devp, sp)                        \

+        accelerometerSetSensitivity(&((devp)->acc_if), sp)

+

+/**

+ * @brief   Reset sensitivity values for the BaseAccelerometer.

+ * @note    Default sensitivities value are obtained from device datasheet.

+ *

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

+ *

+ * @return              The operation status.

+ * @retval MSG_OK       if the function succeeded.

+ * @retval MSG_RESET    otherwise.

+ *

+ * @api

+ */

+#define lsm6ds0AccelerometerResetSensitivity(devp)                          \

+        accelerometerResetSensitivity(&((devp)->acc_if))

+

+/**

+ * @brief   Changes the LSM6DS0Driver accelerometer fullscale value.

+ * @note    This function also rescale sensitivities and biases based on

+ *          previous and next fullscale value.

+ * @note    A recalibration is highly suggested after calling this function.

+ *

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

+ * @param[in] fs        new fullscale value.

+ *

+ * @return              The operation status.

+ * @retval MSG_OK       if the function succeeded.

+ * @retval MSG_RESET    otherwise.

+ *

+ * @api

+ */

+#define lsm6ds0AccelerometerSetFullScale(devp, fs)                          \

+        (devp)->vmt->acc_set_full_scale(devp, fs)

+        

+/**

+ * @brief   Return the number of axes of the BaseGyroscope.

+ *

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

+ *

+ * @return              the number of axes.

+ *

+ * @api

+ */

+#define lsm6ds0GyroscopeGetAxesNumber(devp)                                 \

+        gyroscopeGetAxesNumber(&((devp)->gyro_if))

+        

+/**

+ * @brief   Retrieves raw data from the BaseGyroscope.

+ * @note    This data is retrieved from MEMS register without any algebraical

+ *          manipulation.

+ * @note    The axes array must be at least the same size of the

+ *          BaseGyroscope axes number.

+ *

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

+ * @param[out] axes     a buffer which would be filled with raw data.

+ *

+ * @return              The operation status.

+ * @retval MSG_OK       if the function succeeded.

+ * @retval MSG_RESET    if one or more I2C errors occurred, the errors can

+ *                      be retrieved using @p i2cGetErrors().

+ * @retval MSG_TIMEOUT  if a timeout occurred before operation end.

+ *

+ * @api

+ */

+#define lsm6ds0GyroscopeReadRaw(devp, axes)                                 \

+        gyroscopeReadRaw(&((devp)->gyro_if), axes)

+

+/**

+ * @brief   Retrieves cooked data from the BaseGyroscope.

+ * @note    This data is manipulated according to the formula

+ *          cooked = (raw * sensitivity) - bias.

+ * @note    Final data is expressed as DPS.

+ * @note    The axes array must be at least the same size of the

+ *          BaseGyroscope axes number.

+ *

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

+ * @param[out] axes     a buffer which would be filled with cooked data.

+ *

+ * @return              The operation status.

+ * @retval MSG_OK       if the function succeeded.

+ * @retval MSG_RESET    if one or more I2C errors occurred, the errors can

+ *                      be retrieved using @p i2cGetErrors().

+ * @retval MSG_TIMEOUT  if a timeout occurred before operation end.

+ *

+ * @api

+ */

+#define lsm6ds0GyroscopeReadCooked(devp, axes)                              \

+        gyroscopeReadCooked(&((devp)->gyro_if), axes)

+

+/**

+ * @brief   Samples bias values for the BaseGyroscope.

+ * @note    The LSM6DS0 shall not be moved during the whole procedure.

+ * @note    After this function internal bias is automatically updated.

+ * @note    The behavior of this function depends on @P LSM6DS0_BIAS_ACQ_TIMES

+ *          and @p LSM6DS0_BIAS_SETTLING_US.

+ *

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

+ *

+ * @return              The operation status.

+ * @retval MSG_OK       if the function succeeded.

+ * @retval MSG_RESET    if one or more I2C errors occurred, the errors can

+ *                      be retrieved using @p i2cGetErrors().

+ * @retval MSG_TIMEOUT  if a timeout occurred before operation end.

