diff options
author | Rocco Marco Guglielmi <roccomarco.guglielmi@live.com> | 2016-08-31 19:37:48 +0000 |
---|---|---|
committer | Rocco Marco Guglielmi <roccomarco.guglielmi@live.com> | 2016-08-31 19:37:48 +0000 |
commit | eb63492a0c965f72b965dd155617d2598a3b83ca (patch) | |
tree | 5c7c2ea0f0659078026790c5c939aa69f25316f7 /os | |
parent | 0cb5879d1da7780ca2b47111c15d81d9ee51bc93 (diff) | |
download | ChibiOS-eb63492a0c965f72b965dd155617d2598a3b83ca.tar.gz ChibiOS-eb63492a0c965f72b965dd155617d2598a3b83ca.tar.bz2 ChibiOS-eb63492a0c965f72b965dd155617d2598a3b83ca.zip |
UpdatedEX: LSM6DS0 driver updated to v1.0.0
git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@9758 35acf78f-673a-0410-8e92-d51de3d6d3f4
Diffstat (limited to 'os')
-rw-r--r-- | os/ex/ST/lsm6ds0.c | 565 | ||||
-rw-r--r-- | os/ex/ST/lsm6ds0.h | 517 |
2 files changed, 639 insertions, 443 deletions
diff --git a/os/ex/ST/lsm6ds0.c b/os/ex/ST/lsm6ds0.c index 054cca679..707c7b90c 100644 --- a/os/ex/ST/lsm6ds0.c +++ b/os/ex/ST/lsm6ds0.c @@ -33,93 +33,6 @@ /* Driver local definitions. */
/*===========================================================================*/
-#define LSM6DS0_ACC_SENS_2G ((float)0.061f)
-#define LSM6DS0_ACC_SENS_4G ((float)0.122f)
-#define LSM6DS0_ACC_SENS_8G ((float)0.244f)
-#define LSM6DS0_ACC_SENS_16G ((float)0.732f)
-
-#define LSM6DS0_GYRO_SENS_245DPS ((float)0.00875f)
-#define LSM6DS0_GYRO_SENS_500DPS ((float)0.01750f)
-#define LSM6DS0_GYRO_SENS_2000DPS ((float)0.07000f)
-
-#define LSM6DS0_TEMP_SENS ((float)16.0f)
-#define LSM6DS0_TEMP_SENS_OFF ((float)25.0f)
-
-#define LSM6DS0_DI ((uint8_t)0xFF)
-#define LSM6DS0_DI_0 ((uint8_t)0x01)
-#define LSM6DS0_DI_1 ((uint8_t)0x02)
-#define LSM6DS0_DI_2 ((uint8_t)0x04)
-#define LSM6DS0_DI_3 ((uint8_t)0x08)
-#define LSM6DS0_DI_4 ((uint8_t)0x10)
-#define LSM6DS0_DI_5 ((uint8_t)0x20)
-#define LSM6DS0_DI_6 ((uint8_t)0x40)
-#define LSM6DS0_DI_7 ((uint8_t)0x80)
-
-#define LSM6DS0_AD_0 ((uint8_t)0x01)
-#define LSM6DS0_AD_1 ((uint8_t)0x02)
-#define LSM6DS0_AD_2 ((uint8_t)0x04)
-#define LSM6DS0_AD_3 ((uint8_t)0x08)
-#define LSM6DS0_AD_4 ((uint8_t)0x10)
-#define LSM6DS0_AD_5 ((uint8_t)0x20)
-#define LSM6DS0_AD_6 ((uint8_t)0x40)
-
-#define LSM6DS0_RW ((uint8_t)0x80)
-
-#define LSM6DS0_AD_ACT_THS ((uint8_t)0x04)
-#define LSM6DS0_AD_ACT_DUR ((uint8_t)0x05)
-#define LSM6DS0_AD_INT_GEN_CFG_XL ((uint8_t)0x06)
-#define LSM6DS0_AD_INT_GEN_THS_X_XL ((uint8_t)0x07)
-#define LSM6DS0_AD_INT_GEN_THS_Y_XL ((uint8_t)0x08)
-#define LSM6DS0_AD_INT_GEN_THS_Z_XL ((uint8_t)0x09)
-#define LSM6DS0_AD_INT_GEN_DUR_XL ((uint8_t)0x0A)
-#define LSM6DS0_AD_REFERENCE_G ((uint8_t)0x0B)
-#define LSM6DS0_AD_INT_CTRL ((uint8_t)0x0C)
-#define LSM6DS0_AD_WHO_AM_I ((uint8_t)0x0F)
-#define LSM6DS0_AD_CTRL_REG1_G ((uint8_t)0x10)
-#define LSM6DS0_AD_CTRL_REG2_G ((uint8_t)0x11)
-#define LSM6DS0_AD_CTRL_REG3_G ((uint8_t)0x12)
-#define LSM6DS0_AD_ORIENT_CFG_G ((uint8_t)0x13)
-#define LSM6DS0_AD_INT_GEN_SRC_G ((uint8_t)0x14)
-#define LSM6DS0_AD_OUT_TEMP_L ((uint8_t)0x15)
-#define LSM6DS0_AD_OUT_TEMP_H ((uint8_t)0x16)
-#define LSM6DS0_AD_STATUS_REG1 ((uint8_t)0x17)
-#define LSM6DS0_AD_OUT_X_L_G ((uint8_t)0x18)
-#define LSM6DS0_AD_OUT_X_H_G ((uint8_t)0x19)
-#define LSM6DS0_AD_OUT_Y_L_G ((uint8_t)0x1A)
-#define LSM6DS0_AD_OUT_Y_H_G ((uint8_t)0x1B)
-#define LSM6DS0_AD_OUT_Z_L_G ((uint8_t)0x1C)
-#define LSM6DS0_AD_OUT_Z_H_G ((uint8_t)0x1D)
-#define LSM6DS0_AD_CTRL_REG4 ((uint8_t)0x1E)
-#define LSM6DS0_AD_CTRL_REG5_XL ((uint8_t)0x1F)
-#define LSM6DS0_AD_CTRL_REG6_XL ((uint8_t)0x20)
-#define LSM6DS0_AD_CTRL_REG7_XL ((uint8_t)0x21)
-#define LSM6DS0_AD_CTRL_REG8 ((uint8_t)0x22)
-#define LSM6DS0_AD_CTRL_REG9 ((uint8_t)0x23)
-#define LSM6DS0_AD_CTRL_REG10 ((uint8_t)0x24)
-#define LSM6DS0_AD_INT_GEN_SRC_XL ((uint8_t)0x26)
-#define LSM6DS0_AD_STATUS_REG2 ((uint8_t)0x27)
-#define LSM6DS0_AD_OUT_X_L_XL ((uint8_t)0x28)
-#define LSM6DS0_AD_OUT_X_H_XL ((uint8_t)0x29)
-#define LSM6DS0_AD_OUT_Y_L_XL ((uint8_t)0x2A)
-#define LSM6DS0_AD_OUT_Y_H_XL ((uint8_t)0x2B)
-#define LSM6DS0_AD_OUT_Z_L_XL ((uint8_t)0x2C)
-#define LSM6DS0_AD_OUT_Z_H_XL ((uint8_t)0x2D)
-#define LSM6DS0_AD_FIFO_CTRL ((uint8_t)0x2E)
-#define LSM6DS0_AD_FIFO_SRC ((uint8_t)0x2F)
-#define LSM6DS0_AD_INT_GEN_CFG_G ((uint8_t)0x30)
-#define LSM6DS0_AD_INT_GEN_THS_XH_G ((uint8_t)0x31)
-#define LSM6DS0_AD_INT_GEN_THS_XL_G ((uint8_t)0x32)
