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Diffstat (limited to 'os/ex/ST/lsm6ds0.h')
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diff --git a/os/ex/ST/lsm6ds0.h b/os/ex/ST/lsm6ds0.h new file mode 100644 index 000000000..89d3d06ff --- /dev/null +++ b/os/ex/ST/lsm6ds0.h @@ -0,0 +1,555 @@ +/* + ChibiOS - Copyright (C) 2016 Rocco Marco Guglielmi + This file is part of ChibiOS. + ChibiOS is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 3 of the License, or + (at your option) any later version. + ChibiOS is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + You should have received a copy of the GNU General Public License + along with this program. If not, see <http://www.gnu.org/licenses/>. +*/ + +/** + * @file lsm6ds0.h + * @brief LSM6DS0 MEMS interface module header. + * + * @{ + */ +#ifndef _LSM6DS0_H_ +#define _LSM6DS0_H_ + +#include "hal_accelerometer.h" +#include "hal_gyroscope.h" + +/*===========================================================================*/ +/* Driver constants. */ +/*===========================================================================*/ + +/** + * @brief LSM6DS0 accelerometer subsystem number of axes. + */ +#define LSM6DS0_ACC_NUMBER_OF_AXES ((size_t) 3U) + +/** + * @brief LSM6DS0 gyroscope subsystem number of axes. + */ +#define LSM6DS0_GYRO_NUMBER_OF_AXES ((size_t) 3U) + +/*===========================================================================*/ +/* Driver pre-compile time settings. */ +/*===========================================================================*/ + +/** + * @name Configuration options + * @{ + */ +/** + * @brief LSM6DS0 SPI interface selector. + * @details If set to @p TRUE the support for SPI is included. + * @note The default is @p FALSE. + */ +#if !defined(LSM6DS0_USE_SPI) || defined(__DOXYGEN__) +#define LSM6DS0_USE_SPI FALSE +#endif + +/** + * @brief LSM6DS0 I2C interface selector. + * @details If set to @p TRUE the support for I2C is included. + * @note The default is @p TRUE. + */ +#if !defined(LSM6DS0_USE_I2C) || defined(__DOXYGEN__) +#define LSM6DS0_USE_I2C TRUE +#endif + +/** + * @brief LSM6DS0 shared I2C switch. + * @details If set to @p TRUE the device acquires I2C bus ownership + * on each transaction. + * @note The default is @p FALSE. Requires I2C_USE_MUTUAL_EXCLUSION + */ +#if !defined(LSM6DS0_SHARED_I2C) || defined(__DOXYGEN__) +#define LSM6DS0_SHARED_I2C FALSE +#endif +/** @} */ + +/*===========================================================================*/ +/* Derived constants and error checks. */ +/*===========================================================================*/ + +#if LSM6DS0_USE_SPI && LSM6DS0_USE_I2C +#error "LSM6DS0_USE_SPI and LSM6DS0_USE_I2C cannot be both true" +#endif + +#if LSM6DS0_USE_SPI && !HAL_USE_SPI +#error "LSM6DS0_USE_SPI requires HAL_USE_SPI" +#endif + +#if LSM6DS0_USE_I2C && !HAL_USE_I2C +#error "LSM6DS0_USE_I2C requires HAL_USE_I2C" +#endif + +#if LSM6DS0_SHARED_I2C && !I2C_USE_MUTUAL_EXCLUSION +#error "LSM6DS0_SHARED_SPI requires I2C_USE_MUTUAL_EXCLUSION" +#endif + +/*===========================================================================*/ +/* Driver data structures and types. */ +/*===========================================================================*/ + +/** + * @name LSM6DS0 data structures and types + * @{ + */ +/** + * @name LSM6DS0 accelerometer subsystem data structures and types + * @{ + */ + +/** + * @brief LSM6DS0 accelerometer subsystem full scale + */ +typedef enum { + LSM6DS0_ACC_FS_2G = 0x00, /**< Full scale ±2g. */ + LSM6DS0_ACC_FS_4G = 0x10, /**< Full scale ±4g. */ + LSM6DS0_ACC_FS_8G = 0x18, /**< Full scale ±8g. */ + LSM6DS0_ACC_FS_16G = 0x08 /**< Full scale ±16g. */ +}lsm6ds0_acc_fs_t; + +/** + * @brief LSM6DS0 accelerometer subsystem output data rate + */ +typedef enum { + LSM6DS0_ACC_ODR_PD = 0x00, /**< Power down */ + LSM6DS0_ACC_ODR_10Hz = 0x20, /**< ODR 10 Hz */ + LSM6DS0_ACC_ODR_50Hz = 0x40, /**< ODR 50 Hz */ + LSM6DS0_ACC_ODR_119Hz = 0x60, /**< ODR 119 Hz */ + LSM6DS0_ACC_ODR_238Hz = 0x80, /**< ODR 238 Hz */ + LSM6DS0_ACC_ODR_476Hz = 0xA0, /**< ODR 476 Hz */ + LSM6DS0_ACC_ODR_952Hz = 0xC0 /**< ODR 952 Hz */ +}lsm6ds0_acc_odr_t; + +/** + * @brief LSM6DS0 accelerometer subsystem axes enabling + */ +typedef enum { + LSM6DS0_ACC_AE_DISABLED = 0x00, /**< All axes disabled. */ + LSM6DS0_ACC_AE_X = 0x08, /**< Only X-axis enabled. */ + LSM6DS0_ACC_AE_Y = 0x10, /**< Only Y-axis enabled. */ + LSM6DS0_ACC_AE_XY = 0x18, /**< X and Y axes enabled. */ + LSM6DS0_ACC_AE_Z = 0x20, /**< Only Z-axis enabled. */ + LSM6DS0_ACC_AE_XZ = 0x28, /**< X and Z axes enabled. */ + LSM6DS0_ACC_AE_YZ = 0x30, /**< Y and Z axes enabled. */ + LSM6DS0_ACC_AE_XYZ = 0x38 /**< All axes enabled. */ +} lsm6ds0_acc_ae_t; + +/** + * @brief LSM6DS0 accelerometer subsystem anti aliasing filter bandwidth + */ +typedef enum { + LSM6DS0_ACC_OBW_ODR = 0x00, /**< Depending on ODR. */ + LSM6DS0_ACC_OBW_AA = 0x04 /**< Same of the Anti aliasing. */ +} lsm6ds0_acc_obw_t; + +/** + * @brief LSM6DS0 accelerometer subsystem high resolution mode + */ +typedef enum { + LSM6DS0_ACC_HR_DISABLED = 0x00, /**< High resolution mode disabled. */ + LSM6DS0_ACC_HR_ENABLED = 0x80 /**< High resolution mode enabled. */ +} lsm6ds0_acc_hr_t; + +/** + * @brief LSM6DS0 accelerometer subsystem filtered data selection + */ +typedef enum { + LSM6DS0_ACC_FDS_ENABLED = 0x00, /**< Internal