diff options
-rw-r--r-- | os/ex/ST/l3gd20.c | 11 | ||||
-rw-r--r-- | os/ex/ST/l3gd20.h | 4 | ||||
-rw-r--r-- | os/ex/ST/lsm6ds0.c | 501 | ||||
-rw-r--r-- | os/ex/ST/lsm6ds0.h | 555 | ||||
-rw-r--r-- | os/ex/ST/lsm6ds0.mk | 6 |
5 files changed, 1075 insertions, 2 deletions
diff --git a/os/ex/ST/l3gd20.c b/os/ex/ST/l3gd20.c index 07b9b8a32..46f9bb434 100644 --- a/os/ex/ST/l3gd20.c +++ b/os/ex/ST/l3gd20.c @@ -287,11 +287,16 @@ static msg_t calibrate(void *ip) { return MSG_OK; } -static const struct L3GD20VMT vmt = { +static const struct BaseSensorVMT vmtse = { + get_axes_number, read_raw, read_cooked +}; + +static const struct BaseGyroscopeVMT vmtgy = { get_axes_number, read_raw, read_cooked, reset_calibration, calibrate }; + /*===========================================================================*/ /* Driver exported functions. */ /*===========================================================================*/ @@ -306,7 +311,9 @@ static const struct L3GD20VMT vmt = { void l3gd20ObjectInit(L3GD20Driver *devp) { uint32_t i; - devp->vmt = &vmt; + devp->vmtse = &vmtse; + devp->vmtgy = &vmtgy; + devp->vmt = (struct L3GD20VMT*) &vmtgy; devp->state = L3GD20_STOP; devp->config = NULL; for(i = 0; i < L3GD20_NUMBER_OF_AXES; i++) diff --git a/os/ex/ST/l3gd20.h b/os/ex/ST/l3gd20.h index bff6b7dd4..d98aea972 100644 --- a/os/ex/ST/l3gd20.h +++ b/os/ex/ST/l3gd20.h @@ -279,6 +279,10 @@ struct L3GD20VMT { */ struct L3GD20Driver { /** @brief Virtual Methods Table.*/ + const struct BaseSensorVMT *vmtse; + /** @brief Virtual Methods Table.*/ + const struct BaseGyroscopeVMT *vmtgy; + /** @brief Virtual Methods Table.*/ const struct L3GD20VMT *vmt; _l3gd20_data }; diff --git a/os/ex/ST/lsm6ds0.c b/os/ex/ST/lsm6ds0.c new file mode 100644 index 000000000..bc68c0aa1 --- /dev/null +++ b/os/ex/ST/lsm6ds0.c @@ -0,0 +1,501 @@ +/* + ChibiOS - Copyright (C) 2016 Rocco Marco Guglielmi + + This file is part of ChibiOS. + + ChibiOS is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 3 of the License, or + (at your option) any later version. + + ChibiOS is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see <http://www.gnu.org/licenses/>. + +*/ + +/** + * @file lsm6ds0.c + * @brief LSM6DS0 MEMS interface module code. + * + * @addtogroup lsm6ds0 + * @{ + */ + +#include "ch.h" +#include "hal.h" + +#include "lsm6ds0.h" + +/*===========================================================================*/ +/* Driver local definitions. */ +/*===========================================================================*/ + +#define LSM6DS0_ACC_SENS_2G ((float)0.061f) +#define LSM6DS0_ACC_SENS_4G ((float)0.122f) +#define LSM6DS0_ACC_SENS_8G ((float)0.244f) +#define LSM6DS0_ACC_SENS_16G ((float)0.732f) + +#define LSM6DS0_GYRO_SENS_245DPS ((float)0.00875f) +#define LSM6DS0_GYRO_SENS_500DPS ((float)0.01750f) +#define LSM6DS0_GYRO_SENS_2000DPS ((float)0.07000f) + +#define LSM6DS0_DI ((uint8_t)0xFF) +#define LSM6DS0_DI_0 ((uint8_t)0x01) +#define LSM6DS0_DI_1 ((uint8_t)0x02) +#define LSM6DS0_DI_2 ((uint8_t)0x04) +#define LSM6DS0_DI_3 ((uint8_t)0x08) +#define LSM6DS0_DI_4 ((uint8_t)0x10) +#define LSM6DS0_DI_5 ((uint8_t)0x20) +#define LSM6DS0_DI_6 ((uint8_t)0x40) +#define