-#define LSM6DS0_AD_INT_GEN_THS_YH_G ((uint8_t)0x33)
-#define LSM6DS0_AD_INT_GEN_THS_YL_G ((uint8_t)0x34)
-#define LSM6DS0_AD_INT_GEN_THS_ZH_G ((uint8_t)0x35)
-#define LSM6DS0_AD_INT_GEN_THS_ZL_G ((uint8_t)0x36)
-#define LSM6DS0_AD_INT_GEN_DUR_G ((uint8_t)0x37)
-
-#define LSM6DS0_CTRL_REG1_G_FS_MASK ((uint8_t)0x18)
-#define LSM6DS0_CTRL_REG6_XL_FS_MASK ((uint8_t)0x18)
-
-#define TO_G ((float)0.001f)
-#define TO_SI ((float)0.00981f)
/*===========================================================================*/
/* Driver exported variables. */
/*===========================================================================*/
@@ -194,70 +107,10 @@ uint8_t lsm6ds0I2CReadRegister(I2CDriver *i2cp, lsm6ds0_sad_t sad, uint8_t reg, */
msg_t lsm6ds0I2CWriteRegister(I2CDriver *i2cp, lsm6ds0_sad_t sad, uint8_t reg,
uint8_t value) {
- uint8_t rxbuf;
uint8_t txbuf[2];
- switch (reg) {
- default:
- /* Reserved register must not be written, according to the datasheet
- * this could permanently damage the device.
- */
- osalDbgAssert(FALSE, "lsm6ds0WriteRegisterI2C(), reserved register");
- case LSM6DS0_AD_WHO_AM_I:
- case LSM6DS0_AD_INT_GEN_SRC_G:
- case LSM6DS0_AD_OUT_TEMP_L:
- case LSM6DS0_AD_OUT_TEMP_H:
- case LSM6DS0_AD_STATUS_REG1:
- case LSM6DS0_AD_OUT_X_L_G:
- case LSM6DS0_AD_OUT_X_H_G:
- case LSM6DS0_AD_OUT_Y_L_G:
- case LSM6DS0_AD_OUT_Y_H_G:
- case LSM6DS0_AD_OUT_Z_L_G:
- case LSM6DS0_AD_OUT_Z_H_G:
- case LSM6DS0_AD_INT_GEN_SRC_XL:
- case LSM6DS0_AD_STATUS_REG2:
- case LSM6DS0_AD_OUT_X_L_XL:
- case LSM6DS0_AD_OUT_X_H_XL:
- case LSM6DS0_AD_OUT_Y_L_XL:
- case LSM6DS0_AD_OUT_Y_H_XL:
- case LSM6DS0_AD_OUT_Z_L_XL:
- case LSM6DS0_AD_OUT_Z_H_XL:
- case LSM6DS0_AD_FIFO_SRC:
- /* Read only registers cannot be written, the command is ignored.*/
- return MSG_RESET;
- case LSM6DS0_AD_ACT_THS:
- case LSM6DS0_AD_ACT_DUR:
- case LSM6DS0_AD_INT_GEN_CFG_XL:
- case LSM6DS0_AD_INT_GEN_THS_X_XL:
- case LSM6DS0_AD_INT_GEN_THS_Y_XL:
- case LSM6DS0_AD_INT_GEN_THS_Z_XL:
- case LSM6DS0_AD_INT_GEN_DUR_XL:
- case LSM6DS0_AD_REFERENCE_G:
- case LSM6DS0_AD_INT_CTRL:
- case LSM6DS0_AD_CTRL_REG1_G:
- case LSM6DS0_AD_CTRL_REG2_G:
- case LSM6DS0_AD_CTRL_REG3_G:
- case LSM6DS0_AD_ORIENT_CFG_G:
- case LSM6DS0_AD_CTRL_REG4:
- case LSM6DS0_AD_CTRL_REG5_XL:
- case LSM6DS0_AD_CTRL_REG6_XL:
- case LSM6DS0_AD_CTRL_REG7_XL:
- case LSM6DS0_AD_CTRL_REG8:
- case LSM6DS0_AD_CTRL_REG9:
- case LSM6DS0_AD_CTRL_REG10:
- case LSM6DS0_AD_FIFO_CTRL:
- case LSM6DS0_AD_INT_GEN_CFG_G:
- case LSM6DS0_AD_INT_GEN_THS_XH_G:
- case LSM6DS0_AD_INT_GEN_THS_XL_G:
- case LSM6DS0_AD_INT_GEN_THS_YH_G:
- case LSM6DS0_AD_INT_GEN_THS_YL_G:
- case LSM6DS0_AD_INT_GEN_THS_ZH_G:
- case LSM6DS0_AD_INT_GEN_THS_ZL_G:
- case LSM6DS0_AD_INT_GEN_DUR_G:
- txbuf[0] = reg;
- txbuf[1] = value;
- return i2cMasterTransmitTimeout(i2cp, sad, txbuf, 2, &rxbuf, 0, TIME_INFINITE);
- break;
- }
+ txbuf[0] = reg;
+ txbuf[1] = value;
+ return i2cMasterTransmitTimeout(i2cp, sad, txbuf, 2, NULL, 0, TIME_INFINITE);
}
#endif /* LSM6DS0_USE_I2C */
@@ -289,6 +142,7 @@ 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;
osalDbgCheck(((ip != NULL) && (axes != NULL)) &&
(((LSM6DS0Driver *)ip)->config->acccfg != NULL));
osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY),
@@ -302,33 +156,41 @@ static msg_t acc_read_raw(void *ip, int32_t axes[]) { i2cStart(((LSM6DS0Driver *)ip)->config->i2cp,
((LSM6DS0Driver *)ip)->config->i2ccfg);
#endif /* LSM6DS0_SHARED_I2C */
- if(((LSM6DS0Driver *)ip)->config->acccfg->axesenabling & LSM6DS0_ACC_AE_X){
- tmp = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
- ((LSM6DS0Driver *)ip)->config->slaveaddress,
- LSM6DS0_AD_OUT_X_L_XL, NULL);
- tmp += lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
- ((LSM6DS0Driver *)ip)->config->slaveaddress,
- LSM6DS0_AD_OUT_X_H_XL, NULL) << 8;
- axes[0] = (int32_t)tmp - ((LSM6DS0Driver *)ip)->accbias[0];
- }
- if(((LSM6DS0Driver *)ip)->config->acccfg->axesenabling & LSM6DS0_ACC_AE_Y){
- tmp = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
- ((LSM6DS0Driver *)ip)->config->slaveaddress,
- LSM6DS0_AD_OUT_Y_L_XL, NULL);
- tmp += lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
- ((LSM6DS0Driver *)ip)->config->slaveaddress,
- LSM6DS0_AD_OUT_Y_H_XL, NULL) << 8;
- axes[1] = (int32_t)tmp - ((LSM6DS0Driver *)ip)->accbias[1];
- }