filter bypassed. */ + LSM6DS0_ACC_FDS_DISABLED = 0x04 /**< Internal filter not bypassed. */ +} lsm6ds0_acc_fds_t; + +/** + * @brief LSM6DS0 accelerometer subsystem digital filter + */ +typedef enum { + LSM6DS0_ACC_DCF_400 = 0x00, /**< Low pass cutoff freq. ODR/400 Hz. */ + LSM6DS0_ACC_DCF_100 = 0x20, /**< Low pass cutoff freq. ODR/100 Hz. */ + LSM6DS0_ACC_DCF_50 = 0x60, /**< Low pass cutoff freq. ODR/50 Hz. */ + LSM6DS0_ACC_DCF_9 = 0x40 /**< Low pass cutoff freq. ODR/9 Hz. */ +} lsm6ds0_acc_dcf_t; + +/** + * @brief LSM6DS0 accelerometer subsystem anti aliasing filter bandwidth + */ +typedef enum { + LSM6DS0_ACC_AABW_408Hz = 0x00, /**< Anti Aliasing filter BW 408Hz. */ + LSM6DS0_ACC_AABW_211Hz = 0x01, /**< Anti Aliasing filter BW 211Hz. */ + LSM6DS0_ACC_AABW_105Hz = 0x02, /**< Anti Aliasing filter BW 105Hz. */ + LSM6DS0_ACC_AABW_50Hz = 0x03, /**< Anti Aliasing filter BW 50Hz. */ + LSM6DS0_ACC_AABW_AUTO = 0x04 /**< Anti Aliasing filter BW auto. */ +} lsm6ds0_acc_aabw_t; + +/** + * @brief LSM6DS0 accelerometer subsystem decimation mode + */ +typedef enum { + LSM6DS0_ACC_DEC_DISABLED = 0x00, /**< Decimation disabled. */ + LSM6DS0_ACC_DEC_X2 = 0x40, /**< Output updated every 2 samples. */ + LSM6DS0_ACC_DEC_X4 = 0x80, /**< Output updated every 4 samples. */ + LSM6DS0_ACC_DEC_X8 = 0xC0 /**< Output updated every 8 samples. */ +} lsm6ds0_acc_dec_t; + +/** + * @brief LSM6DS0 accelerometer subsystem unit + */ +typedef enum { + LSM6DS0_ACC_UNIT_G = 0x00, /**< Cooked data in g. */ + LSM6DS0_ACC_UNIT_MG = 0x01, /**< Cooked data in mg. */ + LSM6DS0_ACC_UNIT_SI = 0x02, /**< Cooked data in m/s^2. */ +} lsm6ds0_acc_unit_t; +/** + * @brief LSM6DS0 accelerometer subsystem configuration structure. + */ +typedef struct { + /** + * @brief LSM6DS0 accelerometer subsystem full scale + */ + lsm6ds0_acc_fs_t fullscale; + /** + * @brief LSM6DS0 accelerometer subsystem output data rate + */ + lsm6ds0_acc_odr_t outdatarate; + /** + * @brief LSM6DS0 accelerometer subsystem axes enabling + */ + lsm6ds0_acc_ae_t axesenabling; + /** + * @brief LSM6DS0 accelerometer subsystem output bandwidth + */ + lsm6ds0_acc_obw_t outbandwidth; + /** + * @brief LSM6DS0 accelerometer subsystem high resolution mode + */ + lsm6ds0_acc_hr_t highresmode; + /** + * @brief LSM6DS0 accelerometer subsystem filtered data selection + */ + lsm6ds0_acc_fds_t filtdatasel; + /** + * @brief LSM6DS0 accelerometer subsystem digital filter + */ + lsm6ds0_acc_dcf_t digifilter; + /** + * @brief LSM6DS0 accelerometer subsystem anti aliasing filter bandwidth + */ + lsm6ds0_acc_aabw_t aabandwidth; + /** + * @brief LSM6DS0 accelerometer subsystem decimation mode + */ + lsm6ds0_acc_dec_t decmode; + /** + * @brief