LSM6DS0_DI_7 ((uint8_t)0x80) + +#define LSM6DS0_AD_0 ((uint8_t)0x01) +#define LSM6DS0_AD_1 ((uint8_t)0x02) +#define LSM6DS0_AD_2 ((uint8_t)0x04) +#define LSM6DS0_AD_3 ((uint8_t)0x08) +#define LSM6DS0_AD_4 ((uint8_t)0x10) +#define LSM6DS0_AD_5 ((uint8_t)0x20) +#define LSM6DS0_AD_6 ((uint8_t)0x40) + +#define LSM6DS0_RW ((uint8_t)0x80) + +#define LSM6DS0_AD_ACT_THS ((uint8_t)0x04) +#define LSM6DS0_AD_ACT_DUR ((uint8_t)0x05) +#define LSM6DS0_AD_INT_GEN_CFG_XL ((uint8_t)0x06) +#define LSM6DS0_AD_INT_GEN_THS_X_XL ((uint8_t)0x07) +#define LSM6DS0_AD_INT_GEN_THS_Y_XL ((uint8_t)0x08) +#define LSM6DS0_AD_INT_GEN_THS_Z_XL ((uint8_t)0x09) +#define LSM6DS0_AD_INT_GEN_DUR_XL ((uint8_t)0x0A) +#define LSM6DS0_AD_REFERENCE_G ((uint8_t)0x0B) +#define LSM6DS0_AD_INT_CTRL ((uint8_t)0x0C) +#define LSM6DS0_AD_WHO_AM_I ((uint8_t)0x0F) +#define LSM6DS0_AD_CTRL_REG1_G ((uint8_t)0x10) +#define LSM6DS0_AD_CTRL_REG2_G ((uint8_t)0x11) +#define LSM6DS0_AD_CTRL_REG3_G ((uint8_t)0x12) +#define LSM6DS0_AD_ORIENT_CFG_G ((uint8_t)0x13) +#define LSM6DS0_AD_INT_GEN_SRC_G ((uint8_t)0x14) +#define LSM6DS0_AD_OUT_TEMP_L ((uint8_t)0x15) +#define LSM6DS0_AD_OUT_TEMP_H ((uint8_t)0x16) +#define LSM6DS0_AD_STATUS_REG1 ((uint8_t)0x17) +#define LSM6DS0_AD_OUT_X_L_G ((uint8_t)0x18) +#define LSM6DS0_AD_OUT_X_H_G ((uint8_t)0x19) +#define LSM6DS0_AD_OUT_Y_L_G ((uint8_t)0x1A) +#define LSM6DS0_AD_OUT_Y_H_G ((uint8_t)0x1B) +#define LSM6DS0_AD_OUT_Z_L_G ((uint8_t)0x1C) +#define LSM6DS0_AD_OUT_Z_H_G ((uint8_t)0x1D) +#define LSM6DS0_AD_CTRL_REG4 ((uint8_t)0x1E) +#define LSM6DS0_AD_CTRL_REG5_XL ((uint8_t)0x1F) +#define LSM6DS0_AD_CTRL_REG6_XL ((uint8_t)0x20) +#define LSM6DS0_AD_CTRL_REG7_XL ((uint8_t)0x21) +#define LSM6DS0_AD_CTRL_REG8 ((uint8_t)0x22) +#define LSM6DS0_AD_CTRL_REG9 ((uint8_t)0x23) +#define LSM6DS0_AD_CTRL_REG10 ((uint8_t)0x24) +#define LSM6DS0_AD_INT_GEN_SRC_XL ((uint8_t)0x26) +#define LSM6DS0_AD_STATUS_REG2 ((uint8_t)0x27) +#define LSM6DS0_AD_OUT_X_L_XL ((uint8_t)0x28) +#define LSM6DS0_AD_OUT_X_H_XL ((uint8_t)0x29) +#define LSM6DS0_AD_OUT_Y_L_XL ((uint8_t)0x2A) +#define LSM6DS0_AD_OUT_Y_H_XL ((uint8_t)0x2B) +#define LSM6DS0_AD_OUT_Z_L_XL ((uint8_t)0x2C) +#define LSM6DS0_AD_OUT_Z_H_XL ((uint8_t)0x2D) +#define LSM6DS0_AD_FIFO_CTRL ((uint8_t)0x2E) +#define LSM6DS0_AD_FIFO_SRC ((uint8_t)0x2F) +#define LSM6DS0_AD_INT_GEN_CFG_G ((uint8_t)0x30) +#define LSM6DS0_AD_INT_GEN_THS_XH_G ((uint8_t)0x31) +#define LSM6DS0_AD_INT_GEN_THS_XL_G ((uint8_t)0x32) +#define LSM6DS0_AD_INT_GEN_THS_YH_G ((uint8_t)0x33) +#define LSM6DS0_AD_INT_GEN_THS_YL_G ((uint8_t)0x34) +#define LSM6DS0_AD_INT_GEN_THS_ZH_G ((uint8_t)0x35) +#define LSM6DS0_AD_INT_GEN_THS_ZL_G ((uint8_t)0x36) +#define LSM6DS0_AD_INT_GEN_DUR_G ((uint8_t)0x37) + +#define LSM6DS0_CTRL_REG1_G_FS_MASK ((uint8_t)0x18) +#define LSM6DS0_CTRL_REG6_XL_FS_MASK ((uint8_t)0x18) + +#define TO_G ((float)0.001f) +#define TO_SI ((float)0.00981f) +/*===========================================================================*/ +/* Driver exported variables. