diff options
Diffstat (limited to 'os/ex/ST/lsm6ds0.h')
| -rw-r--r-- | os/ex/ST/lsm6ds0.h | 599 |
1 files changed, 418 insertions, 181 deletions
diff --git a/os/ex/ST/lsm6ds0.h b/os/ex/ST/lsm6ds0.h index 59abeb336..8dbc542d5 100644 --- a/os/ex/ST/lsm6ds0.h +++ b/os/ex/ST/lsm6ds0.h @@ -1,5 +1,5 @@ /*
- ChibiOS - Copyright (C) 2016 Rocco Marco Guglielmi
+ ChibiOS - Copyright (C) 2016-2018 Rocco Marco Guglielmi
This file is part of ChibiOS.
@@ -43,7 +43,7 @@ /**
* @brief LSM6DS0 driver version string.
*/
-#define EX_LSM6DS0_VERSION "1.0.4"
+#define EX_LSM6DS0_VERSION "1.0.5"
/**
* @brief LSM6DS0 driver version major number.
@@ -58,11 +58,14 @@ /**
* @brief LSM6DS0 driver version patch number.
*/
-#define EX_LSM6DS0_PATCH 4
+#define EX_LSM6DS0_PATCH 5
/** @} */
/**
* @brief LSM6DS0 accelerometer subsystem characteristics.
+ * @note Sensitivity is expressed as milli-G/LSB whereas
+ * 1 milli-G = 0.00980665 m/s^2.
+ * @note Bias is expressed as milli-G.
*
* @{
*/
@@ -77,10 +80,15 @@ #define LSM6DS0_ACC_SENS_4G 0.122f
#define LSM6DS0_ACC_SENS_8G 0.244f
#define LSM6DS0_ACC_SENS_16G 0.732f
+
+#define LSM6DS0_ACC_BIAS 0.0f
/** @} */
/**
- * @brief LSM6DS0 gyroscope subsystem characteristics.
+ * @brief L3GD20 gyroscope system characteristics.
+ * @note Sensitivity is expressed as DPS/LSB whereas DPS stand for Degree
+ * per second [°/s].
+ * @note Bias is expressed as DPS.
*
* @{
*/
@@ -93,6 +101,8 @@ #define LSM6DS0_GYRO_SENS_245DPS 0.00875f
#define LSM6DS0_GYRO_SENS_500DPS 0.01750f
#define LSM6DS0_GYRO_SENS_2000DPS 0.07000f
+
+#define LSM6DS0_GYRO_BIAS 0.0f
/** @} */
/**
@@ -287,11 +297,8 @@ #define LSM6DS0_CTRL_REG10 0x05
#define LSM6DS0_CTRL_REG10_ST_XL (1 << 0)
#define LSM6DS0_CTRL_REG10_ST_G (1 << 2)
-
/** @} */
-//TODO: ADD more LSM6DS0 register bits definitions
-
/*===========================================================================*/
/* Driver pre-compile time settings. */
/*===========================================================================*/
@@ -301,7 +308,7 @@ * @{
*/
/**
- * @brief LSM6DS0 SPI interface selector.
+ * @brief LSM6DS0 SPI interface switch.
* @details If set to @p TRUE the support for SPI is included.
* @note The default is @p FALSE.
*/
@@ -310,7 +317,17 @@ #endif
/**
- * @brief LSM6DS0 I2C interface selector.
+ * @brief LSM6DS0 shared SPI switch.
+ * @details If set to @p TRUE the device acquires SPI bus ownership
+ * on each transaction.
+ * @note The default is @p FALSE. Requires SPI_USE_MUTUAL_EXCLUSION.
+ */
+#if !defined(LSM6DS0_SHARED_SPI) || defined(__DOXYGEN__)
+#define LSM6DS0_SHARED_SPI FALSE
+#endif
+
+/**
+ * @brief LSM6DS0 I2C interface switch.
* @details If set to @p TRUE the support for I2C is included.
* @note The default is @p TRUE.
