diff options
Diffstat (limited to 'os/ex/ST/lsm6ds0.c')
-rw-r--r-- | os/ex/ST/lsm6ds0.c | 1692 |
1 files changed, 846 insertions, 846 deletions
diff --git a/os/ex/ST/lsm6ds0.c b/os/ex/ST/lsm6ds0.c index caa0d875d..054cca679 100644 --- a/os/ex/ST/lsm6ds0.c +++ b/os/ex/ST/lsm6ds0.c @@ -1,846 +1,846 @@ -/* - ChibiOS - Copyright (C) 2016 Rocco Marco Guglielmi - - This file is part of ChibiOS. - - ChibiOS is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 3 of the License, or - (at your option) any later version. - - ChibiOS is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program. If not, see <http://www.gnu.org/licenses/>. - -*/ - -/** - * @file lsm6ds0.c - * @brief LSM6DS0 MEMS interface module code. - * - * @addtogroup lsm6ds0 - * @{ - */ - -#include "hal.h" -#include "lsm6ds0.h" - -/*===========================================================================*/ -/* Driver local definitions. */ -/*===========================================================================*/ - -#define LSM6DS0_ACC_SENS_2G ((float)0.061f) -#define LSM6DS0_ACC_SENS_4G ((float)0.122f) -#define LSM6DS0_ACC_SENS_8G ((float)0.244f) -#define LSM6DS0_ACC_SENS_16G ((float)0.732f) - -#define LSM6DS0_GYRO_SENS_245DPS ((float)0.00875f) -#define LSM6DS0_GYRO_SENS_500DPS ((float)0.01750f) -#define LSM6DS0_GYRO_SENS_2000DPS ((float)0.07000f) - -#define LSM6DS0_TEMP_SENS ((float)16.0f) -#define LSM6DS0_TEMP_SENS_OFF ((float)25.0f) - -#define LSM6DS0_DI ((uint8_t)0xFF) -#define LSM6DS0_DI_0 ((uint8_t)0x01) -#define LSM6DS0_DI_1 ((uint8_t)0x02) -#define LSM6DS0_DI_2 ((uint8_t)0x04) -#define LSM6DS0_DI_3 ((uint8_t)0x08) -#define LSM6DS0_DI_4 ((uint8_t)0x10) -#define LSM6DS0_DI_5 ((uint8_t)0x20) -#define LSM6DS0_DI_6 ((uint8_t)0x40) -#define LSM6DS0_DI_7 ((uint8_t)0x80) - -#define LSM6DS0_AD_0 ((uint8_t)0x01) -#define LSM6DS0_AD_1 ((uint8_t)0x02) -#define LSM6DS0_AD_2 ((uint8_t)0x04) -#define LSM6DS0_AD_3 ((uint8_t)0x08) -#define LSM6DS0_AD_4 ((uint8_t)0x10) -#define LSM6DS0_AD_5 ((uint8_t)0x20) -#define LSM6DS0_AD_6 ((uint8_t)0x40) - -#define LSM6DS0_RW ((uint8_t)0x80) - -#define LSM6DS0_AD_ACT_THS ((uint8_t)0x04) -#define LSM6DS0_AD_ACT_DUR ((uint8_t)0x05) -#define LSM6DS0_AD_INT_GEN_CFG_XL ((uint8_t)0x06) -#define LSM6DS0_AD_INT_GEN_THS_X_XL ((uint8_t)0x07) -#define LSM6DS0_AD_INT_GEN_THS_Y_XL ((uint8_t)0x08) -#define LSM6DS0_AD_INT_GEN_THS_Z_XL ((uint8_t)0x09) -#define LSM6DS0_AD_INT_GEN_DUR_XL ((uint8_t)0x0A) -#define LSM6DS0_AD_REFERENCE_G ((uint8_t)0x0B) -#define LSM6DS0_AD_INT_CTRL ((uint8_t)0x0C) -#define LSM6DS0_AD_WHO_AM_I ((uint8_t)0x0F) -#define LSM6DS0_AD_CTRL_REG1_G ((uint8_t)0x10) -#define LSM6DS0_AD_CTRL_REG2_G ((uint8_t)0x11) -#define LSM6DS0_AD_CTRL_REG3_G ((uint8_t)0x12) -#define LSM6DS0_AD_ORIENT_CFG_G ((uint8_t)0x13) -#define LSM6DS0_AD_INT_GEN_SRC_G ((uint8_t)0x14) -#define LSM6DS0_AD_OUT_TEMP_L ((uint8_t)0x15) -#define LSM6DS0_AD_OUT_TEMP_H ((uint8_t)0x16) -#define LSM6DS0_AD_STATUS_REG1 ((uint8_t)0x17) -#define LSM6DS0_AD_OUT_X_L_G ((uint8_t)0x18) -#define LSM6DS0_AD_OUT_X_H_G ((uint8_t)0x19) -#define LSM6DS0_AD_OUT_Y_L_G ((uint8_t)0x1A) -#define LSM6DS0_AD_OUT_Y_H_G ((uint8_t)0x1B) -#define LSM6DS0_AD_OUT_Z_L_G ((uint8_t)0x1C) -#define LSM6DS0_AD_OUT_Z_H_G ((uint8_t)0x1D) -#define LSM6DS0_AD_CTRL_REG4 ((uint8_t)0x1E) -#define LSM6DS0_AD_CTRL_REG5_XL ((uint8_t)0x1F) -#define LSM6DS0_AD_CTRL_REG6_XL ((uint8_t)0x20) -#define LSM6DS0_AD_CTRL_REG7_XL ((uint8_t)0x21) -#define LSM6DS0_AD_CTRL_REG8 ((uint8_t)0x22) -#define LSM6DS0_AD_CTRL_REG9 ((uint8_t)0x23) -#define LSM6DS0_AD_CTRL_REG10 ((uint8_t)0x24) -#define LSM6DS0_AD_INT_GEN_SRC_XL ((uint8_t)0x26) -#define LSM6DS0_AD_STATUS_REG2 ((uint8_t)0x27) -#define LSM6DS0_AD_OUT_X_L_XL ((uint8_t)0x28) -#define LSM6DS0_AD_OUT_X_H_XL ((uint8_t)0x29) -#define LSM6DS0_AD_OUT_Y_L_XL ((uint8_t)0x2A) -#define LSM6DS0_AD_OUT_Y_H_XL ((uint8_t)0x2B) -#define LSM6DS0_AD_OUT_Z_L_XL ((uint8_t)0x2C) -#define LSM6DS0_AD_OUT_Z_H_XL ((uint8_t)0x2D) -#define LSM6DS0_AD_FIFO_CTRL ((uint8_t)0x2E) -#define LSM6DS0_AD_FIFO_SRC ((uint8_t)0x2F) -#define LSM6DS0_AD_INT_GEN_CFG_G ((uint8_t)0x30) -#define LSM6DS0_AD_INT_GEN_THS_XH_G ((uint8_t)0x31) -#define LSM6DS0_AD_INT_GEN_THS_XL_G ((uint8_t)0x32) -#define LSM6DS0_AD_INT_GEN_THS_YH_G ((uint8_t)0x33) -#define LSM6DS0_AD_INT_GEN_THS_YL_G ((uint8_t)0x34) -#define LSM6DS0_AD_INT_GEN_THS_ZH_G ((uint8_t)0x35) -#define LSM6DS0_AD_INT_GEN_THS_ZL_G ((uint8_t)0x36) -#define LSM6DS0_AD_INT_GEN_DUR_G ((uint8_t)0x37) - -#define LSM6DS0_CTRL_REG1_G_FS_MASK ((uint8_t)0x18) -#define LSM6DS0_CTRL_REG6_XL_FS_MASK ((uint8_t)0x18) - -#define TO_G ((float)0.001f) -#define TO_SI ((float)0.00981f) -/*===========================================================================*/ -/* Driver exported variables. */ -/*===========================================================================*/ - -/*===========================================================================*/ -/* Driver local variables and types. */ -/*===========================================================================*/ - -/** - * @brief LSM6DS0 address increment mode. - */ -typedef enum { - LSM6DS0_IF_ADD_INC_DIS = 0x00, /**< Address increment disabled. */ - LSM6DS0_IF_ADD_INC_EN = 0x04 /**< Address increment disabled. */ -}lsm6ds0_id_add_inc_t; - -/** - * @brief LSM6DS0 gyroscope subsystem sleep mode. - */ -typedef enum { - LSM6DS0_GYRO_SLP_DISABLED = 0x00, /**< Gyroscope in normal mode. */ - LSM6DS0_GYRO_SLP_ENABLED = 0x40 /**< Gyroscope in sleep mode. */ -}lsm6ds0_gyro_slp_t; - -/*===========================================================================*/ -/* Driver local functions. */ -/*===========================================================================*/ - -#if (LSM6DS0_USE_I2C) || defined(__DOXYGEN__) -/** - * @brief Reads registers value using I2C. - * @pre The I2C interface must be initialized and the driver started. - * @note IF_ADD_INC bit must be 1 in CTRL_REG8 - * - * @param[in] i2cp pointer to the I2C interface - * @param[in] sad slave address without R bit - * @param[in] reg first sub-register address - * @return the read value. - */ -uint8_t lsm6ds0I2CReadRegister(I2CDriver *i2cp, lsm6ds0_sad_t sad, uint8_t reg, - msg_t* msgp) { - msg_t msg; -#if defined(STM32F103_MCUCONF) - uint8_t rxbuf[2]; - msg = i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, rxbuf, 2, - TIME_INFINITE); - if(msgp != NULL){ - *msgp = msg; - } - return rxbuf[0]; -#else - uint8_t txbuf, rxbuf; - txbuf = reg; - msg = i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, &rxbuf, 1, - TIME_INFINITE); - if(msgp != NULL){ - *msgp = msg; - } - return rxbuf; -#endif -} - -/** - * @brief Writes a value into a register using I2C. - * @pre The I2C interface must be initialized and the driver started. - * - * @param[in] i2cp pointer to the I2C interface - * @param[in] sad slave address without R bit - * @param[in] sub sub-register address - * @param[in] value the value to be written - * @return the operation status. - */ -msg_t lsm6ds0I2CWriteRegister(I2CDriver *i2cp, lsm6ds0_sad_t sad, uint8_t reg, - uint8_t value) { - uint8_t rxbuf; - uint8_t txbuf[2]; - switch (reg) { - default: - /* Reserved register must not be written, according to the datasheet - * this could permanently damage the device. - */ - osalDbgAssert(FALSE, "lsm6ds0WriteRegisterI2C(), reserved register"); - case LSM6DS0_AD_WHO_AM_I: - case LSM6DS0_AD_INT_GEN_SRC_G: - case LSM6DS0_AD_OUT_TEMP_L: - case LSM6DS0_AD_OUT_TEMP_H: - case LSM6DS0_AD_STATUS_REG1: - case LSM6DS0_AD_OUT_X_L_G: - case LSM6DS0_AD_OUT_X_H_G: - case LSM6DS0_AD_OUT_Y_L_G: - case LSM6DS0_AD_OUT_Y_H_G: - case LSM6DS0_AD_OUT_Z_L_G: - case LSM6DS0_AD_OUT_Z_H_G: - case LSM6DS0_AD_INT_GEN_SRC_XL: - case LSM6DS0_AD_STATUS_REG2: - case LSM6DS0_AD_OUT_X_L_XL: - case LSM6DS0_AD_OUT_X_H_XL: - case LSM6DS0_AD_OUT_Y_L_XL: - case LSM6DS0_AD_OUT_Y_H_XL: - case LSM6DS0_AD_OUT_Z_L_XL: - case LSM6DS0_AD_OUT_Z_H_XL: - case LSM6DS0_AD_FIFO_SRC: - /* Read only registers cannot be written, the command is ignored.