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* Driver local variables and types. */ +/*===========================================================================*/ + +/** + * @brief LSM6DS0 address increment mode. + */ +typedef enum { + LSM6DS0_IF_ADD_INC_DIS = 0x00, /**< Address increment disabled. */ + LSM6DS0_IF_ADD_INC_EN = 0x04 /**< Address increment disabled. */ +}lsm6ds0_id_add_inc_t; + +/** + * @brief LSM6DS0 gyroscope subsystem sleep mode. + */ +typedef enum { + LSM6DS0_GYRO_SLP_DISABLED = 0x00, /**< Gyroscope in normal mode. */ + LSM6DS0_GYRO_SLP_ENABLED = 0x40 /**< Gyroscope in sleep mode. */ +}lsm6ds0_gyro_slp_t; + +/*===========================================================================*/ +/* Driver local functions. */ +/*===========================================================================*/ + +#if (LSM6DS0_USE_I2C) || defined(__DOXYGEN__) +/** + * @brief Reads registers value using I2C. + * @pre The I2C interface must be initialized and the driver started. + * @note IF_ADD_INC bit must be 1 in CTRL_REG8 + * + * @param[in] i2cp pointer to the I2C interface + * @param[in] sad slave address without R bit + * @param[in] reg first sub-register address + * @return the read value. + */ +uint8_t lsm6ds0I2CReadRegister(I2CDriver *i2cp, lsm6ds0_sad_t sad, uint8_t reg, + msg_t* msgp) { + msg_t msg; +#if defined(STM32F103_MCUCONF) + uint8_t rxbuf[2]; + msg = i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, rxbuf, 2, + TIME_INFINITE); + if(msgp != NULL){ + *msgp = msg; + } + return rxbuf[0]; +#else + uint8_t txbuf, rxbuf; + txbuf = reg; + msg = i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, &rxbuf, 1, + TIME_INFINITE); + if(msgp != NULL){ + *msgp = msg; + } + return rxbuf; +#endif +} + +/** + * @brief Writes a value into a register using I2C. + * @pre The I2C interface must be initialized and the driver started. + * + * @param[in] i2cp pointer to the I2C interface + * @param[in] sad slave address without R bit + * @param[in] sub sub-register address + * @param[in] value the value to be written + * @return the operation status. + */ +msg_t lsm6ds0I2CWriteRegister(I2CDriver *i2cp, lsm6ds0_sad_t sad, uint8_t reg, + uint8_t value) { + uint8_t rxbuf; + uint8_t txbuf[2]; + switch (reg) { + default: + /* Reserved register must not be written, according to the datasheet + * this could permanently damage the device. + */ + osalDbgAssert(FALSE, "lsm6ds0WriteRegisterI2C(), reserved register"); + case LSM6DS0_AD_WHO_AM_I: + case LSM6DS0_AD_INT_GEN_SRC_G: + case LSM6DS0_AD_OUT_TEMP_L: + case LSM6DS0_AD_OUT_TEMP_H: + case LSM6DS0_AD_STATUS_REG1: + case LSM6DS0_AD_OUT_X_L_G: + case LSM6DS0_AD_OUT_X_H_G: + case LSM6DS0_AD_OUT_Y_L_G: + case LSM6DS0_AD_OUT_Y_H_G: + case LSM6DS0_AD_OUT_Z_L_G: + case LSM6DS0_AD_OUT_Z_H_G: + case LSM6DS0_AD_INT_GEN_SRC_XL: + case LSM6DS0_AD_STATUS_REG2: + case LSM6DS0_AD_OUT_X_L_XL: + case LSM6DS0_AD_OUT_X_H_XL: + case LSM6DS0_AD_OUT_Y_L_XL: + case LSM6DS0_AD_OUT_Y_H_XL: + case LSM6DS0_AD_OUT_Z_L_XL: + case LSM6DS0_AD_OUT_Z_H_XL: + case LSM6DS0_AD_FIFO_SRC: + /* Read only registers cannot be written, the command is ignored.