- if(((LSM6DS0Driver *)ip)->config->acccfg->axesenabling & LSM6DS0_ACC_AE_Z){
- tmp = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
- ((LSM6DS0Driver *)ip)->config->slaveaddress,
- LSM6DS0_AD_OUT_Z_L_XL, NULL);
- tmp += lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
- ((LSM6DS0Driver *)ip)->config->slaveaddress,
- LSM6DS0_AD_OUT_Z_H_XL, NULL) << 8;
- axes[2] = (int32_t)tmp - ((LSM6DS0Driver *)ip)->accbias[2];
- }
+ 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;
#if LSM6DS0_SHARED_I2C
i2cReleaseBus(((LSM6DS0Driver *)ip)->config->i2cp);
#endif /* LSM6DS0_SHARED_I2C */
@@ -338,6 +200,7 @@ static msg_t acc_read_raw(void *ip, int32_t axes[]) { static msg_t gyro_read_raw(void *ip, int32_t axes[]) {
int16_t tmp;
+ msg_t msg = MSG_OK;
osalDbgCheck(((ip != NULL) && (axes != NULL)) &&
(((LSM6DS0Driver *)ip)->config->gyrocfg != NULL));
osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY),
@@ -351,33 +214,41 @@ static msg_t gyro_read_raw(void *ip, int32_t axes[]) { i2cStart(((LSM6DS0Driver *)ip)->config->i2cp,
((LSM6DS0Driver *)ip)->config->i2ccfg);
#endif /* LSM6DS0_SHARED_I2C */
- if(((LSM6DS0Driver *)ip)->config->gyrocfg->axesenabling & LSM6DS0_GYRO_AE_X){
- tmp = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
- ((LSM6DS0Driver *)ip)->config->slaveaddress,
- LSM6DS0_AD_OUT_X_L_G, NULL);
- tmp += lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
- ((LSM6DS0Driver *)ip)->config->slaveaddress,
+ 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;
- axes[0] = (int32_t)tmp - ((LSM6DS0Driver *)ip)->gyrobias[0];
- }
- if(((LSM6DS0Driver *)ip)->config->acccfg->axesenabling & LSM6DS0_GYRO_AE_Y){
- tmp = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
- ((LSM6DS0Driver *)ip)->config->slaveaddress,
- LSM6DS0_AD_OUT_Y_L_G, NULL);
- tmp += lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
- ((LSM6DS0Driver *)ip)->config->slaveaddress,
- LSM6DS0_AD_OUT_Y_H_G, NULL) << 8;
- axes[1] = (int32_t)tmp - ((LSM6DS0Driver *)ip)->gyrobias[1];
- }
- if(((LSM6DS0Driver *)ip)->config->acccfg->axesenabling & LSM6DS0_GYRO_AE_Z){
- tmp = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
- ((LSM6DS0Driver *)ip)->config->slaveaddress,
- LSM6DS0_AD_OUT_Z_L_G, NULL);
- tmp += lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
- ((LSM6DS0Driver *)ip)->config->slaveaddress,
- LSM6DS0_AD_OUT_Z_H_G, NULL) << 8;
- axes[2] = (int32_t)tmp - ((LSM6DS0Driver *)ip)->gyrobias[2];
- }
+ if (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;
#if LSM6DS0_SHARED_I2C
i2cReleaseBus(((LSM6DS0Driver *)ip)->config->i2cp);
#endif /* LSM6DS0_SHARED_I2C */
@@ -414,12 +285,7 @@ static msg_t acc_read_cooked(void *ip, float axes[]) { msg = acc_read_raw(ip, raw);
for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES ; i++){
axes[i] = raw[i] * ((LSM6DS0Driver *)ip)->accsensitivity[i];
- if(((LSM6DS0Driver *)ip)->config->acccfg->unit == LSM6DS0_ACC_UNIT_G){
- axes[i] *= TO_G;
- }
- else if(((LSM6DS0Driver *)ip)->config->acccfg->unit == LSM6DS0_ACC_UNIT_SI){
- axes[i] *= TO_SI;
- }
+ axes[i] -= ((LSM6DS0Driver *)ip)->accbias[i];
}
return msg;
}
@@ -438,6 +304,7 @@ 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];
}
return msg;
}
@@ -470,8 +337,8 @@ 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];
}
@@ -480,6 +347,7 @@ 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];
}
return msg;
}
@@ -605,13 +473,13 @@ static msg_t gyro_reset_sensivity(void *ip) { osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY),
"gyro_reset_sensivity(), invalid state");
- if(((LSM6DS0Driver *)ip)->config->gyrocfg->fullscale == LSM6DS0_GYRO_FS_245DSP)
+ if(((LSM6DS0Driver *)ip)->config->gyrocfg->fullscale == LSM6DS0_GYRO_FS_245DPS)
for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)
((LSM6DS0Driver *)ip)->gyrosensitivity[i] = LSM6DS0_GYRO_SENS_245DPS;
- else if(((LSM6DS0Driver *)ip)->config->gyrocfg->fullscale == LSM6DS0_GYRO_FS_500DSP)
+ else if(((LSM6DS0Driver *)ip)->config->gyrocfg->fullscale == LSM6DS0_GYRO_FS_500DPS)
for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)
((LSM6DS0Driver *)ip)->gyrosensitivity[i] = LSM6DS0_GYRO_SENS_500DPS;
- else if(((LSM6DS0Driver *)ip)->config->gyrocfg->fullscale == LSM6DS0_GYRO_FS_2000DSP)
+ else if(((LSM6DS0Driver *)ip)->config->gyrocfg->fullscale == LSM6DS0_GYRO_FS_2000DPS)
for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)
