diff options
Diffstat (limited to 'os/ex/ST/lsm6ds0.h')
| -rw-r--r-- | os/ex/ST/lsm6ds0.h | 1208 |
1 files changed, 604 insertions, 604 deletions
diff --git a/os/ex/ST/lsm6ds0.h b/os/ex/ST/lsm6ds0.h index a43bf7ad9..a2cee28ec 100644 --- a/os/ex/ST/lsm6ds0.h +++ b/os/ex/ST/lsm6ds0.h @@ -1,604 +1,604 @@ -/* - 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 - -/** - * @brief Number of acquisitions for gyroscope bias removal. - * @details This is the number of acquisitions performed to compute the - * bias. A repetition is required in order to remove noise. - */ -#if !defined(LSM6DS0_GYRO_BIAS_ACQ_TIMES) || defined(__DOXYGEN__) -#define LSM6DS0_GYRO_BIAS_ACQ_TIMES 50 -#endif - -/** - * @brief Settling time for gyroscope bias removal. - * @details This is the time between each bias acquisition. - */ -#if !defined(LSM6DS0_GYRO_BIAS_SETTLING_uS) || defined(__DOXYGEN__) -#define LSM6DS0_GYRO_BIAS_SETTLING_uS 5000 -#endif -/** @} */ - -/*===========================================================================*/ -/* Derived constants and error checks. */ -/*===========================================================================*/ - -#if LSM6DS0_USE_SPI && LSM6DS0_USE_I2C -#error "LSM6DS0_USE_SPI and LSM6DS0_USE_I2C cannot be both true" -#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 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; -/** @} */ - -/** - * @name LSM6DS0 main system data structures and types. - * @{ - */ -/** - * @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_CONTINUOUS = 0x00, /**< Block data continuously updated. */ - LSM6DS0_BDU_BLOCKED = 0x40 /**< Block data updated after reading. */ -} lsm6ds0_bdu_t; - -/** - * @brief LSM6DS0 endianness. - */ -typedef enum { - LSM6DS0_END_LITTLE = 0x00, /**< Little endian. */ - LSM6DS0_END_BIG = 0x20 /**< Big endian. */ -} lsm6ds0_end_t; - -/** - * @brief Driver state machine possible states. - */ -typedef enum { - LSM6DS0_UNINIT = 0, /**< Not initialized. */ - LSM6DS0_STOP = 1, /**< Stopped. */ - LSM6DS0_READY = 2, /**< Ready. */ -} lsm6ds0_state_t; - -/** - * @brief LSM6DS0 configuration structure. - */ -typedef struct { -#if (LSM6DS0_USE_SPI) || defined(__DOXYGEN__) - /** - * @brief SPI driver associated to this LSM6DS0. - */ - SPIDriver *spip; - /** - * @brief SPI configuration associated to this LSM6DS0 accelerometer - * subsystem. - */ - const SPIConfig *accspicfg; - /** - * @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 \ - /* Retrieve the temperature of LSM6DS0 chip.*/ \ - msg_t (*get_temperature)(void *instance, float* temperature); - -/** - * @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 accsensitivity[LSM6DS0_ACC_NUMBER_OF_AXES]; \ - /* Accelerometer bias data.*/ \ - int32_t accbias[LSM6DS0_ACC_NUMBER_OF_AXES]; \ - /* Current gyroscope sensitivity.*/ \ - float gyrosensitivity[LSM6DS0_GYRO_NUMBER_OF_AXES]; \ - /* Bias data.*/ \ - int32_t gyrobias[LSM6DS0_GYRO_NUMBER_OF_AXES]; - -/** - * @brief LSM6DS0 6-axis accelerometer/gyroscope class. - */ -struct LSM6DS0Driver { - /** @brief BaseSensor Virtual Methods Table. */ - const struct BaseSensorVMT *vmt_basesensor; - /** @brief BaseAccelerometer Virtual Methods Table. */ - const struct BaseAccelerometerVMT *vmt_baseaccelerometer; - /** @brief BaseGyroscope Virtual Methods Table. */ - const struct BaseGyroscopeVMT *vmt_basegyroscope; - /** @brief LSM6DS0 Accelerometer Virtual Methods Table. */ - const struct LSM6DS0ACCVMT *vmt_lsm6ds0acc; - /** @brief LSM6DS0 Gyroscope Virtual Methods Table. */ - const struct LSM6DS0GYROVMT *vmt_lsm6ds0gyro; - _lsm6ds0_data -}; -/** @} */ - -/*===========================================================================*/ -/* Driver macros. */ -/*===========================================================================*/ - -/** - * @brief Get current MEMS temperature. - * @detail This information is very useful especially for high accuracy IMU - * - * @param[in] ip pointer to a @p BaseGyroscope class. - * @param[out] temp the MEMS temperature as single precision floating. - * - * @return The operation status. - * @retval MSG_OK if the function succeeded. - * @retval MSG_RESET if one or more errors occurred. - * @api - */ -#define gyroscopeGetTemp(ip, tpp) \ - (ip)->vmt_lsm6ds0gyro->get_temperature(ip, tpp) - -/*===========================================================================*/ -/* 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_ */ - -/** @} */ +/*
+ 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
+
+/**
+ * @brief Number of acquisitions for gyroscope bias removal.