*/
@@ -329,7 +346,7 @@ #endif
/**
- * @brief LSM6DS0 subsystem advanced configurations switch.
+ * @brief LSM6DS0 advanced configurations switch.
* @details If set to @p TRUE more configurations are available.
* @note The default is @p FALSE.
*/
@@ -370,8 +387,8 @@ * @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
+#if !defined(LSM6DS0_GYRO_BIAS_SETTLING_US) || defined(__DOXYGEN__)
+#define LSM6DS0_GYRO_BIAS_SETTLING_US 5000
#endif
/** @} */
@@ -379,20 +396,31 @@ /* Derived constants and error checks. */
/*===========================================================================*/
-#if LSM6DS0_USE_SPI && LSM6DS0_USE_I2C
-#error "LSM6DS0_USE_SPI and LSM6DS0_USE_I2C cannot be both true"
+#if !(LSM6DS0_USE_SPI ^ LSM6DS0_USE_I2C)
+#error "LSM6DS0_USE_SPI and LSM6DS0_USE_I2C cannot be both true or both false"
#endif
#if LSM6DS0_USE_SPI && !HAL_USE_SPI
#error "LSM6DS0_USE_SPI requires HAL_USE_SPI"
#endif
+#if LSM6DS0_SHARED_SPI && !SPI_USE_MUTUAL_EXCLUSION
+#error "LSM6DS0_SHARED_SPI requires SPI_USE_MUTUAL_EXCLUSION"
+#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"
+#error "LSM6DS0_SHARED_I2C requires I2C_USE_MUTUAL_EXCLUSION"
+#endif
+
+/**
+ * @todo Add support for LSM6DS0 over SPI.
+ */
+#if LSM6DS0_USE_SPI
+#error "LSM6DS0 over SPI still not supported"
#endif
/*===========================================================================*/
@@ -400,10 +428,23 @@ /*===========================================================================*/
/**
- * @name LSM6DS0 accelerometer subsystem data structures and types.
+ * @name LSM6DS0 data structures and types.
* @{
*/
/**
+ * @brief Structure representing a LSM6DS0 driver.
+ */
+typedef struct LSM6DS0Driver LSM6DS0Driver;
+
+/**
+ * @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 accelerometer subsystem full scale.
*/
typedef enum {
@@ -437,39 +478,6 @@ typedef enum { } lsm6ds0_acc_dec_t;
/**
- * @brief LSM6DS0 accelerometer subsystem configuration structure.
- */
-typedef struct {
- /**
- * @brief LSM6DS0 accelerometer initial sensitivity.
- */
- float* sensitivity;
- /**
- * @brief LSM6DS0 accelerometer initial bias.
- */
- float* bias;
- /**
- * @brief LSM6DS0 accelerometer subsystem full scale.
- */
- lsm6ds0_acc_fs_t fullscale;
- /**
- * @brief LSM6DS0 accelerometer subsystem output data rate.
- */
- lsm6ds0_acc_odr_t outdatarate;
-#if LSM6DS0_ACC_USE_ADVANCED || defined(__DOXYGEN__)
- /**
- * @brief LSM6DS0 accelerometer subsystem decimation mode.
- */
- lsm6ds0_acc_dec_t decmode;
-#endif /* LSM6DS0_ACC_USE_ADVANCED */
-} LSM6DS0AccConfig;
-/** @} */
-
-/**
- * @name LSM6DS0 gyroscope subsystem data structures and types.
- * @{
- */
-/**
* @brief LSM6DS0 gyroscope subsystem full scale.
*/
typedef enum {
@@ -544,59 +552,6 @@ typedef enum { } lsm6ds0_gyro_hpcf_t;
/**
- * @brief LSM6DS0 gyroscope subsystem configuration structure.
- */
-typedef struct {
- /**
- * @brief LSM6DS0 gyroscope initial sensitivity.
- */
- float* sensitivity;
- /**
- * @brief LSM6DS0 gyroscope initial bias.