((LSM6DS0Driver *)ip)->gyrosensitivity[i] = LSM6DS0_GYRO_SENS_2000DPS;
else {
@@ -621,27 +489,98 @@ static msg_t gyro_reset_sensivity(void *ip) { return MSG_OK;
}
-static msg_t sens_get_temperature(void *ip, float* tempp) {
- int16_t temp;
-#if LSM6DS0_USE_I2C
- osalDbgAssert((((LSM6DS0Driver *)ip)->config->i2cp->state == I2C_READY),
- "gyro_read_raw(), channel not ready");
-#if LSM6DS0_SHARED_I2C
- i2cAcquireBus(((LSM6DS0Driver *)ip)->config->i2cp);
- i2cStart(((LSM6DS0Driver *)ip)->config->i2cp,
- ((LSM6DS0Driver *)ip)->config->i2ccfg);
-#endif /* LSM6DS0_SHARED_I2C */
- temp = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
+static msg_t acc_set_full_scale(void *ip, lsm6ds0_acc_fs_t fs) {
+ float newfs, scale;
+ uint8_t i, cr;
+ msg_t msg;
+
+ if(fs == LSM6DS0_ACC_FS_2G) {
+ newfs = LSM6DS0_ACC_2G;
+ }
+ else if(fs == LSM6DS0_ACC_FS_4G) {
+ newfs = LSM6DS0_ACC_4G;
+ }
+ else if(fs == LSM6DS0_ACC_FS_8G) {
+ newfs = LSM6DS0_ACC_8G;
+ }
+ else if(fs == LSM6DS0_ACC_FS_16G) {
+ newfs = LSM6DS0_ACC_16G;
+ }
+ else {
+ return MSG_RESET;
+ }
+
+ if(newfs != ((LSM6DS0Driver *)ip)->accfullscale) {
+ scale = newfs / ((LSM6DS0Driver *)ip)->accfullscale;
+ ((LSM6DS0Driver *)ip)->accfullscale = newfs;
+
+ /* Updating register.*/
+ cr = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
((LSM6DS0Driver *)ip)->config->slaveaddress,
- LSM6DS0_AD_OUT_TEMP_L, NULL);
- temp += lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
- ((LSM6DS0Driver *)ip)->config->slaveaddress,
- LSM6DS0_AD_OUT_TEMP_H, NULL) << 8;
-#if LSM6DS0_SHARED_I2C
- i2cReleaseBus(((LSM6DS0Driver *)ip)->config->i2cp);
-#endif /* LSM6DS0_SHARED_I2C */
-#endif /* LSM6DS0_USE_I2C */
- *tempp = ((float)temp / LSM6DS0_TEMP_SENS) + LSM6DS0_TEMP_SENS_OFF;
+ LSM6DS0_AD_CTRL_REG6_XL, &msg);
+ if(msg != MSG_OK)
+ return msg;
+
+ cr &= ~(LSM6DS0_CTRL_REG6_XL_FS_MASK);
+ cr |= fs;
+ msg = lsm6ds0I2CWriteRegister(((LSM6DS0Driver *)ip)->config->i2cp,
+ ((LSM6DS0Driver *)ip)->config->slaveaddress,
+ LSM6DS0_AD_CTRL_REG6_XL, cr);
+ 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;
+}
+
+static msg_t gyro_set_full_scale(void *ip, lsm6ds0_gyro_fs_t fs) {
+ float newfs, scale;
+ uint8_t i, cr;
+ msg_t msg;
+
+ if(fs == LSM6DS0_GYRO_FS_245DPS) {
+ newfs = LSM6DS0_GYRO_245DPS;
+ }
+ else if(fs == LSM6DS0_GYRO_FS_500DPS) {
+ newfs = LSM6DS0_GYRO_500DPS;
+ }
+ else if(fs == LSM6DS0_GYRO_FS_2000DPS) {
+ newfs = LSM6DS0_GYRO_2000DPS;
+ }
+ else {
+ return MSG_RESET;
+ }
+
+ if(newfs != ((LSM6DS0Driver *)ip)->gyrofullscale) {
+ scale = newfs / ((LSM6DS0Driver *)ip)->gyrofullscale;
+ ((LSM6DS0Driver *)ip)->gyrofullscale = newfs;
+
+ /* Updating register.*/
+ cr = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
+ ((LSM6DS0Driver *)ip)->config->slaveaddress,
+ LSM6DS0_AD_CTRL_REG1_G, &msg);
+ if(msg != MSG_OK)
+ return msg;
+
+ cr &= ~(LSM6DS0_CTRL_REG1_G_FS_MASK);
+ cr |= fs;
+ msg = lsm6ds0I2CWriteRegister(((LSM6DS0Driver *)ip)->config->i2cp,
+ ((LSM6DS0Driver *)ip)->config->slaveaddress,
+ LSM6DS0_AD_CTRL_REG1_G, cr);
+ 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;
}
@@ -662,13 +601,14 @@ static const struct BaseAccelerometerVMT vmt_baseaccelerometer = { static const struct LSM6DS0ACCVMT vmt_lsm6ds0acc = {
acc_get_axes_number, acc_read_raw, acc_read_cooked,
- acc_set_bias, acc_reset_bias, acc_set_sensivity, acc_reset_sensivity
+ acc_set_bias, acc_reset_bias, acc_set_sensivity, acc_reset_sensivity,
+ acc_set_full_scale
};
static const struct LSM6DS0GYROVMT vmt_lsm6ds0gyro = {
gyro_get_axes_number, gyro_read_raw, gyro_read_cooked,
gyro_sample_bias, gyro_set_bias, gyro_reset_bias,
- gyro_set_sensivity, gyro_reset_sensivity, sens_get_temperature
+ gyro_set_sensivity, gyro_reset_sensivity, gyro_set_full_scale
};
/*===========================================================================*/
@@ -707,6 +647,7 @@ void lsm6ds0ObjectInit(LSM6DS0Driver *devp) { */
void lsm6ds0Start(LSM6DS0Driver *devp, const LSM6DS0Config *config) {
uint32_t i;
+ uint8_t cr;
osalDbgCheck((devp != NULL) && (config != NULL));
osalDbgAssert((devp->state == LSM6DS0_STOP) || (devp->state == LSM6DS0_READY),
@@ -721,47 +662,87 @@ void lsm6ds0Start(LSM6DS0Driver *devp, const LSM6DS0Config *config) { i2cStart((devp)->config->i2cp,
(devp)->config->i2ccfg);
if((devp)->config->acccfg != NULL) {
- lsm6ds0I2CWriteRegister(devp->config->i2cp,