*/ - return MSG_RESET; - case LSM6DS0_AD_ACT_THS: - case LSM6DS0_AD_ACT_DUR: - case LSM6DS0_AD_INT_GEN_CFG_XL: - case LSM6DS0_AD_INT_GEN_THS_X_XL: - case LSM6DS0_AD_INT_GEN_THS_Y_XL: - case LSM6DS0_AD_INT_GEN_THS_Z_XL: - case LSM6DS0_AD_INT_GEN_DUR_XL: - case LSM6DS0_AD_REFERENCE_G: - case LSM6DS0_AD_INT_CTRL: - case LSM6DS0_AD_CTRL_REG1_G: - case LSM6DS0_AD_CTRL_REG2_G: - case LSM6DS0_AD_CTRL_REG3_G: - case LSM6DS0_AD_ORIENT_CFG_G: - case LSM6DS0_AD_CTRL_REG4: - case LSM6DS0_AD_CTRL_REG5_XL: - case LSM6DS0_AD_CTRL_REG6_XL: - case LSM6DS0_AD_CTRL_REG7_XL: - case LSM6DS0_AD_CTRL_REG8: - case LSM6DS0_AD_CTRL_REG9: - case LSM6DS0_AD_CTRL_REG10: - case LSM6DS0_AD_FIFO_CTRL: - case LSM6DS0_AD_INT_GEN_CFG_G: - case LSM6DS0_AD_INT_GEN_THS_XH_G: - case LSM6DS0_AD_INT_GEN_THS_XL_G: - case LSM6DS0_AD_INT_GEN_THS_YH_G: - case LSM6DS0_AD_INT_GEN_THS_YL_G: - case LSM6DS0_AD_INT_GEN_THS_ZH_G: - case LSM6DS0_AD_INT_GEN_THS_ZL_G: - case LSM6DS0_AD_INT_GEN_DUR_G: - txbuf[0] = reg; - txbuf[1] = value; - return i2cMasterTransmitTimeout(i2cp, sad, txbuf, 2, &rxbuf, 0, TIME_INFINITE); - break; - } -} -#endif /* LSM6DS0_USE_I2C */ - -/* - * Interface implementation. - */ -static size_t acc_get_axes_number(void *ip) { - - osalDbgCheck(ip != NULL); - return LSM6DS0_ACC_NUMBER_OF_AXES; -} - -static size_t gyro_get_axes_number(void *ip) { - - osalDbgCheck(ip != NULL); - return LSM6DS0_GYRO_NUMBER_OF_AXES; -} - -static size_t sens_get_axes_number(void *ip) { - size_t size = 0; - - osalDbgCheck(ip != NULL); - if (((LSM6DS0Driver *)ip)->config->acccfg != NULL) - size += acc_get_axes_number(ip); - if (((LSM6DS0Driver *)ip)->config->gyrocfg != NULL) - size += gyro_get_axes_number(ip); - return size; -} - -static msg_t acc_read_raw(void *ip, int32_t axes[]) { - int16_t tmp; - osalDbgCheck(((ip != NULL) && (axes != NULL)) && - (((LSM6DS0Driver *)ip)->config->acccfg != NULL)); - osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY), - "acc_read_raw(), invalid state"); - -#if LSM6DS0_USE_I2C - osalDbgAssert((((LSM6DS0Driver *)ip)->config->i2cp->state == I2C_READY), - "acc_read_raw(), channel not ready"); -#if LSM6DS0_SHARED_I2C - i2cAcquireBus(((LSM6DS0Driver *)ip)->config->i2cp); - i2cStart(((LSM6DS0Driver *)ip)->config->i2cp, - ((LSM6DS0Driver *)ip)->config->i2ccfg); -#endif /* LSM6DS0_SHARED_I2C */ - if(((LSM6DS0Driver *)ip)->config->acccfg->axesenabling & LSM6DS0_ACC_AE_X){ - tmp = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp, - ((LSM6DS0Driver *)ip)->config->slaveaddress, - LSM6DS0_AD_OUT_X_L_XL, NULL); - tmp += lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp, - ((LSM6DS0Driver *)ip)->config->slaveaddress, - LSM6DS0_AD_OUT_X_H_XL, NULL) << 8; - axes[0] = (int32_t)tmp - ((LSM6DS0Driver *)ip)->accbias[0]; - } - if(((LSM6DS0Driver *)ip)->config->acccfg->axesenabling & LSM6DS0_ACC_AE_Y){ - tmp = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp, - ((LSM6DS0Driver *)ip)->config->slaveaddress, - LSM6DS0_AD_OUT_Y_L_XL, NULL); - tmp += lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp, - ((LSM6DS0Driver *)ip)->config->slaveaddress, - LSM6DS0_AD_OUT_Y_H_XL, NULL) << 8; - axes[1] = (int32_t)tmp - ((LSM6DS0Driver *)ip)->accbias[1]; - } - if(((LSM6DS0Driver *)ip)->config->acccfg->axesenabling & LSM6DS0_ACC_AE_Z){ - tmp = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp, - ((LSM6DS0Driver *)ip)->config->slaveaddress, - LSM6DS0_AD_OUT_Z_L_XL, NULL); - tmp += lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp, - ((LSM6DS0Driver *)ip)->config->slaveaddress, - LSM6DS0_AD_OUT_Z_H_XL, NULL) << 8; - axes[2] = (int32_t)tmp - ((LSM6DS0Driver *)ip)->accbias[2]; - } -#if LSM6DS0_SHARED_I2C - i2cReleaseBus(((LSM6DS0Driver *)ip)->config->i2cp); -#endif /* LSM6DS0_SHARED_I2C */ -#endif /* LSM6DS0_USE_I2C */ - return MSG_OK; -} - -static msg_t gyro_read_raw(void *ip, int32_t axes[]) { - int16_t tmp; - osalDbgCheck(((ip != NULL) && (axes != NULL)) && - (((LSM6DS0Driver *)ip)->config->gyrocfg != NULL)); - osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY), - "gyro_read_raw(), invalid state"); - -#if LSM6DS0_USE_I2C - osalDbgAssert((((LSM6DS0Driver *)ip)->config->i2cp->state == I2C_READY), - "gyro_read_raw(), channel not ready"); -#if LSM6DS0_SHARED_I2C - i2cAcquireBus(((LSM6DS0Driver *)ip)->config->i2cp); - i2cStart(((LSM6DS0Driver *)ip)->config->i2cp, - ((LSM6DS0Driver *)ip)->config->i2ccfg); -#endif /* LSM6DS0_SHARED_I2C */ - if(((LSM6DS0Driver *)ip)->config->gyrocfg->axesenabling & LSM6DS0_GYRO_AE_X){ - tmp = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp, - ((LSM6DS0Driver *)ip)->config->slaveaddress, - LSM6DS0_AD_OUT_X_L_G, NULL); - tmp += lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp, - ((LSM6DS0Driver *)ip)->config->slaveaddress, - LSM6DS0_AD_OUT_X_H_G, NULL) << 8; - axes[0] = (int32_t)tmp - ((LSM6DS0Driver *)ip)->gyrobias[0]; - } - if(((LSM6DS0Driver *)ip)->config->acccfg->axesenabling & LSM6DS0_GYRO_AE_Y){ - tmp = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp, - ((LSM6DS0Driver *)ip)->config->slaveaddress, - LSM6DS0_AD_OUT_Y_L_G, NULL); - tmp += lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp, - ((LSM6DS0Driver *)ip)->config->slaveaddress, - LSM6DS0_AD_OUT_Y_H_G, NULL) << 8; - axes[1] = (int32_t)tmp - ((LSM6DS0Driver *)ip)->gyrobias[1]; - } - if(((LSM6DS0Driver *)ip)->config->acccfg->axesenabling & LSM6DS0_GYRO_AE_Z){ - tmp = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp, - ((LSM6DS0Driver *)ip)->config->slaveaddress, - LSM6DS0_AD_OUT_Z_L_G, NULL); - tmp += lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp, - ((LSM6DS0Driver *)ip)->config->slaveaddress, - LSM6DS0_AD_OUT_Z_H_G, NULL) << 8; - axes[2] = (int32_t)tmp - ((LSM6DS0Driver *)ip)->gyrobias[2]; - } -#if LSM6DS0_SHARED_I2C - i2cReleaseBus(((LSM6DS0Driver *)ip)->config->i2cp); -#endif /* LSM6DS0_SHARED_I2C */ -#endif /* LSM6DS0_USE_I2C */ - return MSG_OK; -} - -static msg_t sens_read_raw(void *ip, int32_t axes[]) { - int32_t* bp = axes; - msg_t msg; - if (((LSM6DS0Driver *)ip)->config->acccfg != NULL) { - msg = acc_read_raw(ip, bp); - if(msg != MSG_OK) - return msg; - bp += LSM6DS0_ACC_NUMBER_OF_AXES; - } - if (((LSM6DS0Driver *)ip)->config->gyrocfg != NULL) { - msg = gyro_read_raw(ip, bp); - } - return msg; -} - -static msg_t acc_read_cooked(void *ip, float axes[]) { - uint32_t i; - int32_t raw[LSM6DS0_ACC_NUMBER_OF_AXES]; - msg_t msg; - - osalDbgCheck(((ip != NULL) && (axes != NULL)) && - (((LSM6DS0Driver *)ip)->config->acccfg != NULL)); - - osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY), - "acc_read_cooked(), invalid