- */
- float* bias;
- /**
- * @brief LSM6DS0 gyroscope subsystem full scale.
- */
- lsm6ds0_gyro_fs_t fullscale;
- /**
- * @brief LSM6DS0 gyroscope subsystem output data rate.
- */
- lsm6ds0_gyro_odr_t outdatarate;
-#if LSM6DS0_GYRO_USE_ADVANCED || defined(__DOXYGEN__)
- /**
- * @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;
- #endif /* LSM6DS0_GYRO_USE_ADVANCED */
-} 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 {
@@ -635,11 +590,6 @@ typedef struct { * 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__)
/**
@@ -651,19 +601,67 @@ typedef struct { * subsystem.
*/
const I2CConfig *i2ccfg;
+ /**
+ * @brief LSM6DS0 Slave Address
+ */
+ lsm6ds0_sad_t slaveaddress;
#endif /* LSM6DS0_USE_I2C */
/**
- * @brief LSM6DS0 accelerometer subsystem configuration structure
+ * @brief LSM6DS0 accelerometer subsystem initial sensitivity.
*/
- const LSM6DS0AccConfig *acccfg;
+ float *accsensitivity;
/**
- * @brief LSM6DS0 gyroscope subsystem configuration structure
+ * @brief LSM6DS0 accelerometer subsystem initial bias.
*/
- const LSM6DS0GyroConfig *gyrocfg;
+ float *accbias;
/**
- * @brief Accelerometer and Gyroscope Slave Address
+ * @brief LSM6DS0 accelerometer subsystem full scale.
*/
- lsm6ds0_sad_t slaveaddress;
+ lsm6ds0_acc_fs_t accfullscale;
+ /**
+ * @brief LSM6DS0 accelerometer subsystem output data rate.
+ */
+ lsm6ds0_acc_odr_t accoutdatarate;
+#if LSM6DS0_ACC_USE_ADVANCED || defined(__DOXYGEN__)
+ /**
+ * @brief LSM6DS0 accelerometer subsystem decimation mode.
+ */
+ lsm6ds0_acc_dec_t accdecmode;
+#endif /* LSM6DS0_ACC_USE_ADVANCED */
+ /**
+ * @brief LSM6DS0 gyroscope subsystem initial sensitivity.
+ */
+ float *gyrosensitivity;
+ /**
+ * @brief LSM6DS0 gyroscope subsystem initial bias.
+ */
+ float *gyrobias;
+ /**
+ * @brief LSM6DS0 gyroscope subsystem full scale.
+ */
+ lsm6ds0_gyro_fs_t gyrofullscale;
+ /**
+ * @brief LSM6DS0 gyroscope subsystem output data rate.
+ */
+ lsm6ds0_gyro_odr_t gyrooutdatarate;
+#if LSM6DS0_GYRO_USE_ADVANCED || defined(__DOXYGEN__)
+ /**
+ * @brief LSM6DS0 gyroscope subsystem low mode configuration.
+ */
+ lsm6ds0_gyro_lp_t gyrolowmodecfg;
+ /**
+ * @brief LSM6DS0 gyroscope subsystem output selection.
+ */
+ lsm6ds0_gyro_out_sel_t gyrooutsel;
+ /**
+ * @brief LSM6DS0 gyroscope subsystem high pass filter.
+ */
+ lsm6ds0_gyro_hp_t gyrohpfenable;
+ /**
+ * @brief LSM6DS0 gyroscope subsystem high pass filter configuration.
+ */
+ lsm6ds0_gyro_hpcf_t gyrohpcfg;
+ #endif /* LSM6DS0_GYRO_USE_ADVANCED */
#if (LSM6DS0_USE_ADVANCED) || defined(__DOXYGEN__)
/**
* @brief LSM6DS0 block data update
@@ -677,95 +675,68 @@ typedef struct { } LSM6DS0Config;
/**
- * @brief @p LSM6DS0 accelerometer subsystem specific methods.
+ * @brief @p LSM6DS0 specific methods.