*/ + return MSG_RESET; + case LSM6DS0_AD_ACT_THS: + case LSM6DS0_AD_ACT_DUR: + case LSM6DS0_AD_INT_GEN_CFG_XL: + case LSM6DS0_AD_INT_GEN_THS_X_XL: + case LSM6DS0_AD_INT_GEN_THS_Y_XL: + case LSM6DS0_AD_INT_GEN_THS_Z_XL: + case LSM6DS0_AD_INT_GEN_DUR_XL: + case LSM6DS0_AD_REFERENCE_G: + case LSM6DS0_AD_INT_CTRL: + case LSM6DS0_AD_CTRL_REG1_G: + case LSM6DS0_AD_CTRL_REG2_G: + case LSM6DS0_AD_CTRL_REG3_G: + case LSM6DS0_AD_ORIENT_CFG_G: + case LSM6DS0_AD_CTRL_REG4: + case LSM6DS0_AD_CTRL_REG5_XL: + case LSM6DS0_AD_CTRL_REG6_XL: + case LSM6DS0_AD_CTRL_REG7_XL: + case LSM6DS0_AD_CTRL_REG8: + case LSM6DS0_AD_CTRL_REG9: + case LSM6DS0_AD_CTRL_REG10: + case LSM6DS0_AD_FIFO_CTRL: + case LSM6DS0_AD_INT_GEN_CFG_G: + case LSM6DS0_AD_INT_GEN_THS_XH_G: + case LSM6DS0_AD_INT_GEN_THS_XL_G: + case LSM6DS0_AD_INT_GEN_THS_YH_G: + case LSM6DS0_AD_INT_GEN_THS_YL_G: + case LSM6DS0_AD_INT_GEN_THS_ZH_G: + case LSM6DS0_AD_INT_GEN_THS_ZL_G: + case LSM6DS0_AD_INT_GEN_DUR_G: + txbuf[0] = reg; + txbuf[1] = value; + return i2cMasterTransmitTimeout(i2cp, sad, txbuf, 2, &rxbuf, 0, TIME_INFINITE); + break; + } +} +#endif /* LSM6DS0_USE_I2C */ + +/* + * Interface implementation. + */ +static size_t acc_get_axes_number(void *ip) { + + osalDbgCheck(ip != NULL); + return LSM6DS0_ACC_NUMBER_OF_AXES; +} + +static msg_t acc_read_raw(void *ip, int32_t axes[LSM6DS0_ACC_NUMBER_OF_AXES]) { + + osalDbgCheck((ip != NULL) && (axes != NULL)); + + osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY), + "acc_read_raw(), invalid state"); + +#if LSM6DS0_USE_I2C + osalDbgAssert((((LSM6DS0Driver *)ip)->config->i2cp->state == I2C_READY), + "acc_read_raw(), channel not ready"); +#if LSM6DS0_SHARED_I2C + i2cAcquireBus(((LSM6DS0Driver *)ip)->config->i2cp); + i2cStart(((LSM6DS0Driver *)ip)->config->i2cp, + ((LSM6DS0Driver *)ip)->config->i2ccfg); +#endif /* LSM6DS0_SHARED_I2C */ + if(((LSM6DS0Driver *)ip)->config->acccfg->axesenabling & LSM6DS0_ACC_AE_X){ + axes[0] = (int16_t)(lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp, + ((LSM6DS0Driver *)ip)->config->slaveaddress, + LSM6DS0_AD_OUT_X_L_XL, NULL)); + axes[0] += (int16_t)(lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp, + ((LSM6DS0Driver *)ip)->config->slaveaddress, + LSM6DS0_AD_OUT_X_H_XL, NULL) << 8); + } + if(((LSM6DS0Driver *)ip)->config->acccfg->axesenabling & LSM6DS0_ACC_AE_Y){ + axes[1] = (int16_t)(lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp, + ((LSM6DS0Driver *)ip)->config->slaveaddress, + LSM6DS0_AD_OUT_Y_L_XL, NULL)); + axes[1] += (int16_t)(lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp, + ((LSM6DS0Driver *)ip)->config->slaveaddress, + LSM6DS0_AD_OUT_Y_H_XL, NULL) << 8); + } + if(((LSM6DS0Driver *)ip)->config->acccfg->axesenabling & LSM6DS0_ACC_AE_Z){ + axes[2] = (int16_t)(lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp, + ((LSM6DS0Driver *)ip)->config->slaveaddress, + LSM6DS0_AD_OUT_Z_L_XL, NULL)); + axes[2] += (int16_t)(lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp, + ((LSM6DS0Driver *)ip)->config->slaveaddress, + LSM6DS0_AD_OUT_Z_H_XL, NULL) << 8); + } +#if LSM6DS0_SHARED_I2C + i2cReleaseBus(((LSM6DS0Driver *)ip)->config->i2cp); +#endif /* LSM6DS0_SHARED_I2C */ +#endif + return MSG_OK; +} + +static msg_t acc_read_cooked(void *ip, float axes[]) { + uint32_t i; + int32_t raw[LSM6DS0_ACC_NUMBER_OF_AXES]; + msg_t msg; + + osalDbgCheck((ip != NULL) && (axes != NULL)); + + osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY), + "read_cooked(), invalid