state"); - - msg = acc_read_raw(ip, raw); - for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES ; i++){ - axes[i] = raw[i] * ((LSM6DS0Driver *)ip)->accsensitivity[i]; - if(((LSM6DS0Driver *)ip)->config->acccfg->unit == LSM6DS0_ACC_UNIT_G){ - axes[i] *= TO_G; - } - else if(((LSM6DS0Driver *)ip)->config->acccfg->unit == LSM6DS0_ACC_UNIT_SI){ - axes[i] *= TO_SI; - } - } - return msg; -} - -static msg_t gyro_read_cooked(void *ip, float axes[]) { - uint32_t i; - int32_t raw[LSM6DS0_GYRO_NUMBER_OF_AXES]; - msg_t msg; - - osalDbgCheck(((ip != NULL) && (axes != NULL)) && - (((LSM6DS0Driver *)ip)->config->gyrocfg != NULL)); - - osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY), - "gyro_read_cooked(), invalid state"); - - msg = gyro_read_raw(ip, raw); - for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES ; i++){ - axes[i] = raw[i] * ((LSM6DS0Driver *)ip)->gyrosensitivity[i]; - } - return msg; -} - -static msg_t sens_read_cooked(void *ip, float axes[]) { - float* bp = axes; - msg_t msg; - if (((LSM6DS0Driver *)ip)->config->acccfg != NULL) { - msg = acc_read_cooked(ip, bp); - if(msg != MSG_OK) - return msg; - bp += LSM6DS0_ACC_NUMBER_OF_AXES; - } - if (((LSM6DS0Driver *)ip)->config->gyrocfg != NULL) { - msg = gyro_read_cooked(ip, bp); - } - return msg; -} - -static msg_t gyro_sample_bias(void *ip) { - uint32_t i, j; - int32_t raw[LSM6DS0_GYRO_NUMBER_OF_AXES]; - int32_t buff[LSM6DS0_GYRO_NUMBER_OF_AXES] = {0, 0, 0}; - msg_t msg; - - osalDbgCheck(ip != NULL); - - osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY), - "sample_bias(), invalid state"); - - for(i = 0; i < LSM6DS0_GYRO_BIAS_ACQ_TIMES; i++){ - msg = gyro_read_raw(ip, raw); - if(msg != MSG_OK) - return msg; - for(j = 0; j < LSM6DS0_GYRO_NUMBER_OF_AXES; j++){ - buff[j] += raw[j]; - } - osalThreadSleepMicroseconds(LSM6DS0_GYRO_BIAS_SETTLING_uS); - } - - for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++){ - ((LSM6DS0Driver *)ip)->gyrobias[i] = buff[i] / LSM6DS0_GYRO_BIAS_ACQ_TIMES; - } - return msg; -} - -static msg_t acc_set_bias(void *ip, int32_t *bp) { - uint32_t i; - - osalDbgCheck((ip != NULL) && (bp !=NULL)); - - osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY) || - (((LSM6DS0Driver *)ip)->state == LSM6DS0_STOP), - "acc_set_bias(), invalid state"); - - for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) { - ((LSM6DS0Driver *)ip)->accbias[i] = bp[i]; - } - return MSG_OK; -} - -static msg_t gyro_set_bias(void *ip, int32_t *bp) { - uint32_t i; - - osalDbgCheck((ip != NULL) && (bp !=NULL)); - - osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY) || - (((LSM6DS0Driver *)ip)->state == LSM6DS0_STOP), - "gyro_set_bias(), invalid state"); - - for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++) { - ((LSM6DS0Driver *)ip)->gyrobias[i] = bp[i]; - } - return MSG_OK; -} - -static msg_t acc_reset_bias(void *ip) { - uint32_t i; - - osalDbgCheck(ip != NULL); - - osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY) || - (((LSM6DS0Driver *)ip)->state == LSM6DS0_STOP), - "acc_reset_bias(), invalid state"); - - for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) - ((LSM6DS0Driver *)ip)->accbias[i] = 0; - return MSG_OK; -} - -static msg_t gyro_reset_bias(void *ip) { - uint32_t i; - - osalDbgCheck(ip != NULL); - - osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY) || - (((LSM6DS0Driver *)ip)->state == LSM6DS0_STOP), - "gyro_reset_bias(), invalid state"); - - for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++) - ((LSM6DS0Driver *)ip)->gyrobias[i] = 0; - return MSG_OK; -} - -static msg_t acc_set_sensivity(void *ip, float *sp) { - uint32_t i; - - osalDbgCheck((ip != NULL) && (sp !=NULL)); - - osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY), - "acc_set_sensivity(), invalid state"); - - for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) { - ((LSM6DS0Driver *)ip)->accsensitivity[i] = sp[i]; - } - return MSG_OK; -} - -static msg_t gyro_set_sensivity(void *ip, float *sp) { - uint32_t i; - - osalDbgCheck((ip != NULL) && (sp !=NULL)); - - osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY), - "gyro_set_sensivity(), invalid state"); - - for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++) { - ((LSM6DS0Driver *)ip)->gyrosensitivity[i] = sp[i]; - } - return MSG_OK; -} - -static msg_t acc_reset_sensivity(void *ip) { - uint32_t i; - - osalDbgCheck(ip != NULL); - - osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY), - "acc_reset_sensivity(), invalid state"); - - if(((LSM6DS0Driver *)ip)->config->acccfg->fullscale == LSM6DS0_ACC_FS_2G) - for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) - ((LSM6DS0Driver *)ip)->accsensitivity[i] = LSM6DS0_ACC_SENS_2G; - else if(((LSM6DS0Driver *)ip)->config->acccfg->fullscale == LSM6DS0_ACC_FS_4G) - for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) - ((LSM6DS0Driver *)ip)->accsensitivity[i] = LSM6DS0_ACC_SENS_4G; - else if(((LSM6DS0Driver *)ip)->config->acccfg->fullscale == LSM6DS0_ACC_FS_8G) - for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) - ((LSM6DS0Driver *)ip)->accsensitivity[i] = LSM6DS0_ACC_SENS_8G; - else if(((LSM6DS0Driver *)ip)->config->acccfg->fullscale == LSM6DS0_ACC_FS_16G) - for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) - ((LSM6DS0Driver *)ip)->accsensitivity[i] = LSM6DS0_ACC_SENS_16G; - else { - osalDbgAssert(FALSE, "reset_sensivity(), accelerometer full scale issue"); - return MSG_RESET; - } - return MSG_OK; -} - -static msg_t gyro_reset_sensivity(void *ip) { - uint32_t i; - - osalDbgCheck(ip != NULL); - - osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY), - "gyro_reset_sensivity(), invalid state"); - - if(((LSM6DS0Driver *)ip)->config->gyrocfg->fullscale == LSM6DS0_GYRO_FS_245DSP) - for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) - ((LSM6DS0Driver *)ip)->gyrosensitivity[i] = LSM6DS0_GYRO_SENS_245DPS; - else if(((LSM6DS0Driver *)ip)->config->gyrocfg->fullscale == LSM6DS0_GYRO_FS_500DSP) - for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) - ((LSM6DS0Driver *)ip)->gyrosensitivity[i] = LSM6DS0_GYRO_SENS_500DPS; - else if(((LSM6DS0Driver *)ip)->config->gyrocfg->fullscale == LSM6DS0_GYRO_FS_2000DSP) - for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) - ((LSM6DS0Driver *)ip)->gyrosensitivity[i] = LSM6DS0_GYRO_SENS_2000DPS; - else { - osalDbgAssert(FALSE, "reset_sensivity(), gyroscope full scale issue"); - return MSG_RESET; - } - return MSG_OK; -} - -static msg_t sens_get_temperature(void *ip, float* tempp) { - int16_t temp; -#if LSM6DS0_USE_I2C - osalDbgAssert((((LSM6DS0Driver *)ip)->config->i2cp->state == I2C_READY), - "gyro_read_raw(), channel not ready"); -#if LSM6DS0_SHARED_I2C - i2cAcquireBus(((LSM6DS0Driver *)ip)->config->i2cp); - i2cStart(((LSM6DS0Driver *)ip)->config->i2cp, - ((LSM6DS0Driver *)ip)->config->i2ccfg); -#endif /* LSM6DS0_SHARED_I2C */ - temp = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp, - ((LSM6DS0Driver *)ip)->config->slaveaddress, - LSM6DS0_AD_OUT_TEMP_L, NULL); - temp += lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp, - ((LSM6DS0Driver *)ip)->config->slaveaddress, - LSM6DS0_AD_OUT_TEMP_H, NULL) << 8; -#if LSM6DS0_SHARED_I2C - i2cReleaseBus(((LSM6DS0Driver *)ip)->config->i2cp); -#endif /* LSM6DS0_SHARED_I2C */ -#endif /* LSM6DS0_USE_I2C */ - *tempp = ((float)temp / LSM6DS0_TEMP_SENS) + LSM6DS0_TEMP_SENS_OFF; - return MSG_OK; -} - -static const struct BaseSensorVMT vmt_basesensor = { - sens_get_axes_number, sens_read_raw, sens_read_cooked -}; - -static const struct BaseGyroscopeVMT vmt_basegyroscope = { - gyro_get_axes_number, gyro_read_raw, gyro_read_cooked, - gyro_sample_bias, gyro_set_bias, gyro_reset_bias, - gyro_set_sensivity, gyro_reset_sensivity -}; - -static const struct BaseAccelerometerVMT vmt_baseaccelerometer = { - acc_get_axes_number, acc_read_raw, acc_read_cooked, - acc_set_bias, acc_reset_bias, acc_set_sensivity, acc_reset_sensivity -}; - -static const struct LSM6DS0ACCVMT vmt_lsm6ds0acc = { - acc_get_axes_number, acc_read_raw, acc_read_cooked, - acc_set_bias, acc_reset_bias, acc_set_sensivity, acc_reset_sensivity -}; - -static const struct LSM6DS0GYROVMT vmt_lsm6ds0gyro = { - gyro_get_axes_number, gyro_read_raw, gyro_read_cooked, - gyro_sample_bias, gyro_set_bias, gyro_reset_bias, - gyro_set_sensivity, gyro_reset_sensivity, sens_get_temperature -}; - -/*===========================================================================*/ -/* Driver exported functions. */ -/*===========================================================================*/ - -/** - * @brief Initializes an instance. - * - * @param[out] devp pointer to the @p LSM6DS0Driver object - * - * @init - */ -void lsm6ds0ObjectInit(LSM6DS0Driver *devp) { - uint32_t i; - devp->vmt_basesensor = &vmt_basesensor; - devp->vmt_baseaccelerometer = &vmt_baseaccelerometer; - devp->vmt_basegyroscope = &vmt_basegyroscope; - devp->vmt_lsm6ds0acc = &vmt_lsm6ds0acc; - devp->vmt_lsm6ds0gyro = &vmt_lsm6ds0gyro; - devp->config = NULL; - for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) - devp->accbias[i] = 0; - for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++) - devp->gyrobias[i] = 0; - devp->state = LSM6DS0_STOP; -} - -/** - * @brief Configures and activates LSM6DS0 Complex Driver peripheral. - * - * @param[in] devp pointer to the @p LSM6DS0Driver object - * @param[in] config pointer to the @p LSM6DS0Config object - * - * @api - */ -void lsm6ds0Start(LSM6DS0Driver *devp, const LSM6DS0Config *config) { - uint32_t i; - osalDbgCheck((devp != NULL) && (config != NULL)); - - osalDbgAssert((devp->state == LSM6DS0_STOP) || (devp->state == LSM6DS0_READY), - "lsm6ds0Start(), invalid state"); - - devp->config = config; - -#if LSM6DS0_USE_I2C -#if LSM6DS0_SHARED_I2C - i2cAcquireBus((devp)->config->i2cp); -#endif /* LSM6DS0_SHARED_I2C */ - i2cStart((devp)->config->i2cp, - (devp)->config->i2ccfg); - if((devp)->config->acccfg != NULL) { - lsm6ds0I2CWriteRegister(devp->config->i2cp, - devp->config->slaveaddress, - LSM6DS0_AD_CTRL_REG5_XL, - devp->config->acccfg->decmode | - devp->config->acccfg->axesenabling); - lsm6ds0I2CWriteRegister(devp->config->i2cp, - devp->config->slaveaddress, - LSM6DS0_AD_CTRL_REG6_XL, - devp->config->acccfg->outdatarate | - devp->config->acccfg->fullscale ); - } - if((devp)->config->gyrocfg != NULL) { - lsm6ds0I2CWriteRegister(devp->config->i2cp, - devp->config->slaveaddress, - LSM6DS0_AD_CTRL_REG1_G, - devp->config->gyrocfg->fullscale | - devp->config->gyrocfg->outdatarate); - lsm6ds0I2CWriteRegister(devp->config->i2cp, - devp->config->slaveaddress, - LSM6DS0_AD_CTRL_REG2_G, - devp->config->gyrocfg->outsel); - lsm6ds0I2CWriteRegister(devp->config->i2cp, - devp->config->slaveaddress, - LSM6DS0_AD_CTRL_REG3_G, - devp->config->gyrocfg->hpfenable | - devp->config->gyrocfg->lowmodecfg | - devp->config->gyrocfg->hpcfg); - lsm6ds0I2CWriteRegister(devp->config->i2cp, - devp->config->slaveaddress, - LSM6DS0_AD_CTRL_REG4, - devp->config->gyrocfg->axesenabling); - lsm6ds0I2CWriteRegister(devp->config->i2cp, - devp->config->slaveaddress, - LSM6DS0_AD_CTRL_REG9, - LSM6DS0_GYRO_SLP_DISABLED); - } - lsm6ds0I2CWriteRegister(devp->config->i2cp, - devp->config->slaveaddress, - LSM6DS0_AD_CTRL_REG8, - devp->config->endianness | - devp->config->blockdataupdate); -#if LSM6DS0_SHARED_I2C - i2cReleaseBus((devp)->config->i2cp); -#endif /* LSM6DS0_SHARED_I2C */ -#endif /* LSM6DS0_USE_I2C */ - /* Storing sensitivity information according to full scale value */ - if((devp)->config->acccfg != NULL) { - if(devp->config->acccfg->fullscale == LSM6DS0_ACC_FS_2G) - for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) - devp->accsensitivity[i] = LSM6DS0_ACC_SENS_2G; - else if(devp->config->acccfg->fullscale == LSM6DS0_ACC_FS_4G) - for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) - devp->accsensitivity[i] = LSM6DS0_ACC_SENS_4G; - else if(devp->config->acccfg->fullscale == LSM6DS0_ACC_FS_8G) - for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) - devp->accsensitivity[i] = LSM6DS0_ACC_SENS_8G; - else if(devp->config->acccfg->fullscale == LSM6DS0_ACC_FS_16G) - for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) - devp->accsensitivity[i] = LSM6DS0_ACC_SENS_16G; - else - osalDbgAssert(FALSE, "lsm6ds0Start(), accelerometer full scale issue"); - } - if((devp)->config->gyrocfg != NULL) { - if(devp->config->gyrocfg->fullscale == LSM6DS0_GYRO_FS_245DSP) - for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++) - devp->gyrosensitivity[i] = LSM6DS0_GYRO_SENS_245DPS; - else if(devp->config->gyrocfg->fullscale == LSM6DS0_GYRO_FS_500DSP) - for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++) - devp->gyrosensitivity[i] = LSM6DS0_GYRO_SENS_500DPS; - else if(devp->config->gyrocfg->fullscale == LSM6DS0_GYRO_FS_2000DSP) - for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++) - devp->gyrosensitivity[i] = LSM6DS0_GYRO_SENS_2000DPS; - else - osalDbgAssert(FALSE, "lsm6ds0Start(), gyroscope full scale issue"); - } - /* This is the Gyroscope transient recovery time */ - osalThreadSleepMilliseconds(5); - - devp->state = LSM6DS0_READY; -} - -/** - * @brief Deactivates the LSM6DS0 Complex Driver peripheral. - * - * @param[in] devp pointer to the @p LSM6DS0Driver object - * - * @api - */ -void lsm6ds0Stop(LSM6DS0Driver *devp) { - - osalDbgCheck(devp != NULL); - - osalDbgAssert((devp->state == LSM6DS0_STOP) || (devp->state == LSM6DS0_READY), - "lsm6ds0Stop(), invalid state"); - -#if (LSM6DS0_USE_I2C) - if (devp->state == LSM6DS0_STOP) { -#if LSM6DS0_SHARED_I2C - i2cAcquireBus((devp)->config->i2cp); - i2cStart((devp)->config->i2cp, - (devp)->config->i2ccfg); -#endif /* LSM6DS0_SHARED_I2C */ - if((devp)->config->acccfg != NULL) { - lsm6ds0I2CWriteRegister(devp->config->i2cp, - devp->config->slaveaddress, - LSM6DS0_AD_CTRL_REG6_XL, - LSM6DS0_ACC_ODR_PD); - } - if((devp)->config->gyrocfg != NULL) { - lsm6ds0I2CWriteRegister(devp->config->i2cp, - devp->config->slaveaddress, - LSM6DS0_AD_CTRL_REG9, - LSM6DS0_GYRO_SLP_ENABLED); - } - i2cStop((devp)->config->i2cp); -#if LSM6DS0_SHARED_I2C - i2cReleaseBus((devp)->config->i2cp); -#endif /* LSM6DS0_SHARED_I2C */ - } -#endif /* LSM6DS0_USE_I2C */ - devp->state = LSM6DS0_STOP; -} -/** @} */ +/*
+ ChibiOS - Copyright (C) 2016 Rocco Marco Guglielmi
+
+ This file is part of ChibiOS.
+
+ ChibiOS is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 3 of the License, or
+ (at your option) any later version.
+
+ ChibiOS is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+
+*/
+
+/**
+ * @file lsm6ds0.c
+ * @brief LSM6DS0 MEMS interface module code.