- devp->config->slaveaddress,
- LSM6DS0_AD_CTRL_REG5_XL,
- devp->config->acccfg->decmode |
- devp->config->acccfg->axesenabling);
- lsm6ds0I2CWriteRegister(devp->config->i2cp,
- devp->config->slaveaddress,
- LSM6DS0_AD_CTRL_REG6_XL,
- devp->config->acccfg->outdatarate |
- devp->config->acccfg->fullscale );
+ /* Control register 5 configuration block.*/
+ {
+ cr = 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;
+
+#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);
+ }
}
if((devp)->config->gyrocfg != NULL) {
- lsm6ds0I2CWriteRegister(devp->config->i2cp,
- devp->config->slaveaddress,
- LSM6DS0_AD_CTRL_REG1_G,
- devp->config->gyrocfg->fullscale |
- devp->config->gyrocfg->outdatarate);
- lsm6ds0I2CWriteRegister(devp->config->i2cp,
- devp->config->slaveaddress,
- LSM6DS0_AD_CTRL_REG2_G,
- devp->config->gyrocfg->outsel);
- lsm6ds0I2CWriteRegister(devp->config->i2cp,
- devp->config->slaveaddress,
- LSM6DS0_AD_CTRL_REG3_G,
- devp->config->gyrocfg->hpfenable |
- devp->config->gyrocfg->lowmodecfg |
- devp->config->gyrocfg->hpcfg);
- lsm6ds0I2CWriteRegister(devp->config->i2cp,
- devp->config->slaveaddress,
- LSM6DS0_AD_CTRL_REG4,
- devp->config->gyrocfg->axesenabling);
- lsm6ds0I2CWriteRegister(devp->config->i2cp,
- devp->config->slaveaddress,
- LSM6DS0_AD_CTRL_REG9,
- LSM6DS0_GYRO_SLP_DISABLED);
- }
- lsm6ds0I2CWriteRegister(devp->config->i2cp,
- devp->config->slaveaddress,
- LSM6DS0_AD_CTRL_REG8,
- devp->config->endianness |
- devp->config->blockdataupdate);
+ /* Control register 1 configuration block.*/
+ {
+ cr = devp->config->gyrocfg->fullscale |
+ devp->config->gyrocfg->outdatarate;
+#if LSM6DS0_GYRO_USE_ADVANCED || defined(__DOXYGEN__)
+ cr |= 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;
+#if LSM6DS0_GYRO_USE_ADVANCED || defined(__DOXYGEN__)
+ cr |= 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;
+#if LSM6DS0_GYRO_USE_ADVANCED || defined(__DOXYGEN__)
+ cr |= 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);
+ }
+
+ /* Control register 9 configuration block.*/
+ {
+ cr = LSM6DS0_GYRO_SLP_DISABLED;
+ lsm6ds0I2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
+ LSM6DS0_AD_CTRL_REG9, cr);
+ }
+ }
+
+ /* 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 */
@@ -769,30 +750,44 @@ void lsm6ds0Start(LSM6DS0Driver *devp, const LSM6DS0Config *config) { /* Storing sensitivity information according to full scale value */
if((devp)->config->acccfg != NULL) {
if(devp->config->acccfg->fullscale == LSM6DS0_ACC_FS_2G)
- for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)
+ for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) {
devp->accsensitivity[i] = LSM6DS0_ACC_SENS_2G;
+ 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++)
+ for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++){
devp->accsensitivity[i] = LSM6DS0_ACC_SENS_4G;
+ 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++)
+ for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++){
devp->accsensitivity[i] = LSM6DS0_ACC_SENS_8G;
+ 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++)
+ for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++){
devp->accsensitivity[i] = LSM6DS0_ACC_SENS_16G;
+ 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_245DSP)
- for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++)
+ 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;
- else if(devp->config->gyrocfg->fullscale == LSM6DS0_GYRO_FS_500DSP)
- for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++)
+ 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;
- else if(devp->config->gyrocfg->fullscale == LSM6DS0_GYRO_FS_2000DSP)
- for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++)
+ 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;
+ }
else
osalDbgAssert(FALSE, "lsm6ds0Start(), gyroscope full scale issue");
}
diff --git a/os/ex/ST/lsm6ds0.h b/os/ex/ST/lsm6ds0.h index a2cee28ec..34efdcec3 100644 --- a/os/ex/ST/lsm6ds0.h +++ b/os/ex/ST/lsm6ds0.h @@ -35,14 +35,260 @@ /*===========================================================================*/
/**
- * @brief LSM6DS0 accelerometer subsystem number of axes.
+ * @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.
+ *
+ * @{
+ */
+#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 0.732f
+/** @} */
+
+/**
+ * @brief LSM6DS0 gyroscope subsystem characteristics.