LSM6DS0 accelerometer subsystem unit + */ + lsm6ds0_acc_unit_t unit; +} LSM6DS0AccConfig; +/** @} */ + +/** + * @name LSM6DS0 gyroscope subsystem data structures and types + * @{ + */ + +/** + * @brief LSM6DS0 gyroscope subsystem full scale + */ +typedef enum { + LSM6DS0_GYRO_FS_245DSP = 0x00, /**< Full scale ±245 degree per second */ + LSM6DS0_GYRO_FS_500DSP = 0x08, /**< Full scale ±500 degree per second */ + LSM6DS0_GYRO_FS_2000DSP = 0x18 /**< Full scale ±2000 degree per second */ +}lsm6ds0_gyro_fs_t; + +/** + * @brief LSM6DS0 gyroscope subsystem output data rate + */ +typedef enum { + LSM6DS0_GYRO_ODR_PD = 0x00, + LSM6DS0_GYRO_ODR_95HZ_FC_25 = 0x10, + LSM6DS0_GYRO_ODR_14_9HZ_FC_5 = 0X20, + LSM6DS0_GYRO_ODR_59_5HZ_FC_16 = 0X40, + LSM6DS0_GYRO_ODR_119HZ_FC_14 = 0X60, + LSM6DS0_GYRO_ODR_119HZ_FC_31 = 0X61, + LSM6DS0_GYRO_ODR_238HZ_FC_14 = 0X80, + LSM6DS0_GYRO_ODR_238HZ_FC_29 = 0X81, + LSM6DS0_GYRO_ODR_238HZ_FC_63 = 0X82, + LSM6DS0_GYRO_ODR_238HZ_FC_78 = 0X83, + LSM6DS0_GYRO_ODR_476HZ_FC_21 = 0XA0, + LSM6DS0_GYRO_ODR_476HZ_FC_28 = 0XA1, + LSM6DS0_GYRO_ODR_476HZ_FC_57 = 0XA2, + LSM6DS0_GYRO_ODR_476HZ_FC_100 = 0XA3, + LSM6DS0_GYRO_ODR_952HZ_FC_33 = 0XC0, + LSM6DS0_GYRO_ODR_952HZ_FC_40 = 0XC1, + LSM6DS0_GYRO_ODR_952HZ_FC_58 = 0XC2, + LSM6DS0_GYRO_ODR_952HZ_FC_100 = 0XC3 +}lsm6ds0_gyro_odr_t; + +/** + * @brief LSM6DS0 gyroscope subsystem axes enabling + */ +typedef enum { + LSM6DS0_GYRO_AE_DISABLED = 0x00, /**< All axes disabled. */ + LSM6DS0_GYRO_AE_X = 0x08, /**< Only X-axis enabled. */ + LSM6DS0_GYRO_AE_Y = 0x10, /**< Only Y-axis enabled. */ + LSM6DS0_GYRO_AE_XY = 0x18, /**< X and Y axes enabled. */ + LSM6DS0_GYRO_AE_Z = 0x20, /**< Only Z-axis enabled. */ + LSM6DS0_GYRO_AE_XZ = 0x28, /**< X and Z axes enabled. */ + LSM6DS0_GYRO_AE_YZ = 0x30, /**< Y and Z axes enabled. */ + LSM6DS0_GYRO_AE_XYZ = 0x38 /**< All axes enabled. */ +} lsm6ds0_gyro_ae_t; + +/** + * @brief LSM6DS0 gyroscope subsystem low mode configuration + */ +typedef enum { + LSM6DS0_GYRO_LP_DISABLED = 0x00, /**< Low power mode disabled. */ + LSM6DS0_GYRO_LP_ENABLED = 0x80 /**< Low power mode enabled. */ +} lsm6ds0_gyro_lp_t; + +/** + * @brief LSM6DS0 gyroscope subsystem output selection + */ +typedef enum { + LSM6DS0_GYRO_OUT_SEL_0 = 0x00, /**< Low pass filter 1. */ + LSM6DS0_GYRO_OUT_SEL_1 = 0x01, /**< High pass filter 1 if enabled. */ + LSM6DS0_GYRO_OUT_SEL_2 = 0x02 /**< Low pass filter 2. */ +} lsm6ds0_gyro_out_sel_t; + +/** + * @brief LSM6DS0 gyroscope subsystem high pass filter + */ +typedef enum { + LSM6DS0_GYRO_HP_DISABLED = 0x00, /**< High pass filter disabled. */ + LSM6DS0_GYRO_HP_ENABLED = 0x40 /**< High pass filter enabled. */ +} lsm6ds0_gyro_hp_t; + +/** + * @brief