*/
-#define _lsm6ds0_accelerometer_methods_alone \
+#define _lsm6ds0_methods_alone \
/* Change full scale value of LSM6DS0 accelerometer subsystem .*/ \
- msg_t (*set_full_scale)(void *instance, lsm6ds0_acc_fs_t fs);
-
-
-/**
- * @brief @p LSM6DS0 accelerometer subsystem specific methods with inherited
- * ones.
- */
-#define _lsm6ds0_accelerometer_methods \
- _base_accelerometer_methods \
- _lsm6ds0_accelerometer_methods_alone
-
-/**
- * @brief @p LSM6DS0 gyroscope subsystem specific methods.
- */
-#define _lsm6ds0_gyroscope_methods_alone \
+ msg_t (*acc_set_full_scale)(LSM6DS0Driver *devp, lsm6ds0_acc_fs_t fs); \
/* Change full scale value of LSM6DS0 gyroscope subsystem .*/ \
- msg_t (*set_full_scale)(void *instance, lsm6ds0_gyro_fs_t fs);
-
+ msg_t (*gyro_set_full_scale)(LSM6DS0Driver *devp, lsm6ds0_gyro_fs_t fs);
/**
- * @brief @p LSM6DS0 gyroscope subsystem specific methods with inherited ones.
+ * @brief @p LSM6DS0 specific methods with inherited ones.
*/
-#define _lsm6ds0_gyroscope_methods \
- _base_gyroscope_methods \
- _lsm6ds0_gyroscope_methods_alone
-
-/**
- * @extends BaseAccelerometerVMT
- *
- * @brief @p LSM6DS0 accelerometer virtual methods table.
- */
-struct LSM6DS0AccelerometerVMT {
- _lsm6ds0_accelerometer_methods
-};
+#define _lsm6ds0_methods \
+ _base_object_methods \
+ _lsm6ds0_methods_alone
/**
- * @extends BaseCompassVMT
+ * @extends BaseObjectVMT
*
- * @brief @p LSM6DS0 gyroscope virtual methods table.
+ * @brief @p LSM6DS0 virtual methods table.
*/
-struct LSM6DS0GyroscopeVMT {
- _lsm6ds0_gyroscope_methods
+struct LSM6DS0VMT {
+ _lsm6ds0_methods
};
/**
* @brief @p LSM6DS0Driver specific data.
*/
#define _lsm6ds0_data \
+ _base_sensor_data \
/* Driver state.*/ \
lsm6ds0_state_t state; \
/* Current configuration data.*/ \
const LSM6DS0Config *config; \
- /* Current accelerometer sensitivity.*/ \
+ /* Accelerometer subsystem axes number.*/ \
+ size_t accaxes; \
+ /* Accelerometer subsystem current sensitivity.*/ \
float accsensitivity[LSM6DS0_ACC_NUMBER_OF_AXES]; \
- /* Accelerometer bias data.*/ \
+ /* Accelerometer subsystem current bias .*/ \
float accbias[LSM6DS0_ACC_NUMBER_OF_AXES]; \
- /* Current accelerometer full scale value.*/ \
+ /* Accelerometer subsystem current full scale value.*/ \
float accfullscale; \
- /* Current gyroscope sensitivity.*/ \
+ /* Gyroscope subsystem axes number.*/ \
+ size_t gyroaxes; \
+ /* Gyroscope subsystem current sensitivity.*/ \
float gyrosensitivity[LSM6DS0_GYRO_NUMBER_OF_AXES]; \
- /* Bias data.*/ \
+ /* Gyroscope subsystem current Bias.*/ \
float gyrobias[LSM6DS0_GYRO_NUMBER_OF_AXES]; \
- /* Current gyroscope full scale value.*/ \
+ /* Gyroscope subsystem current full scale value.*/ \
float gyrofullscale;
/**
* @brief LSM6DS0 6-axis accelerometer/gyroscope class.