+ *
+ * @{
+ */
+#define LSM6DS0_GYRO_NUMBER_OF_AXES 3U
+
+#define LSM6DS0_GYRO_245DPS 245.0f
+#define LSM6DS0_GYRO_500DPS 500.0f
+#define LSM6DS0_GYRO_2000DPS 2000.0f
+
+#define LSM6DS0_GYRO_SENS_245DPS 0.00875f
+#define LSM6DS0_GYRO_SENS_500DPS 0.01750f
+#define LSM6DS0_GYRO_SENS_2000DPS 0.07000f
+/** @} */
+
+/**
+ * @name LSM6DS0 communication interfaces related bit masks
+ * @{
+ */
+#define LSM6DS0_DI_MASK 0xFF /**< Data In mask */
+#define LSM6DS0_DI(n) (1 << n) /**< Data In bit n */
+#define LSM6DS0_AD_MASK 0x7F /**< Address Data mask */
+#define LSM6DS0_AD(n) (1 << n) /**< Address Data bit n */
+#define LSM6DS0_MS (1 << 7) /**< Multiple read write */
+/** @} */
+
+/**
+ * @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_ACC_NUMBER_OF_AXES ((size_t) 3U)
+#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)
+/** @} */
/**
- * @brief LSM6DS0 gyroscope subsystem number of axes.
+ * @name LSM6DS0_AD_CTRL_REG10 register bits definitions
+ * @{
*/
-#define LSM6DS0_GYRO_NUMBER_OF_AXES ((size_t) 3U)
+#define LSM6DS0_CTRL_REG10 0x05
+#define LSM6DS0_CTRL_REG10_ST_XL (1 << 0)
+#define LSM6DS0_CTRL_REG10_ST_G (1 << 2)
+
+/** @} */
+
+//TODO: ADD more LSM6DS0 register bits definitions
/*===========================================================================*/
/* Driver pre-compile time settings. */
@@ -81,6 +327,35 @@ #endif
/**
+ * @brief LSM6DS0 subsystem 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.
@@ -126,7 +401,6 @@ * @name LSM6DS0 accelerometer subsystem data structures and types.
* @{
*/
-
/**
* @brief LSM6DS0 accelerometer subsystem full scale.
*/
@@ -151,65 +425,6 @@ typedef enum { } lsm6ds0_acc_odr_t;
/**
- * @brief LSM6DS0 accelerometer subsystem axes enabling.
- */
-typedef enum {
- LSM6DS0_ACC_AE_DISABLED = 0x00, /**< All axes disabled. */
- LSM6DS0_ACC_AE_X = 0x08, /**< Only X-axis enabled. */
- LSM6DS0_ACC_AE_Y = 0x10, /**< Only Y-axis enabled. */
- LSM6DS0_ACC_AE_XY = 0x18, /**< X and Y axes enabled. */
- LSM6DS0_ACC_AE_Z = 0x20, /**< Only Z-axis enabled. */
- LSM6DS0_ACC_AE_XZ = 0x28, /**< X and Z axes enabled. */
- LSM6DS0_ACC_AE_YZ = 0x30, /**< Y and Z axes enabled. */
- LSM6DS0_ACC_AE_XYZ = 0x38 /**< All axes enabled. */
-} lsm6ds0_acc_ae_t;
-
-/**
- * @brief LSM6DS0 accelerometer subsystem anti aliasing filter bandwidth.
- */
-typedef enum {
- LSM6DS0_ACC_OBW_ODR = 0x00, /**< Depending on ODR. */
- LSM6DS0_ACC_OBW_AA = 0x04 /**< Same of the Anti aliasing. */
-} lsm6ds0_acc_obw_t;
-
-/**
- * @brief LSM6DS0 accelerometer subsystem high resolution mode.
- */
-typedef enum {
- LSM6DS0_ACC_HR_DISABLED = 0x00, /**< High resolution mode disabled. */
- LSM6DS0_ACC_HR_ENABLED = 0x80 /**< High resolution mode enabled. */
-} lsm6ds0_acc_hr_t;
-
-/**
- * @brief LSM6DS0 accelerometer subsystem filtered data selection.
- */
-typedef enum {
- LSM6DS0_ACC_FDS_ENABLED = 0x00, /**< Internal filter bypassed. */
- LSM6DS0_ACC_FDS_DISABLED = 0x04 /**< Internal filter not bypassed. */
-} lsm6ds0_acc_fds_t;
-
-/**
- * @brief LSM6DS0 accelerometer subsystem digital filter.
- */
-typedef enum {
- LSM6DS0_ACC_DCF_400 = 0x00, /**< Low pass cutoff freq. ODR/400 Hz. */
- LSM6DS0_ACC_DCF_100 = 0x20, /**< Low pass cutoff freq. ODR/100 Hz. */
- LSM6DS0_ACC_DCF_50 = 0x60, /**< Low pass cutoff freq. ODR/50 Hz. */
- LSM6DS0_ACC_DCF_9 = 0x40 /**< Low pass cutoff freq. ODR/9 Hz. */
-} lsm6ds0_acc_dcf_t;
-
-/**
- * @brief LSM6DS0 accelerometer subsystem anti aliasing filter bandwidth.
- */
-typedef enum {
- LSM6DS0_ACC_AABW_408Hz = 0x00, /**< Anti Aliasing filter BW 408Hz. */
- LSM6DS0_ACC_AABW_211Hz = 0x01, /**< Anti Aliasing filter BW 211Hz. */
- LSM6DS0_ACC_AABW_105Hz = 0x02, /**< Anti Aliasing filter BW 105Hz. */
- LSM6DS0_ACC_AABW_50Hz = 0x03, /**< Anti Aliasing filter BW 50Hz. */
- LSM6DS0_ACC_AABW_AUTO = 0x04 /**< Anti Aliasing filter BW auto. */
-} lsm6ds0_acc_aabw_t;
-
-/**
* @brief LSM6DS0 accelerometer subsystem decimation mode.
*/
typedef enum {
@@ -220,76 +435,49 @@ typedef enum { } lsm6ds0_acc_dec_t;
/**
- * @brief LSM6DS0 accelerometer subsystem unit.
- */
-typedef enum {
- LSM6DS0_ACC_UNIT_G = 0x00, /**< Cooked data in g. */
- LSM6DS0_ACC_UNIT_MG = 0x01, /**< Cooked data in mg. */
- LSM6DS0_ACC_UNIT_SI = 0x02, /**< Cooked data in m/s^2. */
-} lsm6ds0_acc_unit_t;
-
-/**
* @brief LSM6DS0 accelerometer subsystem configuration structure.
*/
typedef struct {
/**
- * @brief LSM6DS0 accelerometer subsystem full scale.
- */
- lsm6ds0_acc_fs_t fullscale;
- /**
- * @brief LSM6DS0 accelerometer subsystem output data rate.