+ *
+ * @addtogroup lsm6ds0
+ * @{
+ */
+
+#include "hal.h"
+#include "lsm6ds0.h"
+
+/*===========================================================================*/
+/* Driver local definitions. */
+/*===========================================================================*/
+
+#define LSM6DS0_ACC_SENS_2G ((float)0.061f)
+#define LSM6DS0_ACC_SENS_4G ((float)0.122f)
+#define LSM6DS0_ACC_SENS_8G ((float)0.244f)
+#define LSM6DS0_ACC_SENS_16G ((float)0.732f)
+
+#define LSM6DS0_GYRO_SENS_245DPS ((float)0.00875f)
+#define LSM6DS0_GYRO_SENS_500DPS ((float)0.01750f)
+#define LSM6DS0_GYRO_SENS_2000DPS ((float)0.07000f)
+
+#define LSM6DS0_TEMP_SENS ((float)16.0f)
+#define LSM6DS0_TEMP_SENS_OFF ((float)25.0f)
+
+#define LSM6DS0_DI ((uint8_t)0xFF)
+#define LSM6DS0_DI_0 ((uint8_t)0x01)
+#define LSM6DS0_DI_1 ((uint8_t)0x02)
+#define LSM6DS0_DI_2 ((uint8_t)0x04)
+#define LSM6DS0_DI_3 ((uint8_t)0x08)
+#define LSM6DS0_DI_4 ((uint8_t)0x10)
+#define LSM6DS0_DI_5 ((uint8_t)0x20)
+#define LSM6DS0_DI_6 ((uint8_t)0x40)
+#define LSM6DS0_DI_7 ((uint8_t)0x80)
+
+#define LSM6DS0_AD_0 ((uint8_t)0x01)
+#define LSM6DS0_AD_1 ((uint8_t)0x02)
+#define LSM6DS0_AD_2 ((uint8_t)0x04)
+#define LSM6DS0_AD_3 ((uint8_t)0x08)
+#define LSM6DS0_AD_4 ((uint8_t)0x10)
+#define LSM6DS0_AD_5 ((uint8_t)0x20)
+#define LSM6DS0_AD_6 ((uint8_t)0x40)
+
+#define LSM6DS0_RW ((uint8_t)0x80)
+
+#define LSM6DS0_AD_ACT_THS ((uint8_t)0x04)
+#define LSM6DS0_AD_ACT_DUR ((uint8_t)0x05)
+#define LSM6DS0_AD_INT_GEN_CFG_XL ((uint8_t)0x06)
+#define LSM6DS0_AD_INT_GEN_THS_X_XL ((uint8_t)0x07)
+#define LSM6DS0_AD_INT_GEN_THS_Y_XL ((uint8_t)0x08)
+#define LSM6DS0_AD_INT_GEN_THS_Z_XL ((uint8_t)0x09)
+#define LSM6DS0_AD_INT_GEN_DUR_XL ((uint8_t)0x0A)
+#define LSM6DS0_AD_REFERENCE_G ((uint8_t)0x0B)
+#define LSM6DS0_AD_INT_CTRL ((uint8_t)0x0C)
+#define LSM6DS0_AD_WHO_AM_I ((uint8_t)0x0F)
+#define LSM6DS0_AD_CTRL_REG1_G ((uint8_t)0x10)
+#define LSM6DS0_AD_CTRL_REG2_G ((uint8_t)0x11)
+#define LSM6DS0_AD_CTRL_REG3_G ((uint8_t)0x12)
+#define LSM6DS0_AD_ORIENT_CFG_G ((uint8_t)0x13)
+#define LSM6DS0_AD_INT_GEN_SRC_G ((uint8_t)0x14)
+#define LSM6DS0_AD_OUT_TEMP_L ((uint8_t)0x15)
+#define LSM6DS0_AD_OUT_TEMP_H ((uint8_t)0x16)
+#define LSM6DS0_AD_STATUS_REG1 ((uint8_t)0x17)
+#define LSM6DS0_AD_OUT_X_L_G ((uint8_t)0x18)
+#define LSM6DS0_AD_OUT_X_H_G ((uint8_t)0x19)
+#define LSM6DS0_AD_OUT_Y_L_G ((uint8_t)0x1A)
+#define LSM6DS0_AD_OUT_Y_H_G ((uint8_t)0x1B)
+#define LSM6DS0_AD_OUT_Z_L_G ((uint8_t)0x1C)
+#define LSM6DS0_AD_OUT_Z_H_G ((uint8_t)0x1D)
+#define LSM6DS0_AD_CTRL_REG4 ((uint8_t)0x1E)
+#define LSM6DS0_AD_CTRL_REG5_XL ((uint8_t)0x1F)
+#define LSM6DS0_AD_CTRL_REG6_XL ((uint8_t)0x20)
+#define LSM6DS0_AD_CTRL_REG7_XL ((uint8_t)0x21)
+#define LSM6DS0_AD_CTRL_REG8 ((uint8_t)0x22)
+#define LSM6DS0_AD_CTRL_REG9 ((uint8_t)0x23)
+#define LSM6DS0_AD_CTRL_REG10 ((uint8_t)0x24)
+#define LSM6DS0_AD_INT_GEN_SRC_XL ((uint8_t)0x26)
+#define LSM6DS0_AD_STATUS_REG2 ((uint8_t)0x27)
+#define LSM6DS0_AD_OUT_X_L_XL ((uint8_t)0x28)
+#define LSM6DS0_AD_OUT_X_H_XL ((uint8_t)0x29)
+#define LSM6DS0_AD_OUT_Y_L_XL ((uint8_t)0x2A)
+#define LSM6DS0_AD_OUT_Y_H_XL ((uint8_t)0x2B)
+#define LSM6DS0_AD_OUT_Z_L_XL ((uint8_t)0x2C)
+#define LSM6DS0_AD_OUT_Z_H_XL ((uint8_t)0x2D)
+#define LSM6DS0_AD_FIFO_CTRL ((uint8_t)0x2E)
+#define LSM6DS0_AD_FIFO_SRC ((uint8_t)0x2F)
+#define LSM6DS0_AD_INT_GEN_CFG_G ((uint8_t)0x30)
+#define LSM6DS0_AD_INT_GEN_THS_XH_G ((uint8_t)0x31)
+#define LSM6DS0_AD_INT_GEN_THS_XL_G ((uint8_t)0x32)
+#define LSM6DS0_AD_INT_GEN_THS_YH_G ((uint8_t)0x33)
+#define LSM6DS0_AD_INT_GEN_THS_YL_G ((uint8_t)0x34)
+#define LSM6DS0_AD_INT_GEN_THS_ZH_G ((uint8_t)0x35)
+#define LSM6DS0_AD_INT_GEN_THS_ZL_G ((uint8_t)0x36)
+#define LSM6DS0_AD_INT_GEN_DUR_G ((uint8_t)0x37)
+
+#define LSM6DS0_CTRL_REG1_G_FS_MASK ((uint8_t)0x18)
+#define LSM6DS0_CTRL_REG6_XL_FS_MASK ((uint8_t)0x18)
+
+#define TO_G ((float)0.001f)
+#define TO_SI ((float)0.00981f)
+/*===========================================================================*/
+/* Driver exported variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local variables and types. */
+/*===========================================================================*/
+
+/**
+ * @brief LSM6DS0 address increment mode.
+ */
+typedef enum {
+ LSM6DS0_IF_ADD_INC_DIS = 0x00, /**< Address increment disabled. */
+ LSM6DS0_IF_ADD_INC_EN = 0x04 /**< Address increment disabled. */
+}lsm6ds0_id_add_inc_t;
+
+/**
+ * @brief LSM6DS0 gyroscope subsystem sleep mode.
+ */
+typedef enum {
+ LSM6DS0_GYRO_SLP_DISABLED = 0x00, /**< Gyroscope in normal mode. */
+ LSM6DS0_GYRO_SLP_ENABLED = 0x40 /**< Gyroscope in sleep mode. */
+}lsm6ds0_gyro_slp_t;
+
+/*===========================================================================*/
+/* Driver local functions. */
+/*===========================================================================*/
+
+#if (LSM6DS0_USE_I2C) || defined(__DOXYGEN__)
+/**
+ * @brief Reads registers value using I2C.
+ * @pre The I2C interface must be initialized and the driver started.
+ * @note IF_ADD_INC bit must be 1 in CTRL_REG8
+ *
+ * @param[in] i2cp pointer to the I2C interface
+ * @param[in] sad slave address without R bit
+ * @param[in] reg first sub-register address
+ * @return the read value.
+ */
+uint8_t lsm6ds0I2CReadRegister(I2CDriver *i2cp, lsm6ds0_sad_t sad, uint8_t reg,
+ msg_t* msgp) {
+ msg_t msg;
+#if defined(STM32F103_MCUCONF)
+ uint8_t rxbuf[2];
+ msg = i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, rxbuf, 2,
+ TIME_INFINITE);
+ if(msgp != NULL){
+ *msgp = msg;
+ }
+ return rxbuf[0];
+#else
+ uint8_t txbuf, rxbuf;
+ txbuf = reg;
+ msg = i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, &rxbuf, 1,
+ TIME_INFINITE);
+ if(msgp != NULL){
+ *msgp = msg;
+ }
+ return rxbuf;
+#endif
+}
+
+/**
+ * @brief Writes a value into a register using I2C.
+ * @pre The I2C interface must be initialized and the driver started.
+ *
+ * @param[in] i2cp pointer to the I2C interface
+ * @param[in] sad slave address without R bit
+ * @param[in] sub sub-register address
+ * @param[in] value the value to be written
+ * @return the operation status.
+ */
+msg_t lsm6ds0I2CWriteRegister(I2CDriver *i2cp, lsm6ds0_sad_t sad, uint8_t reg,
+ uint8_t value) {
+ uint8_t rxbuf;
+ uint8_t txbuf[2];
+ switch (reg) {
+ default:
+ /* Reserved register must not be written, according to the datasheet
+ * this could permanently damage the device.