state"); + + msg = acc_read_raw(ip, raw); + for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES ; i++){ + axes[i] = raw[i] * ((LSM6DS0Driver *)ip)->accsens; + if(((LSM6DS0Driver *)ip)->config->acccfg->unit == LSM6DS0_ACC_UNIT_G){ + axes[i] *= TO_G; + } + else if(((LSM6DS0Driver *)ip)->config->acccfg->unit == LSM6DS0_ACC_UNIT_SI){ + axes[i] *= TO_SI; + } + } + return msg; +} + +static const struct LSM6DS0ACCVMT accvmt = { + acc_get_axes_number, acc_read_raw, acc_read_cooked +}; + +/*===========================================================================*/ +/* Driver exported functions. */ +/*===========================================================================*/ + +/** + * @brief Initializes an instance. + * + * @param[out] devp pointer to the @p LSM6DS0Driver object + * + * @init + */ +void lsm6ds0ObjectInit(LSM6DS0Driver *devp) { + + devp->vmtac = &accvmt; + devp->state = LSM6DS0_STOP; + devp->config = NULL; +} + +/** + * @brief Configures and activates LSM6DS0 Complex Driver peripheral. + * + * @param[in] devp pointer to the @p LSM6DS0Driver object + * @param[in] config pointer to the @p LSM6DS0Config object + * + * @api + */ +void lsm6ds0Start(LSM6DS0Driver *devp, const LSM6DS0Config *config) { + osalDbgCheck((devp != NULL) && (config != NULL)); + + osalDbgAssert((devp->state == LSM6DS0_STOP) || (devp->state == LSM6DS0_READY), + "lsm6ds0Start(), invalid state"); + + devp->config = config; + +#if LSM6DS0_USE_I2C +#if LSM6DS0_SHARED_I2C + i2cAcquireBus((devp)->config->i2cp); +#endif /* LSM6DS0_SHARED_I2C */ + i2cStart((devp)->config->i2cp, + (devp)->config->i2ccfg); + if((devp)->config->acccfg != NULL) { + lsm6ds0I2CWriteRegister(devp->config->i2cp, + devp->config->slaveaddress, + LSM6DS0_AD_CTRL_REG5_XL, + devp->config->acccfg->decmode | + devp->config->acccfg->axesenabling); + lsm6ds0I2CWriteRegister(devp->config->i2cp, + devp->config->slaveaddress, + LSM6DS0_AD_CTRL_REG6_XL, + devp->config->acccfg->outdatarate | + devp->config->acccfg->fullscale ); + } + if((devp)->config->gyrocfg != NULL) { + lsm6ds0I2CWriteRegister(devp->config->i2cp, + devp->config->slaveaddress, + LSM6DS0_AD_CTRL_REG1_G, + devp->config->gyrocfg->fullscale | + devp->config->gyrocfg->outdatarate); + lsm6ds0I2CWriteRegister(devp->config->i2cp, + devp->config->slaveaddress, + LSM6DS0_AD_CTRL_REG2_G, + devp->config->gyrocfg->outsel); + lsm6ds0I2CWriteRegister(devp->config->i2cp, + devp->config->slaveaddress, + LSM6DS0_AD_CTRL_REG3_G, + devp->config->gyrocfg->hpfenable | + devp->config->gyrocfg->lowmodecfg | + devp->config->gyrocfg->hpcfg); + lsm6ds0I2CWriteRegister(devp->config->i2cp, + devp->config->slaveaddress, + LSM6DS0_AD_CTRL_REG4, + devp->config->gyrocfg->axesenabling); + lsm6ds0I2CWriteRegister(devp->config->i2cp, + devp->config->slaveaddress, + LSM6DS0_AD_CTRL_REG9, + LSM6DS0_GYRO_SLP_DISABLED); + } + lsm6ds0I2CWriteRegister(devp->config->i2cp, + devp->config->slaveaddress, + LSM6DS0_AD_CTRL_REG8, + devp->config->endianness | + devp->config->blockdataupdate); +#if LSM6DS0_SHARED_I2C + i2cReleaseBus((devp)->config->i2cp); +#endif /* LSM6DS0_SHARED_I2C */ +#endif /* LSM6DS0_USE_I2C */ + /* Storing sensitivity information according to full scale value */ + if((devp)->config->acccfg != NULL) { + if(devp->config->acccfg->fullscale == LSM6DS0_ACC_FS_2G) + devp->accsens = LSM6DS0_ACC_SENS_2G; + else if(devp->config->acccfg->fullscale == LSM6DS0_ACC_FS_4G) + devp->accsens = LSM6DS0_ACC_SENS_4G; + else if(devp->config->acccfg->fullscale == LSM6DS0_ACC_FS_8G) + devp->accsens = LSM6DS0_ACC_SENS_8G; + else if(devp->config->acccfg->fullscale == LSM6DS0_ACC_FS_16G) + devp->accsens = LSM6DS0_ACC_SENS_16G; + else + osalDbgAssert(FALSE, "lsm6ds0Start(), accelerometer full scale issue"); + } + if((devp)->config->gyrocfg != NULL) { + if(devp->config->gyrocfg->fullscale == LSM6DS0_GYRO_FS_245DSP) + devp->gyrosens = LSM6DS0_GYRO_SENS_245DPS; + else if(devp->config->gyrocfg->fullscale == LSM6DS0_GYRO_FS_500DSP) + devp->gyrosens = LSM6DS0_GYRO_SENS_500DPS; + else if(devp->config->gyrocfg->fullscale == LSM6DS0_GYRO_FS_2000DSP) + devp->gyrosens = LSM6DS0_GYRO_SENS_2000DPS; + else + osalDbgAssert(FALSE, "lsm6ds0Start(), gyroscope full scale issue"); + } + /* This is the Gyroscope transient recovery time */ + osalThreadSleepMilliseconds(5); + + devp->state = LSM6DS0_READY; +} + +/** + * @brief Deactivates the LSM6DS0 Complex Driver peripheral. + * + * @param[in] devp pointer to the @p LSM6DS0Driver object + * + * @api + */ +void lsm6ds0Stop(LSM6DS0Driver *devp) { + + osalDbgCheck(devp != NULL); + + osalDbgAssert((devp->state == LSM6DS0_STOP) || (devp->state == LSM6DS0_READY), + "lsm6ds0Stop(), invalid state"); + +#if (LSM6DS0_USE_I2C) + if (devp->state == LSM6DS0_STOP) { +#if LSM6DS0_SHARED_I2C + i2cAcquireBus((devp)->config->i2cp); + i2cStart((devp)->config->i2cp, + (devp)->config->i2ccfg); +#endif /* LSM6DS0_SHARED_I2C */ + if((devp)->config->acccfg != NULL) { + lsm6ds0I2CWriteRegister(devp->config->i2cp, + devp->config->slaveaddress, + LSM6DS0_AD_CTRL_REG6_XL, + LSM6DS0_ACC_ODR_PD); + } + if((devp)->config->gyrocfg != NULL) { + lsm6ds0I2CWriteRegister(devp->config->i2cp, + devp->config->slaveaddress, + LSM6DS0_AD_CTRL_REG9, + LSM6DS0_GYRO_SLP_ENABLED); + } + i2cStop((devp)->config->i2cp); +#if LSM6DS0_SHARED_I2C + i2cReleaseBus((devp)->config->i2cp); +#endif /* LSM6DS0_SHARED_I2C */ + } +#endif /* LSM6DS0_USE_I2C */ + devp->state = LSM6DS0_STOP; +} +/** @} */ diff --git a/os/ex/ST/lsm6ds0.h b/os/ex/ST/lsm6ds0.h new file mode 100644 index 000000000..89d3d06ff --- /dev/null +++ b/os/ex/ST/lsm6ds0.h @@ -0,0 +1,555 @@ +/* + ChibiOS - Copyright (C) 2016 Rocco Marco Guglielmi + This file is part of ChibiOS. + ChibiOS is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 3 of the License, or + (at your option) any later version. + ChibiOS is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + You should have received a copy of the GNU General Public License + along with this program. If not, see <http://www.gnu.org/licenses/>. +*/ + +/** + * @file lsm6ds0.h + * @brief LSM6DS0 MEMS interface module header. + * + * @{ + */ +#ifndef _LSM6DS0_H_ +#define _LSM6DS0_H_ + +#include "hal_accelerometer.h" +#include "hal_gyroscope.h" + +/*===========================================================================*/ +/* Driver constants. */ +/*===========================================================================*/ + +/** + * @brief LSM6DS0 accelerometer subsystem number of axes. + */ +#define LSM6DS0_ACC_NUMBER_OF_AXES ((size_t) 3U) + +/** + * @brief LSM6DS0 gyroscope subsystem number of axes. + */ +#define LSM6DS0_GYRO_NUMBER_OF_AXES ((size_t) 3U) + +/*===========================================================================*/ +/* Driver pre-compile time settings. */ +/*===========================================================================*/ + +/** + * @name Configuration options + * @{ + */ +/** + * @brief LSM6DS0 SPI interface selector. + * @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 I2C interface selector. + * @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 +/** @} */ + +/*===========================================================================*/ +/* Derived constants and error checks. */ +/*===========================================================================*/ + +#if LSM6DS0_USE_SPI && LSM6DS0_USE_I2C +#error "LSM6DS0_USE_SPI and LSM6DS0_USE_I2C cannot be both true" +#endif + +#if LSM6DS0_USE_SPI && !HAL_USE_SPI +#error "LSM6DS0_USE_SPI requires HAL_USE_SPI" +#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_SPI requires I2C_USE_MUTUAL_EXCLUSION" +#endif + +/*===========================================================================*/ +/* Driver data structures and types. */ +/*===========================================================================*/ + +/** + * @name LSM6DS0 data structures and types + * @{ + */ +/** + * @name LSM6DS0 accelerometer subsystem data structures and types + * @{ + */ + +/** + * @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 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 { + 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 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 + */ + lsm6ds0_acc_obw_t outbandwidth; + /** + * @brief LSM6DS0 accelerometer subsystem high resolution mode + */ + lsm6ds0_acc_hr_t highresmode; + /** + * @brief LSM6DS0 accelerometer subsystem filtered data selection + */ + lsm6ds0_acc_fds_t filtdatasel; + /** + * @brief LSM6DS0 accelerometer subsystem digital filter + */ + lsm6ds0_acc_dcf_t digifilter; + /** + * @brief LSM6DS0 accelerometer subsystem anti aliasing filter bandwidth + */ + 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; +} LSM6DS0AccConfig; +/** @} */ + +/** + * @name LSM6DS0 gyroscope subsystem data structures and types + * @{ + */ + +/** + * @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_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 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 + */ +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 gyroscope subsystem configuration structure. + */ +typedef struct { + /** + * @brief LSM6DS0 gyroscope subsystem full scale + */ + lsm6ds0_gyro_fs_t fullscale; + /** + * @brief LSM6DS0 gyroscope subsystem output data rate + */ + lsm6ds0_gyro_odr_t outdatarate; + /** + * @brief LSM6DS0 gyroscope subsystem axes enabling + */ + lsm6ds0_gyro_ae_t axesenabling; + /** + * @brief LSM6DS0 gyroscope subsystem low mode configuration + */ + lsm6ds0_gyro_lp_t