- */
- lsm6ds0_acc_odr_t outdatarate;
- /**
- * @brief LSM6DS0 accelerometer subsystem axes enabling.
- */
- lsm6ds0_acc_ae_t axesenabling;
- /**
- * @brief LSM6DS0 accelerometer subsystem output bandwidth.
+ * @brief LSM6DS0 accelerometer initial sensitivity.
*/
- lsm6ds0_acc_obw_t outbandwidth;
+ float sensitivity[LSM6DS0_ACC_NUMBER_OF_AXES];
/**
- * @brief LSM6DS0 accelerometer subsystem high resolution mode.
+ * @brief LSM6DS0 accelerometer initial bias.
*/
- lsm6ds0_acc_hr_t highresmode;
+ float bias[LSM6DS0_ACC_NUMBER_OF_AXES];
/**
- * @brief LSM6DS0 accelerometer subsystem filtered data selection.
+ * @brief LSM6DS0 accelerometer subsystem full scale.
*/
- lsm6ds0_acc_fds_t filtdatasel;
+ lsm6ds0_acc_fs_t fullscale;
/**
- * @brief LSM6DS0 accelerometer subsystem digital filter.
+ * @brief LSM6DS0 accelerometer subsystem output data rate.
*/
- lsm6ds0_acc_dcf_t digifilter;
+ lsm6ds0_acc_odr_t outdatarate;
+#if LSM6DS0_ACC_USE_ADVANCED || defined(__DOXYGEN__)
/**
- * @brief LSM6DS0 accelerometer subsystem anti aliasing filter bandwidth.
+ * @brief LSM6DS0 accelerometer subsystem decimation mode.
*/
- lsm6ds0_acc_aabw_t aabandwidth;
- /**
- * @brief LSM6DS0 accelerometer subsystem decimation mode.
- */
- lsm6ds0_acc_dec_t decmode;
- /**
- * @brief LSM6DS0 accelerometer subsystem unit.
- */
- lsm6ds0_acc_unit_t unit;
+ lsm6ds0_acc_dec_t decmode;
+#endif /* LSM6DS0_ACC_USE_ADVANCED */
} LSM6DS0AccConfig;
/** @} */
/**
- * @name LSM6DS0 gyroscope subsystem data structures and types.
+ * @name LSM6DS0 gyroscope subsystem data structures and types.
* @{
*/
/**
- * @brief LSM6DS0 gyroscope subsystem full scale.
+ * @brief LSM6DS0 gyroscope subsystem full scale.
*/
typedef enum {
- LSM6DS0_GYRO_FS_245DSP = 0x00, /**< Full scale ±245 degree per second */
- LSM6DS0_GYRO_FS_500DSP = 0x08, /**< Full scale ±500 degree per second */
- LSM6DS0_GYRO_FS_2000DSP = 0x18 /**< Full scale ±2000 degree per second */
+ 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.
+ * @brief LSM6DS0 gyroscope subsystem output data rate.
*/
typedef enum {
LSM6DS0_GYRO_ODR_PD = 0x00,
@@ -313,21 +501,7 @@ typedef enum { } lsm6ds0_gyro_odr_t;
/**
- * @brief LSM6DS0 gyroscope subsystem axes enabling.
- */
-typedef enum {
- LSM6DS0_GYRO_AE_DISABLED = 0x00, /**< All axes disabled. */
- LSM6DS0_GYRO_AE_X = 0x08, /**< Only X-axis enabled. */
- LSM6DS0_GYRO_AE_Y = 0x10, /**< Only Y-axis enabled. */
- LSM6DS0_GYRO_AE_XY = 0x18, /**< X and Y axes enabled. */
- LSM6DS0_GYRO_AE_Z = 0x20, /**< Only Z-axis enabled. */
- LSM6DS0_GYRO_AE_XZ = 0x28, /**< X and Z axes enabled. */
- LSM6DS0_GYRO_AE_YZ = 0x30, /**< Y and Z axes enabled. */
- LSM6DS0_GYRO_AE_XYZ = 0x38 /**< All axes enabled. */
-} lsm6ds0_gyro_ae_t;
-
-/**
- * @brief LSM6DS0 gyroscope subsystem low mode configuration.
+ * @brief LSM6DS0 gyroscope subsystem low mode configuration.
*/
typedef enum {
LSM6DS0_GYRO_LP_DISABLED = 0x00, /**< Low power mode disabled. */
@@ -368,42 +542,48 @@ typedef enum { } lsm6ds0_gyro_hpcf_t;
/**
- * @brief LSM6DS0 gyroscope subsystem configuration structure.
+ * @brief LSM6DS0 gyroscope subsystem configuration structure.
*/
typedef struct {
/**
- * @brief LSM6DS0 gyroscope subsystem full scale.
+ * @brief LSM6DS0 gyroscope initial sensitivity.
+ */
+ float sensitivity[LSM6DS0_ACC_NUMBER_OF_AXES];
+ /**
+ * @brief LSM6DS0 gyroscope initial bias.
*/
- lsm6ds0_gyro_fs_t fullscale;
+ float bias[LSM6DS0_ACC_NUMBER_OF_AXES];
/**
- * @brief LSM6DS0 gyroscope subsystem output data rate.
+ * @brief LSM6DS0 gyroscope subsystem full scale.
*/
- lsm6ds0_gyro_odr_t outdatarate;
+ lsm6ds0_gyro_fs_t fullscale;
/**
- * @brief LSM6DS0 gyroscope subsystem axes enabling.
+ * @brief LSM6DS0 gyroscope subsystem output data rate.
*/
- lsm6ds0_gyro_ae_t axesenabling;
+ lsm6ds0_gyro_odr_t outdatarate;
+#if LSM6DS0_GYRO_USE_ADVANCED || defined(__DOXYGEN__)
/**
- * @brief LSM6DS0 gyroscope subsystem low mode configuration.
+ * @brief LSM6DS0 gyroscope subsystem low mode configuration.
*/
- lsm6ds0_gyro_lp_t lowmodecfg;
+ lsm6ds0_gyro_lp_t lowmodecfg;
/**
- * @brief LSM6DS0 gyroscope subsystem output selection.
+ * @brief LSM6DS0 gyroscope subsystem output selection.
*/
- lsm6ds0_gyro_out_sel_t outsel;
+ lsm6ds0_gyro_out_sel_t outsel;
/**
- * @brief LSM6DS0 gyroscope subsystem high pass filter.