+ */
+ osalDbgAssert(FALSE, "lsm6ds0WriteRegisterI2C(), reserved register");
+ case LSM6DS0_AD_WHO_AM_I:
+ case LSM6DS0_AD_INT_GEN_SRC_G:
+ case LSM6DS0_AD_OUT_TEMP_L:
+ case LSM6DS0_AD_OUT_TEMP_H:
+ case LSM6DS0_AD_STATUS_REG1:
+ case LSM6DS0_AD_OUT_X_L_G:
+ case LSM6DS0_AD_OUT_X_H_G:
+ case LSM6DS0_AD_OUT_Y_L_G:
+ case LSM6DS0_AD_OUT_Y_H_G:
+ case LSM6DS0_AD_OUT_Z_L_G:
+ case LSM6DS0_AD_OUT_Z_H_G:
+ case LSM6DS0_AD_INT_GEN_SRC_XL:
+ case LSM6DS0_AD_STATUS_REG2:
+ case LSM6DS0_AD_OUT_X_L_XL:
+ case LSM6DS0_AD_OUT_X_H_XL:
+ case LSM6DS0_AD_OUT_Y_L_XL:
+ case LSM6DS0_AD_OUT_Y_H_XL:
+ case LSM6DS0_AD_OUT_Z_L_XL:
+ case LSM6DS0_AD_OUT_Z_H_XL:
+ case LSM6DS0_AD_FIFO_SRC:
+ /* Read only registers cannot be written, the command is ignored.*/
+ return MSG_RESET;
+ case LSM6DS0_AD_ACT_THS:
+ case LSM6DS0_AD_ACT_DUR:
+ case LSM6DS0_AD_INT_GEN_CFG_XL:
+ case LSM6DS0_AD_INT_GEN_THS_X_XL:
+ case LSM6DS0_AD_INT_GEN_THS_Y_XL:
+ case LSM6DS0_AD_INT_GEN_THS_Z_XL:
+ case LSM6DS0_AD_INT_GEN_DUR_XL:
+ case LSM6DS0_AD_REFERENCE_G:
+ case LSM6DS0_AD_INT_CTRL:
+ case LSM6DS0_AD_CTRL_REG1_G:
+ case LSM6DS0_AD_CTRL_REG2_G:
+ case LSM6DS0_AD_CTRL_REG3_G:
+ case LSM6DS0_AD_ORIENT_CFG_G:
+ case LSM6DS0_AD_CTRL_REG4:
+ case LSM6DS0_AD_CTRL_REG5_XL:
+ case LSM6DS0_AD_CTRL_REG6_XL:
+ case LSM6DS0_AD_CTRL_REG7_XL:
+ case LSM6DS0_AD_CTRL_REG8:
+ case LSM6DS0_AD_CTRL_REG9:
+ case LSM6DS0_AD_CTRL_REG10:
+ case LSM6DS0_AD_FIFO_CTRL:
+ case LSM6DS0_AD_INT_GEN_CFG_G:
+ case LSM6DS0_AD_INT_GEN_THS_XH_G:
+ case LSM6DS0_AD_INT_GEN_THS_XL_G:
+ case LSM6DS0_AD_INT_GEN_THS_YH_G:
+ case LSM6DS0_AD_INT_GEN_THS_YL_G:
+ case LSM6DS0_AD_INT_GEN_THS_ZH_G:
+ case LSM6DS0_AD_INT_GEN_THS_ZL_G:
+ case LSM6DS0_AD_INT_GEN_DUR_G:
+ txbuf[0] = reg;
+ txbuf[1] = value;
+ return i2cMasterTransmitTimeout(i2cp, sad, txbuf, 2, &rxbuf, 0, TIME_INFINITE);
+ break;
+ }
+}
+#endif /* LSM6DS0_USE_I2C */
+
+/*
+ * Interface implementation.
+ */
+static size_t acc_get_axes_number(void *ip) {
+
+ osalDbgCheck(ip != NULL);
+ return LSM6DS0_ACC_NUMBER_OF_AXES;
+}
+
+static size_t gyro_get_axes_number(void *ip) {
+
+ osalDbgCheck(ip != NULL);
+ return LSM6DS0_GYRO_NUMBER_OF_AXES;
+}
+
+static size_t sens_get_axes_number(void *ip) {
+ size_t size = 0;
+
+ osalDbgCheck(ip != NULL);
+ if (((LSM6DS0Driver *)ip)->config->acccfg != NULL)
+ size += acc_get_axes_number(ip);
+ if (((LSM6DS0Driver *)ip)->config->gyrocfg != NULL)
+ size += gyro_get_axes_number(ip);
+ return size;
+}
+
+static msg_t acc_read_raw(void *ip, int32_t axes[]) {
+ int16_t tmp;
+ osalDbgCheck(((ip != NULL) && (axes != NULL)) &&
+ (((LSM6DS0Driver *)ip)->config->acccfg != NULL));
+ osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY),
+ "acc_read_raw(), invalid state");
+
+#if LSM6DS0_USE_I2C
+ osalDbgAssert((((LSM6DS0Driver *)ip)->config->i2cp->state == I2C_READY),
+ "acc_read_raw(), channel not ready");
+#if LSM6DS0_SHARED_I2C
+ i2cAcquireBus(((LSM6DS0Driver *)ip)->config->i2cp);
+ i2cStart(((LSM6DS0Driver *)ip)->config->i2cp,
+ ((LSM6DS0Driver *)ip)->config->i2ccfg);
+#endif /* LSM6DS0_SHARED_I2C */
+ if(((LSM6DS0Driver *)ip)->config->acccfg->axesenabling & LSM6DS0_ACC_AE_X){
+ tmp = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
+ ((LSM6DS0Driver *)ip)->config->slaveaddress,
+ LSM6DS0_AD_OUT_X_L_XL, NULL);
+ tmp += lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
+ ((LSM6DS0Driver *)ip)->config->slaveaddress,
+ LSM6DS0_AD_OUT_X_H_XL, NULL) << 8;
+ axes[0] = (int32_t)tmp - ((LSM6DS0Driver *)ip)->accbias[0];
+ }
+ if(((LSM6DS0Driver *)ip)->config->acccfg->axesenabling & LSM6DS0_ACC_AE_Y){
+ tmp = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
+ ((LSM6DS0Driver *)ip)->config->slaveaddress,
+ LSM6DS0_AD_OUT_Y_L_XL, NULL);
+ tmp += lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
+ ((LSM6DS0Driver *)ip)->config->slaveaddress,
+ LSM6DS0_AD_OUT_Y_H_XL, NULL) << 8;
+ axes[1] = (int32_t)tmp - ((LSM6DS0Driver *)ip)->accbias[1];
+ }
+ if(((LSM6DS0Driver *)ip)->config->acccfg->axesenabling & LSM6DS0_ACC_AE_Z){
+ tmp = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
+ ((LSM6DS0Driver *)ip)->config->slaveaddress,
+ LSM6DS0_AD_OUT_Z_L_XL, NULL);
+ tmp += lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
+ ((LSM6DS0Driver *)ip)->config->slaveaddress,
+ LSM6DS0_AD_OUT_Z_H_XL, NULL) << 8;
+ axes[2] = (int32_t)tmp - ((LSM6DS0Driver *)ip)->accbias[2];
+ }
+#if LSM6DS0_SHARED_I2C
+ i2cReleaseBus(((LSM6DS0Driver *)ip)->config->i2cp);
+#endif /* LSM6DS0_SHARED_I2C */
+#endif /* LSM6DS0_USE_I2C */
+ return MSG_OK;
+}
+
+static msg_t gyro_read_raw(void *ip, int32_t axes[]) {
+ int16_t tmp;
+ osalDbgCheck(((ip != NULL) && (axes != NULL)) &&
+ (((LSM6DS0Driver *)ip)->config->gyrocfg != NULL));
+ osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY),
+ "gyro_read_raw(), invalid state");
+
+#if LSM6DS0_USE_I2C
+ osalDbgAssert((((LSM6DS0Driver *)ip)->config->i2cp->state == I2C_READY),
+ "gyro_read_raw(), channel not ready");
+#if LSM6DS0_SHARED_I2C
+ i2cAcquireBus(((LSM6DS0Driver *)ip)->config->i2cp);
+ i2cStart(((LSM6DS0Driver *)ip)->config->i2cp,
+ ((LSM6DS0Driver *)ip)->config->i2ccfg);
+#endif /* LSM6DS0_SHARED_I2C */
+ if(((LSM6DS0Driver *)ip)->config->gyrocfg->axesenabling & LSM6DS0_GYRO_AE_X){
+ tmp = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
+ ((LSM6DS0Driver *)ip)->config->slaveaddress,
+ LSM6DS0_AD_OUT_X_L_G, NULL);
+ tmp += lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
+ ((LSM6DS0Driver *)ip)->config->slaveaddress,
+ LSM6DS0_AD_OUT_X_H_G, NULL) << 8;
+ axes[0] = (int32_t)tmp - ((LSM6DS0Driver *)ip)->gyrobias[0];
+ }
+ if(((LSM6DS0Driver *)ip)->config->acccfg->axesenabling & LSM6DS0_GYRO_AE_Y){
+ tmp = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
+ ((LSM6DS0Driver *)ip)->config->slaveaddress,
+ LSM6DS0_AD_OUT_Y_L_G, NULL);
+ tmp += lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
+ ((LSM6DS0Driver *)ip)->config->slaveaddress,
+ LSM6DS0_AD_OUT_Y_H_G, NULL) << 8;
+ axes[1] = (int32_t)tmp - ((LSM6DS0Driver *)ip)->gyrobias[1];
+ }
+ if(((LSM6DS0Driver *)ip)->config->acccfg->axesenabling & LSM6DS0_GYRO_AE_Z){
+ tmp = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
+ ((LSM6DS0Driver *)ip)->config->slaveaddress,
+ LSM6DS0_AD_OUT_Z_L_G, NULL);
+ tmp += lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
+ ((LSM6DS0Driver *)ip)->config->slaveaddress,
+ LSM6DS0_AD_OUT_Z_H_G, NULL) << 8;
+ axes[2] = (int32_t)tmp - ((LSM6DS0Driver *)ip)->gyrobias[2];
+ }
+#if LSM6DS0_SHARED_I2C
+ i2cReleaseBus(((LSM6DS0Driver *)ip)->config->i2cp);
+#endif /* LSM6DS0_SHARED_I2C */
+#endif /* LSM6DS0_USE_I2C */
+ return MSG_OK;
+}
+
+static msg_t sens_read_raw(void *ip, int32_t axes[]) {
+ int32_t* bp = axes;
+ msg_t msg;
+ if (((LSM6DS0Driver *)ip)->config->acccfg != NULL) {
+ msg = acc_read_raw(ip, bp);
+ if(msg != MSG_OK)
+ return msg;
+ bp += LSM6DS0_ACC_NUMBER_OF_AXES;
+ }
+ if (((LSM6DS0Driver *)ip)->config->gyrocfg != NULL) {
+ msg = gyro_read_raw(ip, bp);
+ }
+ return msg;
+}
+
+static msg_t acc_read_cooked(void *ip, float axes[]) {
+ uint32_t i;
+ int32_t raw[LSM6DS0_ACC_NUMBER_OF_AXES];
+ msg_t msg;
+
+ osalDbgCheck(((ip != NULL) && (axes != NULL)) &&
+ (((LSM6DS0Driver *)ip)->config->acccfg != NULL));
+
+ osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY),
+ "acc_read_cooked(), invalid state");
+
+ msg = acc_read_raw(ip, raw);
+ for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES ; i++){
+ axes[i] = raw[i] * ((LSM6DS0Driver *)ip)->accsensitivity[i];
+ if(((LSM6DS0Driver *)ip)->config->acccfg->unit == LSM6DS0_ACC_UNIT_G){
+ axes[i] *= TO_G;
+ }
+ else if(((LSM6DS0Driver *)ip)->config->acccfg->unit == LSM6DS0_ACC_UNIT_SI){
+ axes[i] *= TO_SI;
+ }
+ }
+ return msg;
+}
+
+static msg_t gyro_read_cooked(void *ip, float axes[]) {
+ uint32_t i;
+ int32_t raw[LSM6DS0_GYRO_NUMBER_OF_AXES];
+ msg_t msg;
+
+ osalDbgCheck(((ip != NULL) && (axes != NULL)) &&
+ (((LSM6DS0Driver *)ip)->config->gyrocfg != NULL));