*/
struct LSM6DS0Driver {
- /** @brief BaseSensor Virtual Methods Table. */
- const struct BaseSensorVMT *vmt_sensor;
- _base_sensor_data
- /** @brief LSM6DS0 Accelerometer Virtual Methods Table. */
- const struct LSM6DS0AccelerometerVMT *vmt_accelerometer;
- _base_accelerometer_data
- /** @brief LSM6DS0 Gyroscope Virtual Methods Table. */
- const struct LSM6DS0GyroscopeVMT *vmt_gyroscope;
- _base_gyroscope_data
+ /** @brief Virtual Methods Table.*/
+ const struct LSM6DS0VMT *vmt;
+ /** @brief Base accelerometer interface.*/
+ BaseAccelerometer acc_if;
+ /** @brief Base gyroscope interface.*/
+ BaseGyroscope gyro_if;
_lsm6ds0_data
};
-
-/**
- * @brief Structure representing a LSM6DS0 driver.
- */
-typedef struct LSM6DS0Driver LSM6DS0Driver;
/** @} */
/*===========================================================================*/
@@ -773,32 +744,298 @@ typedef struct LSM6DS0Driver LSM6DS0Driver; /*===========================================================================*/
/**
- * @brief Change accelerometer fullscale value.
+ * @brief Return the number of axes of the BaseAccelerometer.
+ *
+ * @param[in] devp pointer to @p LSM6DS0Driver.
+ *
+ * @return the number of axes.
+ *
+ * @api
+ */
+#define lsm6ds0AccelerometerGetAxesNumber(devp) \
+ accelerometerGetAxesNumber(&((devp)->acc_if))
+
+/**
+ * @brief Retrieves raw data from the BaseAccelerometer.
+ * @note This data is retrieved from MEMS register without any algebraical
+ * manipulation.
+ * @note The axes array must be at least the same size of the
+ * BaseAccelerometer axes number.
+ *
+ * @param[in] devp pointer to @p LSM6DS0Driver.
+ * @param[out] axes a buffer which would be filled with raw data.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ * @retval MSG_RESET if one or more I2C errors occurred, the errors can
+ * be retrieved using @p i2cGetErrors().
+ * @retval MSG_TIMEOUT if a timeout occurred before operation end.
+ *
+ * @api
+ */
+#define lsm6ds0AccelerometerReadRaw(devp, axes) \
+ accelerometerReadRaw(&((devp)->acc_if), axes)
+
+/**
+ * @brief Retrieves cooked data from the BaseAccelerometer.
+ * @note This data is manipulated according to the formula
+ * cooked = (raw * sensitivity) - bias.
+ * @note Final data is expressed as milli-G.
+ * @note The axes array must be at least the same size of the
+ * BaseAccelerometer axes number.
+ *
+ * @param[in] devp pointer to @p LSM6DS0Driver.
+ * @param[out] axes a buffer which would be filled with cooked data.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ * @retval MSG_RESET if one or more I2C errors occurred, the errors can
+ * be retrieved using @p i2cGetErrors().
+ * @retval MSG_TIMEOUT if a timeout occurred before operation end.
+ *
+ * @api
+ */
+#define lsm6ds0AccelerometerReadCooked(devp, axes) \
+ accelerometerReadCooked(&((devp)->acc_if), axes)
+
+/**
+ * @brief Set bias values for the BaseAccelerometer.
+ * @note Bias must be expressed as milli-G.
+ * @note The bias buffer must be at least the same size of the
+ * BaseAccelerometer axes number.
+ *
+ * @param[in] devp pointer to @p LSM6DS0Driver.
+ * @param[in] bp a buffer which contains biases.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ *
+ * @api
+ */
+#define lsm6ds0AccelerometerSetBias(devp, bp) \
+ accelerometerSetBias(&((devp)->acc_if), bp)
+
+/**
+ * @brief Reset bias values for the BaseAccelerometer.
+ * @note Default biases value are obtained from device datasheet when
+ * available otherwise they are considered zero.
