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Diffstat (limited to 'os/ex/ST/lsm6ds0.c')
| -rw-r--r-- | os/ex/ST/lsm6ds0.c | 501 |
1 files changed, 501 insertions, 0 deletions
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; +} +/** @} */ |