+
+ osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY),
+ "gyro_read_cooked(), invalid state");
+
+ msg = gyro_read_raw(ip, raw);
+ for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES ; i++){
+ axes[i] = raw[i] * ((LSM6DS0Driver *)ip)->gyrosensitivity[i];
+ }
+ return msg;
+}
+
+static msg_t sens_read_cooked(void *ip, float axes[]) {
+ float* bp = axes;
+ msg_t msg;
+ if (((LSM6DS0Driver *)ip)->config->acccfg != NULL) {
+ msg = acc_read_cooked(ip, bp);
+ if(msg != MSG_OK)
+ return msg;
+ bp += LSM6DS0_ACC_NUMBER_OF_AXES;
+ }
+ if (((LSM6DS0Driver *)ip)->config->gyrocfg != NULL) {
+ msg = gyro_read_cooked(ip, bp);
+ }
+ return msg;
+}
+
+static msg_t gyro_sample_bias(void *ip) {
+ uint32_t i, j;
+ int32_t raw[LSM6DS0_GYRO_NUMBER_OF_AXES];
+ int32_t buff[LSM6DS0_GYRO_NUMBER_OF_AXES] = {0, 0, 0};
+ msg_t msg;
+
+ osalDbgCheck(ip != NULL);
+
+ osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY),
+ "sample_bias(), invalid state");
+
+ for(i = 0; i < LSM6DS0_GYRO_BIAS_ACQ_TIMES; i++){
+ msg = gyro_read_raw(ip, raw);
+ if(msg != MSG_OK)
+ return msg;
+ for(j = 0; j < LSM6DS0_GYRO_NUMBER_OF_AXES; j++){
+ buff[j] += raw[j];
+ }
+ osalThreadSleepMicroseconds(LSM6DS0_GYRO_BIAS_SETTLING_uS);
+ }
+
+ for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++){
+ ((LSM6DS0Driver *)ip)->gyrobias[i] = buff[i] / LSM6DS0_GYRO_BIAS_ACQ_TIMES;
+ }
+ return msg;
+}
+
+static msg_t acc_set_bias(void *ip, int32_t *bp) {
+ uint32_t i;
+
+ osalDbgCheck((ip != NULL) && (bp !=NULL));
+
+ osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY) ||
+ (((LSM6DS0Driver *)ip)->state == LSM6DS0_STOP),
+ "acc_set_bias(), invalid state");
+
+ for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) {
+ ((LSM6DS0Driver *)ip)->accbias[i] = bp[i];
+ }
+ return MSG_OK;
+}
+
+static msg_t gyro_set_bias(void *ip, int32_t *bp) {
+ uint32_t i;
+
+ osalDbgCheck((ip != NULL) && (bp !=NULL));
+
+ osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY) ||
+ (((LSM6DS0Driver *)ip)->state == LSM6DS0_STOP),
+ "gyro_set_bias(), invalid state");
+
+ for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++) {
+ ((LSM6DS0Driver *)ip)->gyrobias[i] = bp[i];
+ }
+ return MSG_OK;
+}
+
+static msg_t acc_reset_bias(void *ip) {
+ uint32_t i;
+
+ osalDbgCheck(ip != NULL);
+
+ osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY) ||
+ (((LSM6DS0Driver *)ip)->state == LSM6DS0_STOP),
+ "acc_reset_bias(), invalid state");
+
+ for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)
+ ((LSM6DS0Driver *)ip)->accbias[i] = 0;
+ return MSG_OK;
+}
+
+static msg_t gyro_reset_bias(void *ip) {
+ uint32_t i;
+
+ osalDbgCheck(ip != NULL);
+
+ osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY) ||
+ (((LSM6DS0Driver *)ip)->state == LSM6DS0_STOP),
+ "gyro_reset_bias(), invalid state");
+
+ for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++)
+ ((LSM6DS0Driver *)ip)->gyrobias[i] = 0;
+ return MSG_OK;
+}
+
+static msg_t acc_set_sensivity(void *ip, float *sp) {
+ uint32_t i;
+
+ osalDbgCheck((ip != NULL) && (sp !=NULL));
+
+ osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY),
+ "acc_set_sensivity(), invalid state");
+
+ for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) {
+ ((LSM6DS0Driver *)ip)->accsensitivity[i] = sp[i];
+ }
+ return MSG_OK;
+}
+
+static msg_t gyro_set_sensivity(void *ip, float *sp) {
+ uint32_t i;
+
+ osalDbgCheck((ip != NULL) && (sp !=NULL));
+
+ osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY),
+ "gyro_set_sensivity(), invalid state");
+
+ for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++) {
+ ((LSM6DS0Driver *)ip)->gyrosensitivity[i] = sp[i];
+ }
+ return MSG_OK;
+}
+
+static msg_t acc_reset_sensivity(void *ip) {
+ uint32_t i;
+
+ osalDbgCheck(ip != NULL);
+
+ osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY),
+ "acc_reset_sensivity(), invalid state");
+
+ if(((LSM6DS0Driver *)ip)->config->acccfg->fullscale == LSM6DS0_ACC_FS_2G)
+ for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)
+ ((LSM6DS0Driver *)ip)->accsensitivity[i] = LSM6DS0_ACC_SENS_2G;
+ else if(((LSM6DS0Driver *)ip)->config->acccfg->fullscale == LSM6DS0_ACC_FS_4G)
+ for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)
+ ((LSM6DS0Driver *)ip)->accsensitivity[i] = LSM6DS0_ACC_SENS_4G;
+ else if(((LSM6DS0Driver *)ip)->config->acccfg->fullscale == LSM6DS0_ACC_FS_8G)
+ for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)
+ ((LSM6DS0Driver *)ip)->accsensitivity[i] = LSM6DS0_ACC_SENS_8G;
+ else if(((LSM6DS0Driver *)ip)->config->acccfg->fullscale == LSM6DS0_ACC_FS_16G)
+ for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)
+ ((LSM6DS0Driver *)ip)->accsensitivity[i] = LSM6DS0_ACC_SENS_16G;
+ else {
+ osalDbgAssert(FALSE, "reset_sensivity(), accelerometer full scale issue");
+ return MSG_RESET;
+ }
+ return MSG_OK;
+}
+
+static msg_t gyro_reset_sensivity(void *ip) {
+ uint32_t i;
+
+ osalDbgCheck(ip != NULL);
+
+ osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY),
+ "gyro_reset_sensivity(), invalid state");
+
+ if(((LSM6DS0Driver *)ip)->config->gyrocfg->fullscale == LSM6DS0_GYRO_FS_245DSP)
+ for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)
+ ((LSM6DS0Driver *)ip)->gyrosensitivity[i] = LSM6DS0_GYRO_SENS_245DPS;
+ else if(((LSM6DS0Driver *)ip)->config->gyrocfg->fullscale == LSM6DS0_GYRO_FS_500DSP)
+ for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)
+ ((LSM6DS0Driver *)ip)->gyrosensitivity[i] = LSM6DS0_GYRO_SENS_500DPS;
+ else if(((LSM6DS0Driver *)ip)->config->gyrocfg->fullscale == LSM6DS0_GYRO_FS_2000DSP)
+ for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)
+ ((LSM6DS0Driver *)ip)->gyrosensitivity[i] = LSM6DS0_GYRO_SENS_2000DPS;
+ else {
+ osalDbgAssert(FALSE, "reset_sensivity(), gyroscope full scale issue");
+ return MSG_RESET;
+ }
+ return MSG_OK;
+}
+
+static msg_t sens_get_temperature(void *ip, float* tempp) {
+ int16_t temp;
+#if LSM6DS0_USE_I2C
+ osalDbgAssert((((LSM6DS0Driver *)ip)->config->i2cp->state == I2C_READY),
+ "gyro_read_raw(), channel not ready");
+#if LSM6DS0_SHARED_I2C
+ i2cAcquireBus(((LSM6DS0Driver *)ip)->config->i2cp);
+ i2cStart(((LSM6DS0Driver *)ip)->config->i2cp,
+ ((LSM6DS0Driver *)ip)->config->i2ccfg);
+#endif /* LSM6DS0_SHARED_I2C */
+ temp = lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
+ ((LSM6DS0Driver *)ip)->config->slaveaddress,
+ LSM6DS0_AD_OUT_TEMP_L, NULL);
+ temp += lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp,
+ ((LSM6DS0Driver *)ip)->config->slaveaddress,
+ LSM6DS0_AD_OUT_TEMP_H, NULL) << 8;
+#if LSM6DS0_SHARED_I2C
+ i2cReleaseBus(((LSM6DS0Driver *)ip)->config->i2cp);
+#endif /* LSM6DS0_SHARED_I2C */
+#endif /* LSM6DS0_USE_I2C */
+ *tempp = ((float)temp / LSM6DS0_TEMP_SENS) + LSM6DS0_TEMP_SENS_OFF;
+ return MSG_OK;
+}
+
+static const struct BaseSensorVMT vmt_basesensor = {
+ sens_get_axes_number, sens_read_raw, sens_read_cooked
+};
+
+static const struct BaseGyroscopeVMT vmt_basegyroscope = {
+ gyro_get_axes_number, gyro_read_raw, gyro_read_cooked,
+ gyro_sample_bias, gyro_set_bias, gyro_reset_bias,
+ gyro_set_sensivity, gyro_reset_sensivity
+};
+
+static const struct BaseAccelerometerVMT vmt_baseaccelerometer = {
+ acc_get_axes_number, acc_read_raw, acc_read_cooked,
+ acc_set_bias, acc_reset_bias, acc_set_sensivity, acc_reset_sensivity
+};
+
+static const struct LSM6DS0ACCVMT vmt_lsm6ds0acc = {
+ acc_get_axes_number, acc_read_raw, acc_read_cooked,
+ acc_set_bias, acc_reset_bias, acc_set_sensivity, acc_reset_sensivity
+};
+
+static const struct LSM6DS0GYROVMT vmt_lsm6ds0gyro = {
+ gyro_get_axes_number, gyro_read_raw, gyro_read_cooked,
+ gyro_sample_bias, gyro_set_bias, gyro_reset_bias,
+ gyro_set_sensivity, gyro_reset_sensivity, sens_get_temperature
+};
+
+/*===========================================================================*/
+/* Driver exported functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Initializes an instance.