+ *
+ * @param[in] devp pointer to @p LSM6DS0Driver.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ *
+ * @api
+ */
+#define lsm6ds0AccelerometerResetBias(devp) \
+ accelerometerResetBias(&((devp)->acc_if))
+
+/**
+ * @brief Set sensitivity values for the BaseAccelerometer.
+ * @note Sensitivity must be expressed as milli-G/LSB.
+ * @note The sensitivity buffer must be at least the same size of the
+ * BaseAccelerometer axes number.
*
- * @param[in] ip pointer to a @p LSM6DS0Driver class.
- * @param[in] fs the new full scale value.
+ * @param[in] devp pointer to @p LSM6DS0Driver.
+ * @param[in] sp a buffer which contains sensitivities.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
- * @retval MSG_RESET if one or more errors occurred.
+ *
* @api
*/
-#define accelerometerSetFullScale(ip, fs) \
- (ip)->vmt_accelerometer->set_full_scale(ip, fs)
+#define lsm6ds0AccelerometerSetSensitivity(devp, sp) \
+ accelerometerSetSensitivity(&((devp)->acc_if), sp)
/**
- * @brief Change compass fullscale value.
+ * @brief Reset sensitivity values for the BaseAccelerometer.
+ * @note Default sensitivities value are obtained from device datasheet.
*
- * @param[in] ip pointer to a @p LSM6DS0Driver class.
- * @param[in] fs the new full scale value.
+ * @param[in] devp pointer to @p LSM6DS0Driver.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
- * @retval MSG_RESET if one or more errors occurred.
+ * @retval MSG_RESET otherwise.
+ *
+ * @api
+ */
+#define lsm6ds0AccelerometerResetSensitivity(devp) \
+ accelerometerResetSensitivity(&((devp)->acc_if))
+
+/**
+ * @brief Changes the LSM6DS0Driver accelerometer fullscale value.
+ * @note This function also rescale sensitivities and biases based on
+ * previous and next fullscale value.
+ * @note A recalibration is highly suggested after calling this function.
+ *
+ * @param[in] devp pointer to @p LSM6DS0Driver.
+ * @param[in] fs new fullscale value.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ * @retval MSG_RESET otherwise.
+ *
+ * @api
+ */
+#define lsm6ds0AccelerometerSetFullScale(devp, fs) \
+ (devp)->vmt->acc_set_full_scale(devp, fs)
+
+/**
+ * @brief Return the number of axes of the BaseGyroscope.
+ *
+ * @param[in] devp pointer to @p LSM6DS0Driver.
+ *
+ * @return the number of axes.
+ *
+ * @api
+ */
+#define lsm6ds0GyroscopeGetAxesNumber(devp) \
+ gyroscopeGetAxesNumber(&((devp)->gyro_if))
+
+/**
+ * @brief Retrieves raw data from the BaseGyroscope.
+ * @note This data is retrieved from MEMS register without any algebraical
+ * manipulation.
+ * @note The axes array must be at least the same size of the
+ * BaseGyroscope axes number.
+ *
+ * @param[in] devp pointer to @p LSM6DS0Driver.
+ * @param[out] axes a buffer which would be filled with raw data.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ * @retval MSG_RESET if one or more I2C errors occurred, the errors can
+ * be retrieved using @p i2cGetErrors().
+ * @retval MSG_TIMEOUT if a timeout occurred before operation end.
+ *
+ * @api
+ */
+#define lsm6ds0GyroscopeReadRaw(devp, axes) \
+ gyroscopeReadRaw(&((devp)->gyro_if), axes)
+
+/**
+ * @brief Retrieves cooked data from the BaseGyroscope.
+ * @note This data is manipulated according to the formula
+ * cooked = (raw * sensitivity) - bias.
+ * @note Final data is expressed as DPS.
+ * @note The axes array must be at least the same size of the
+ * BaseGyroscope axes number.
+ *
+ * @param[in] devp pointer to @p LSM6DS0Driver.