+ *

+ * @api

+ */

+#define lsm6ds0GyroscopeSampleBias(devp)                                    \

+        gyroscopeSampleBias(&((devp)->gyro_if))

+        

+/**

+ * @brief   Set bias values for the BaseGyroscope.

+ * @note    Bias must be expressed as DPS.

+ * @note    The bias buffer must be at least the same size of the BaseGyroscope 

+ *          axes number.

+ *

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

+ * @param[in] bp        a buffer which contains biases.

+ *

+ * @return              The operation status.

+ * @retval MSG_OK       if the function succeeded.

+ *

+ * @api

+ */

+#define lsm6ds0GyroscopeSetBias(devp, bp)                                   \

+        gyroscopeSetBias(&((devp)->gyro_if), bp)

+

+/**

+ * @brief   Reset bias values for the BaseGyroscope.

+ * @note    Default biases value are obtained from device datasheet when

+ *          available otherwise they are considered zero.

+ *

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

+ *

+ * @return              The operation status.

+ * @retval MSG_OK       if the function succeeded.

+ *

+ * @api

+ */

+#define lsm6ds0GyroscopeResetBias(devp)                                     \

+        gyroscopeResetBias(&((devp)->gyro_if))

+

+/**

+ * @brief   Set sensitivity values for the BaseGyroscope.

+ * @note    Sensitivity must be expressed as DPS/LSB.

+ * @note    The sensitivity buffer must be at least the same size of the

+ *          BaseGyroscope axes number.

+ *

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

+ * @param[in] sp        a buffer which contains sensitivities.

+ *

+ * @return              The operation status.

+ * @retval MSG_OK       if the function succeeded.

+ *

+ * @api

+ */

+#define lsm6ds0GyroscopeSetSensitivity(devp, sp)                            \

+        gyroscopeSetSensitivity(&((devp)->gyro_if), sp)

+

+/**

+ * @brief   Reset sensitivity values for the BaseGyroscope.

+ * @note    Default sensitivities value are obtained from device datasheet.

+ *

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

+ *

+ * @return              The operation status.

+ * @retval MSG_OK       if the function succeeded.

+ * @retval MSG_RESET    otherwise.

+ *

+ * @api

+ */

+#define lsm6ds0GyroscopeResetSensitivity(devp)                              \

+        gyroscopeResetSensitivity(&((devp)->gyro_if))

+

+/**

+ * @brief   Changes the LSM6DS0Driver gyroscope fullscale value.

+ * @note    This function also rescale sensitivities and biases based on

+ *          previous and next fullscale value.

+ * @note    A recalibration is highly suggested after calling this function.

+ *

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

+ * @param[in] fs        new fullscale value.

+ *

+ * @return              The operation status.

+ * @retval MSG_OK       if the function succeeded.

+ * @retval MSG_RESET    otherwise.

+ *

+ * @api

+ */

+#define lsm6ds0GyroscopeSetFullScale(devp, fs)                              \

+        (devp)->vmt->acc_set_full_scale(devp, fs)

+  

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

+/* External declarations.                                                    */

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

+

+#ifdef __cplusplus

+extern "C" {

+#endif

+  void lsm6ds0ObjectInit(LSM6DS0Driver *devp);

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

+  void lsm6ds0Stop(LSM6DS0Driver *devp);

+#ifdef __cplusplus

+}

+#endif

+

+#endif /* _LSM6DS0_H_ */

+

+/** @} */

diff --git a/os/ex/ST/lsm6dsl.mk b/os/ex/ST/lsm6dsl.mk
new file mode 100644
index 000000000..438680dda
--- /dev/null
+++ b/os/ex/ST/lsm6dsl.mk
@@ -0,0 +1,10 @@
+# List of all the LSM6DS0 device files.

+LSM6DS0SRC := $(CHIBIOS)/os/ex/ST/lsm6ds0.c

+

+# Required include directories

+LSM6DS0INC := $(CHIBIOS)/os/hal/lib/peripherals/sensors \

+              $(CHIBIOS)/os/ex/ST

+

+# Shared variables

+ALLCSRC += $(LSM6DS0SRC)

+ALLINC  += $(LSM6DS0INC)
\ No newline at end of file