+ *
+ * @param[out] devp pointer to the @p LSM6DS0Driver object
+ *
+ * @init
+ */
+void lsm6ds0ObjectInit(LSM6DS0Driver *devp) {
+ uint32_t i;
+ devp->vmt_basesensor = &vmt_basesensor;
+ devp->vmt_baseaccelerometer = &vmt_baseaccelerometer;
+ devp->vmt_basegyroscope = &vmt_basegyroscope;
+ devp->vmt_lsm6ds0acc = &vmt_lsm6ds0acc;
+ devp->vmt_lsm6ds0gyro = &vmt_lsm6ds0gyro;
+ devp->config = NULL;
+ for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)
+ devp->accbias[i] = 0;
+ for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++)
+ devp->gyrobias[i] = 0;
+ devp->state = LSM6DS0_STOP;
+}
+
+/**
+ * @brief Configures and activates LSM6DS0 Complex Driver peripheral.
+ *
+ * @param[in] devp pointer to the @p LSM6DS0Driver object
+ * @param[in] config pointer to the @p LSM6DS0Config object
+ *
+ * @api
+ */
+void lsm6ds0Start(LSM6DS0Driver *devp, const LSM6DS0Config *config) {
+ uint32_t i;
+ osalDbgCheck((devp != NULL) && (config != NULL));
+
+ osalDbgAssert((devp->state == LSM6DS0_STOP) || (devp->state == LSM6DS0_READY),
+ "lsm6ds0Start(), invalid state");
+
+ devp->config = config;
+
+#if LSM6DS0_USE_I2C
+#if LSM6DS0_SHARED_I2C
+ i2cAcquireBus((devp)->config->i2cp);
+#endif /* LSM6DS0_SHARED_I2C */
+ i2cStart((devp)->config->i2cp,
+ (devp)->config->i2ccfg);
+ if((devp)->config->acccfg != NULL) {
+ lsm6ds0I2CWriteRegister(devp->config->i2cp,
+ devp->config->slaveaddress,
+ LSM6DS0_AD_CTRL_REG5_XL,
+ devp->config->acccfg->decmode |
+ devp->config->acccfg->axesenabling);
+ lsm6ds0I2CWriteRegister(devp->config->i2cp,
+ devp->config->slaveaddress,
+ LSM6DS0_AD_CTRL_REG6_XL,
+ devp->config->acccfg->outdatarate |
+ devp->config->acccfg->fullscale );
+ }
+ if((devp)->config->gyrocfg != NULL) {
+ lsm6ds0I2CWriteRegister(devp->config->i2cp,
+ devp->config->slaveaddress,
+ LSM6DS0_AD_CTRL_REG1_G,
+ devp->config->gyrocfg->fullscale |
+ devp->config->gyrocfg->outdatarate);
+ lsm6ds0I2CWriteRegister(devp->config->i2cp,
+ devp->config->slaveaddress,
+ LSM6DS0_AD_CTRL_REG2_G,
+ devp->config->gyrocfg->outsel);
+ lsm6ds0I2CWriteRegister(devp->config->i2cp,
+ devp->config->slaveaddress,
+ LSM6DS0_AD_CTRL_REG3_G,
+ devp->config->gyrocfg->hpfenable |
+ devp->config->gyrocfg->lowmodecfg |
+ devp->config->gyrocfg->hpcfg);
+ lsm6ds0I2CWriteRegister(devp->config->i2cp,
+ devp->config->slaveaddress,
+ LSM6DS0_AD_CTRL_REG4,
+ devp->config->gyrocfg->axesenabling);
+ lsm6ds0I2CWriteRegister(devp->config->i2cp,
+ devp->config->slaveaddress,
+ LSM6DS0_AD_CTRL_REG9,
+ LSM6DS0_GYRO_SLP_DISABLED);
+ }
+ lsm6ds0I2CWriteRegister(devp->config->i2cp,
+ devp->config->slaveaddress,
+ LSM6DS0_AD_CTRL_REG8,
+ devp->config->endianness |
+ devp->config->blockdataupdate);
+#if LSM6DS0_SHARED_I2C
+ i2cReleaseBus((devp)->config->i2cp);
+#endif /* LSM6DS0_SHARED_I2C */
+#endif /* LSM6DS0_USE_I2C */
+ /* Storing sensitivity information according to full scale value */
+ if((devp)->config->acccfg != NULL) {
+ if(devp->config->acccfg->fullscale == LSM6DS0_ACC_FS_2G)
+ for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)
+ devp->accsensitivity[i] = LSM6DS0_ACC_SENS_2G;
+ else if(devp->config->acccfg->fullscale == LSM6DS0_ACC_FS_4G)
+ for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)
+ devp->accsensitivity[i] = LSM6DS0_ACC_SENS_4G;
+ else if(devp->config->acccfg->fullscale == LSM6DS0_ACC_FS_8G)
+ for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)
+ devp->accsensitivity[i] = LSM6DS0_ACC_SENS_8G;
+ else if(devp->config->acccfg->fullscale == LSM6DS0_ACC_FS_16G)
+ for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)
+ devp->accsensitivity[i] = LSM6DS0_ACC_SENS_16G;
+ else
+ osalDbgAssert(FALSE, "lsm6ds0Start(), accelerometer full scale issue");
+ }
+ if((devp)->config->gyrocfg != NULL) {
+ if(devp->config->gyrocfg->fullscale == LSM6DS0_GYRO_FS_245DSP)
+ for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++)
+ devp->gyrosensitivity[i] = LSM6DS0_GYRO_SENS_245DPS;
+ else if(devp->config->gyrocfg->fullscale == LSM6DS0_GYRO_FS_500DSP)
+ for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++)
+ devp->gyrosensitivity[i] = LSM6DS0_GYRO_SENS_500DPS;
+ else if(devp->config->gyrocfg->fullscale == LSM6DS0_GYRO_FS_2000DSP)
+ for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++)
+ devp->gyrosensitivity[i] = LSM6DS0_GYRO_SENS_2000DPS;
+ else
+ osalDbgAssert(FALSE, "lsm6ds0Start(), gyroscope full scale issue");
+ }
+ /* This is the Gyroscope transient recovery time */
+ osalThreadSleepMilliseconds(5);
+
+ devp->state = LSM6DS0_READY;
+}
+
+/**
+ * @brief Deactivates the LSM6DS0 Complex Driver peripheral.
+ *
+ * @param[in] devp pointer to the @p LSM6DS0Driver object
+ *
+ * @api
+ */
+void lsm6ds0Stop(LSM6DS0Driver *devp) {
+
+ osalDbgCheck(devp != NULL);
+
+ osalDbgAssert((devp->state == LSM6DS0_STOP) || (devp->state == LSM6DS0_READY),
+ "lsm6ds0Stop(), invalid state");
+
+#if (LSM6DS0_USE_I2C)
+ if (devp->state == LSM6DS0_STOP) {
+#if LSM6DS0_SHARED_I2C
+ i2cAcquireBus((devp)->config->i2cp);
+ i2cStart((devp)->config->i2cp,
+ (devp)->config->i2ccfg);
+#endif /* LSM6DS0_SHARED_I2C */
+ if((devp)->config->acccfg != NULL) {
+ lsm6ds0I2CWriteRegister(devp->config->i2cp,
+ devp->config->slaveaddress,
+ LSM6DS0_AD_CTRL_REG6_XL,
+ LSM6DS0_ACC_ODR_PD);
+ }
+ if((devp)->config->gyrocfg != NULL) {
+ lsm6ds0I2CWriteRegister(devp->config->i2cp,
+ devp->config->slaveaddress,
+ LSM6DS0_AD_CTRL_REG9,
+ LSM6DS0_GYRO_SLP_ENABLED);
+ }
+ i2cStop((devp)->config->i2cp);
+#if LSM6DS0_SHARED_I2C
+ i2cReleaseBus((devp)->config->i2cp);
+#endif /* LSM6DS0_SHARED_I2C */
+ }
+#endif /* LSM6DS0_USE_I2C */
+ devp->state = LSM6DS0_STOP;
+}
+/** @} */
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