+ * @details This is the number of acquisitions performed to compute the
+ * bias. A repetition is required in order to remove noise.
+ */
+#if !defined(LSM6DS0_GYRO_BIAS_ACQ_TIMES) || defined(__DOXYGEN__)
+#define LSM6DS0_GYRO_BIAS_ACQ_TIMES 50
+#endif
+
+/**
+ * @brief Settling time for gyroscope bias removal.
+ * @details This is the time between each bias acquisition.
+ */
+#if !defined(LSM6DS0_GYRO_BIAS_SETTLING_uS) || defined(__DOXYGEN__)
+#define LSM6DS0_GYRO_BIAS_SETTLING_uS 5000
+#endif
+/** @} */
+
+/*===========================================================================*/
+/* Derived constants and error checks. */
+/*===========================================================================*/
+
+#if LSM6DS0_USE_SPI && LSM6DS0_USE_I2C
+#error "LSM6DS0_USE_SPI and LSM6DS0_USE_I2C cannot be both true"
+#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 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;
+/** @} */
+
+/**
+ * @name LSM6DS0 main system data structures and types.
+ * @{
+ */
+/**
+ * @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_CONTINUOUS = 0x00, /**< Block data continuously updated. */
+ LSM6DS0_BDU_BLOCKED = 0x40 /**< Block data updated after reading. */
+} lsm6ds0_bdu_t;
+
+/**
+ * @brief LSM6DS0 endianness.
+ */
+typedef enum {
+ LSM6DS0_END_LITTLE = 0x00, /**< Little endian. */
+ LSM6DS0_END_BIG = 0x20 /**< Big endian. */
+} lsm6ds0_end_t;
+
+/**
+ * @brief Driver state machine possible states.
+ */
+typedef enum {
+ LSM6DS0_UNINIT = 0, /**< Not initialized. */
+ LSM6DS0_STOP = 1, /**< Stopped. */
+ LSM6DS0_READY = 2, /**< Ready. */
+} lsm6ds0_state_t;
+
+/**
+ * @brief LSM6DS0 configuration structure.
+ */
+typedef struct {
+#if (LSM6DS0_USE_SPI) || defined(__DOXYGEN__)
+ /**
+ * @brief SPI driver associated to this LSM6DS0.
+ */
+ SPIDriver *spip;
+ /**
+ * @brief SPI configuration associated to this LSM6DS0 accelerometer
+ * subsystem.
+ */
+ const SPIConfig *accspicfg;
+ /**
+ * @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 \
+ /* Retrieve the temperature of LSM6DS0 chip.*/ \
+ msg_t (*get_temperature)(void *instance, float* temperature);
+
+/**
+ * @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 accsensitivity[LSM6DS0_ACC_NUMBER_OF_AXES]; \
+ /* Accelerometer bias data.*/ \
+ int32_t accbias[LSM6DS0_ACC_NUMBER_OF_AXES]; \
+ /* Current gyroscope sensitivity.*/ \
+ float gyrosensitivity[LSM6DS0_GYRO_NUMBER_OF_AXES]; \
+ /* Bias data.*/ \
+ int32_t gyrobias[LSM6DS0_GYRO_NUMBER_OF_AXES];
+
+/**
+ * @brief LSM6DS0 6-axis accelerometer/gyroscope class.
+ */
+struct LSM6DS0Driver {
+ /** @brief BaseSensor Virtual Methods Table. */
+ const struct BaseSensorVMT *vmt_basesensor;
+ /** @brief BaseAccelerometer Virtual Methods Table. */
+ const struct BaseAccelerometerVMT *vmt_baseaccelerometer;
+ /** @brief BaseGyroscope Virtual Methods Table. */
+ const struct BaseGyroscopeVMT *vmt_basegyroscope;
+ /** @brief LSM6DS0 Accelerometer Virtual Methods Table. */
+ const struct LSM6DS0ACCVMT *vmt_lsm6ds0acc;
+ /** @brief LSM6DS0 Gyroscope Virtual Methods Table. */
+ const struct LSM6DS0GYROVMT *vmt_lsm6ds0gyro;
+ _lsm6ds0_data
+};
+/** @} */
+
+/*===========================================================================*/
+/* Driver macros. */
+/*===========================================================================*/
+
+/**
+ * @brief Get current MEMS temperature.
+ * @detail This information is very useful especially for high accuracy IMU
+ *
+ * @param[in] ip pointer to a @p BaseGyroscope class.
+ * @param[out] temp the MEMS temperature as single precision floating.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ * @retval MSG_RESET if one or more errors occurred.
+ * @api
+ */
+#define gyroscopeGetTemp(ip, tpp) \
+ (ip)->vmt_lsm6ds0gyro->get_temperature(ip, tpp)
+
+/*===========================================================================*/
+/* 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_ */
+
+/** @} */
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