lowmodecfg; + /** + * @brief LSM6DS0 gyroscope subsystem output selection + */ + lsm6ds0_gyro_out_sel_t outsel; + /** + * @brief LSM6DS0 gyroscope subsystem high pass filter + */ + lsm6ds0_gyro_hp_t hpfenable; + /** + * @brief LSM6DS0 gyroscope subsystem high pass filter configuration + */ + lsm6ds0_gyro_hpcf_t hpcfg; +} LSM6DS0GyroConfig; +/** @} */ + +/** + * @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 block data update + */ +typedef enum { + LSM6DS0_BDU_CONTINOUS = 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; + /** + * @brief SPI configuration associated to this LSM6DS0 compass + * subsystem. + */ + const SPIConfig *gyrospicfg; +#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; +#endif /* LSM6DS0_USE_I2C */ + /** + * @brief LSM6DS0 accelerometer subsystem configuration structure + */ + const LSM6DS0AccConfig *acccfg; + /** + * @brief LSM6DS0 gyroscope subsystem configuration structure + */ + const LSM6DS0GyroConfig *gyrocfg; + /** + * @brief Accelerometer and Gyroscope Slave Address + */ + lsm6ds0_sad_t slaveaddress; + /** + * @brief LSM6DS0 block data update + */ + lsm6ds0_bdu_t blockdataupdate; + /** + * @brief LSM6DS0 endianness + */ + lsm6ds0_end_t endianness; +} LSM6DS0Config; + +/** + * @brief Structure representing a LSM6DS0 driver. + */ +typedef struct LSM6DS0Driver LSM6DS0Driver; + +/** + * @brief @p LSM6DS0 accelerometer subsystem specific methods. + */ +#define _lsm6ds0_acc_methods \ + _base_accelerometer_methods + +/** + * @brief @p LSM6DS0 gyroscope subsystem specific methods. + */ +#define _lsm6ds0_gyro_methods \ + _base_gyroscope_methods + +/** + * @extends BaseAccelerometerVMT + * + * @brief @p LSM6DS0 accelerometer virtual methods table. + */ +struct LSM6DS0ACCVMT { + _lsm6ds0_acc_methods +}; + +/** + * @extends BaseCompassVMT + * + * @brief @p LSM6DS0 gyroscope virtual methods table. + */ +struct LSM6DS0GYROVMT { + _lsm6ds0_gyro_methods +}; + +/** + * @brief @p LSM6DS0Driver specific data. + */ +#define _lsm6ds0_data \ + _base_accelerometer_data \ + _base_gyroscope_data \ + /* Driver state.*/ \ + lsm6ds0_state_t state; \ + /* Current configuration data.*/ \ + const LSM6DS0Config *config; \ + /* Current accelerometer sensitivity.*/ \ + float accsens; \ + /* Current gyroscope sensitivity.*/ \ + float gyrosens; + +/** + * @brief LSM6DS0 6-axis accelerometer/gyroscope class. + */ +struct LSM6DS0Driver { + /** @brief Accelerometer Virtual Methods Table.*/ + const struct LSM6DS0ACCVMT *vmtac; + /** @brief Gyroscope Virtual Methods Table.*/ + const struct LSM6DS0GYROVMT *vmtgy; + _lsm6ds0_data +}; +/** @} */ + +/*===========================================================================*/ +/* Driver macros. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* 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/lsm6ds0.mk b/os/ex/ST/lsm6ds0.mk new file mode 100644 index 000000000..31cb756b2 --- /dev/null +++ b/os/ex/ST/lsm6ds0.mk @@ -0,0 +1,6 @@ +# List of all the LSM6DS0 device files.
+LSM6DS0SRC := $(CHIBIOS)/os/ex/ST/lsm6ds0.c
+
+# Required include directories
+LSM6DS0INC := $(CHIBIOS)/os/hal/lib/peripherals/include \
+ $(CHIBIOS)/os/ex/ST
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