+ * @param[out] axes a buffer which would be filled with cooked data.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ * @retval MSG_RESET if one or more I2C errors occurred, the errors can
+ * be retrieved using @p i2cGetErrors().
+ * @retval MSG_TIMEOUT if a timeout occurred before operation end.
+ *
+ * @api
+ */
+#define lsm6ds0GyroscopeReadCooked(devp, axes) \
+ gyroscopeReadCooked(&((devp)->gyro_if), axes)
+
+/**
+ * @brief Samples bias values for the BaseGyroscope.
+ * @note The LSM6DS0 shall not be moved during the whole procedure.
+ * @note After this function internal bias is automatically updated.
+ * @note The behavior of this function depends on @P LSM6DS0_BIAS_ACQ_TIMES
+ * and @p LSM6DS0_BIAS_SETTLING_US.
+ *
+ * @param[in] devp pointer to @p LSM6DS0Driver.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ * @retval MSG_RESET if one or more I2C errors occurred, the errors can
+ * be retrieved using @p i2cGetErrors().
+ * @retval MSG_TIMEOUT if a timeout occurred before operation end.
+ *
+ * @api
+ */
+#define lsm6ds0GyroscopeSampleBias(devp) \
+ gyroscopeSampleBias(&((devp)->gyro_if))
+
+/**
+ * @brief Set bias values for the BaseGyroscope.
+ * @note Bias must be expressed as DPS.
+ * @note The bias buffer must be at least the same size of the BaseGyroscope
+ * axes number.
+ *
+ * @param[in] devp pointer to @p LSM6DS0Driver.
+ * @param[in] bp a buffer which contains biases.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ *
+ * @api
+ */
+#define lsm6ds0GyroscopeSetBias(devp, bp) \
+ gyroscopeSetBias(&((devp)->gyro_if), bp)
+
+/**
+ * @brief Reset bias values for the BaseGyroscope.
+ * @note Default biases value are obtained from device datasheet when
+ * available otherwise they are considered zero.
+ *
+ * @param[in] devp pointer to @p LSM6DS0Driver.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ *
+ * @api
+ */
+#define lsm6ds0GyroscopeResetBias(devp) \
+ gyroscopeResetBias(&((devp)->gyro_if))
+
+/**
+ * @brief Set sensitivity values for the BaseGyroscope.
+ * @note Sensitivity must be expressed as DPS/LSB.
+ * @note The sensitivity buffer must be at least the same size of the
+ * BaseGyroscope axes number.
+ *
+ * @param[in] devp pointer to @p LSM6DS0Driver.
+ * @param[in] sp a buffer which contains sensitivities.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ *
+ * @api
+ */
+#define lsm6ds0GyroscopeSetSensitivity(devp, sp) \
+ gyroscopeSetSensitivity(&((devp)->gyro_if), sp)
+
+/**
+ * @brief Reset sensitivity values for the BaseGyroscope.
+ * @note Default sensitivities value are obtained from device datasheet.
+ *
+ * @param[in] devp pointer to @p LSM6DS0Driver.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ * @retval MSG_RESET otherwise.
+ *
+ * @api
+ */
+#define lsm6ds0GyroscopeResetSensitivity(devp) \
+ gyroscopeResetSensitivity(&((devp)->gyro_if))
+
+/**
+ * @brief Changes the LSM6DS0Driver gyroscope fullscale value.
+ * @note This function also rescale sensitivities and biases based on
+ * previous and next fullscale value.
+ * @note A recalibration is highly suggested after calling this function.
+ *
+ * @param[in] devp pointer to @p LSM6DS0Driver.
+ * @param[in] fs new fullscale value.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ * @retval MSG_RESET otherwise.
+ *
* @api
*/
-#define gyroscopeSetFullScale(ip, fs) \
- (ip)->vmt_gyroscope->set_full_scale(ip, fs)
+#define lsm6ds0GyroscopeSetFullScale(devp, fs) \
+ (devp)->vmt->acc_set_full_scale(devp, fs)
/*===========================================================================*/
/* External declarations. */
|