+ * @brief LSM6DS0 gyroscope subsystem high pass filter.
*/
- lsm6ds0_gyro_hp_t hpfenable;
+ lsm6ds0_gyro_hp_t hpfenable;
/**
- * @brief LSM6DS0 gyroscope subsystem high pass filter configuration.
+ * @brief LSM6DS0 gyroscope subsystem high pass filter configuration.
*/
- lsm6ds0_gyro_hpcf_t hpcfg;
+ lsm6ds0_gyro_hpcf_t hpcfg;
+ #endif /* LSM6DS0_GYRO_USE_ADVANCED */
} LSM6DS0GyroConfig;
/** @} */
/**
- * @name LSM6DS0 main system data structures and types.
+ * @name LSM6DS0 main system data structures and types.
* @{
*/
/**
@@ -415,7 +595,7 @@ typedef enum { } lsm6ds0_sad_t;
/**
- * @brief LSM6DS0 block data update.
+ * @brief LSM6DS0 block data update.
*/
typedef enum {
LSM6DS0_BDU_CONTINUOUS = 0x00, /**< Block data continuously updated. */
@@ -423,7 +603,7 @@ typedef enum { } lsm6ds0_bdu_t;
/**
- * @brief LSM6DS0 endianness.
+ * @brief LSM6DS0 endianness.
*/
typedef enum {
LSM6DS0_END_LITTLE = 0x00, /**< Little endian. */
@@ -440,7 +620,7 @@ typedef enum { } lsm6ds0_state_t;
/**
- * @brief LSM6DS0 configuration structure.
+ * @brief LSM6DS0 configuration structure.
*/
typedef struct {
#if (LSM6DS0_USE_SPI) || defined(__DOXYGEN__)
@@ -471,25 +651,27 @@ typedef struct { const I2CConfig *i2ccfg;
#endif /* LSM6DS0_USE_I2C */
/**
- * @brief LSM6DS0 accelerometer subsystem configuration structure
+ * @brief LSM6DS0 accelerometer subsystem configuration structure
*/
const LSM6DS0AccConfig *acccfg;
/**
- * @brief LSM6DS0 gyroscope subsystem configuration structure
+ * @brief LSM6DS0 gyroscope subsystem configuration structure
*/
const LSM6DS0GyroConfig *gyrocfg;
/**
* @brief Accelerometer and Gyroscope Slave Address
*/
lsm6ds0_sad_t slaveaddress;
+#if (LSM6DS0_USE_ADVANCED) || defined(__DOXYGEN__)
/**
- * @brief LSM6DS0 block data update
+ * @brief LSM6DS0 block data update
*/
lsm6ds0_bdu_t blockdataupdate;
/**
- * @brief LSM6DS0 endianness
+ * @brief LSM6DS0 endianness
*/
lsm6ds0_end_t endianness;
+#endif /* LSM6DS0_USE_ADVANCED */
} LSM6DS0Config;
/**
@@ -501,15 +683,17 @@ typedef struct LSM6DS0Driver LSM6DS0Driver; * @brief @p LSM6DS0 accelerometer subsystem specific methods.
*/
#define _lsm6ds0_acc_methods \
- _base_accelerometer_methods
+ _base_accelerometer_methods \
+ /* Change full scale value of LSM6DS0 accelerometer subsystem .*/ \
+ msg_t (*set_full_scale)(void *instance, lsm6ds0_acc_fs_t fs);
/**
* @brief @p LSM6DS0 gyroscope subsystem specific methods.
*/
#define _lsm6ds0_gyro_methods \
_base_gyroscope_methods \
- /* Retrieve the temperature of LSM6DS0 chip.*/ \
- msg_t (*get_temperature)(void *instance, float* temperature);
+ /* Change full scale value of LSM6DS0 gyroscope subsystem .*/ \
+ msg_t (*set_full_scale)(void *instance, lsm6ds0_gyro_fs_t fs);
/**
* @extends BaseAccelerometerVMT
@@ -542,14 +726,18 @@ struct LSM6DS0GYROVMT { /* Current accelerometer sensitivity.*/ \
float accsensitivity[LSM6DS0_ACC_NUMBER_OF_AXES]; \
/* Accelerometer bias data.*/ \
- int32_t accbias[LSM6DS0_ACC_NUMBER_OF_AXES]; \
+ float accbias[LSM6DS0_ACC_NUMBER_OF_AXES]; \
+ /* Current accelerometer full scale value.*/ \
+ float accfullscale; \
/* Current gyroscope sensitivity.*/ \
float gyrosensitivity[LSM6DS0_GYRO_NUMBER_OF_AXES]; \
/* Bias data.*/ \
- int32_t gyrobias[LSM6DS0_GYRO_NUMBER_OF_AXES];
+ float gyrobias[LSM6DS0_GYRO_NUMBER_OF_AXES]; \
+ /* Current gyroscope full scale value.*/ \
+ float gyrofullscale;
/**
- * @brief LSM6DS0 6-axis accelerometer/gyroscope class.
+ * @brief LSM6DS0 6-axis accelerometer/gyroscope class.
*/
struct LSM6DS0Driver {
/** @brief BaseSensor Virtual Methods Table. */
@@ -571,19 +759,32 @@ struct LSM6DS0Driver { /*===========================================================================*/
/**
- * @brief Get current MEMS temperature.
- * @detail This information is very useful especially for high accuracy IMU
+ * @brief Change accelerometer fullscale value.
+ *
+ * @param[in] ip pointer to a @p BaseAccelerometer class.
+ * @param[in] fs the new full scale value.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ * @retval MSG_RESET if one or more errors occurred.
+ * @api
+ */
+#define accelerometerSetFullScale(ip, fs) \
+ (ip)->vmt_lsm6ds0acc->set_full_scale(ip, fs)
+
+/**
+ * @brief Change compass fullscale value.
*
* @param[in] ip pointer to a @p BaseGyroscope class.
- * @param[out] temp the MEMS temperature as single precision floating.
+ * @param[in] fs the new full scale value.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
* @retval MSG_RESET if one or more errors occurred.
* @api
*/
-#define gyroscopeGetTemp(ip, tpp) \
- (ip)->vmt_lsm6ds0gyro->get_temperature(ip, tpp)
+#define gyroscopeSetFullScale(ip, fs) \
+ (ip)->vmt_lsm6ds0gyro->set_full_scale(ip, fs)
/*===========================================================================*/
/* External declarations. */
|