LSM6DS0 gyroscope subsystem high pass filter configuration + */ +typedef enum { + LSM6DS0_GYRO_HPCF_0 = 0x00, /**< Refer to table 48 of RM */ + LSM6DS0_GYRO_HPCF_1 = 0x01, + LSM6DS0_GYRO_HPCF_2 = 0x02, + LSM6DS0_GYRO_HPCF_3 = 0x03, + LSM6DS0_GYRO_HPCF_4 = 0x04, + LSM6DS0_GYRO_HPCF_5 = 0x05, + LSM6DS0_GYRO_HPCF_6 = 0x06, + LSM6DS0_GYRO_HPCF_7 = 0x07, + LSM6DS0_GYRO_HPCF_8 = 0x08, + LSM6DS0_GYRO_HPCF_9 = 0x09 +} lsm6ds0_gyro_hpcf_t; + +/** + * @brief LSM6DS0 gyroscope subsystem configuration structure. + */ +typedef struct { + /** + * @brief LSM6DS0 gyroscope subsystem full scale + */ + lsm6ds0_gyro_fs_t fullscale; + /** + * @brief LSM6DS0 gyroscope subsystem output data rate + */ + lsm6ds0_gyro_odr_t outdatarate; + /** + * @brief LSM6DS0 gyroscope subsystem axes enabling + */ + lsm6ds0_gyro_ae_t axesenabling; + /** + * @brief LSM6DS0 gyroscope subsystem low mode configuration + */ + lsm6ds0_gyro_lp_t lowmodecfg; + /** + * @brief LSM6DS0 gyroscope subsystem output selection + */ + lsm6ds0_gyro_out_sel_t outsel; + /** + * @brief LSM6DS0 gyroscope subsystem high pass filter + */ + lsm6ds0_gyro_hp_t hpfenable; + /** + * @brief LSM6DS0 gyroscope subsystem high pass filter configuration + */ + lsm6ds0_gyro_hpcf_t hpcfg; +} LSM6DS0GyroConfig; +/** @} */ + +/** + * @brief Accelerometer and Gyroscope Slave Address + */ +typedef enum { + LSM6DS0_SAD_GND = 0x6A, /**< SAD pin connected to GND. */ + LSM6DS0_SAD_VCC = 0x6B /**< SAD pin connected to VCC. */ +}lsm6ds0_sad_t; + +/** + * @brief LSM6DS0 block data update + */ +typedef enum { + LSM6DS0_BDU_CONTINOUS = 0x00, /**< Block data continuously updated. */ + LSM6DS0_BDU_BLOCKED = 0x40 /**< Block data updated after reading. */ +}lsm6ds0_bdu_t; + +/** + * @brief LSM6DS0 endianness + */ +typedef enum { + LSM6DS0_END_LITTLE = 0x00, /**< Little endian. */ + LSM6DS0_END_BIG = 0x20 /**< Big endian. */ +} lsm6ds0_end_t; + +/** + * @brief Driver state machine possible states. + */ +typedef enum { + LSM6DS0_UNINIT = 0, /**< Not initialized. */ + LSM6DS0_STOP = 1, /**< Stopped. */ + LSM6DS0_READY = 2, /**< Ready. */ +} lsm6ds0_state_t; + +/** + * @brief LSM6DS0 configuration structure. + */ +typedef struct { +#if (LSM6DS0_USE_SPI) || defined(__DOXYGEN__) + /** + * @brief SPI driver associated to this LSM6DS0. + */ + SPIDriver *spip; + /** + * @brief SPI configuration associated to this LSM6DS0 accelerometer + * subsystem. + */ + const SPIConfig *accspicfg; + /** + * @brief SPI configuration associated to this LSM6DS0 compass + * subsystem. + */ + const SPIConfig *gyrospicfg; +#endif /* LSM6DS0_USE_SPI */ +#if (LSM6DS0_USE_I2C) || defined(__DOXYGEN__) + /** + * @brief I2C driver associated to this LSM6DS0. + */ + I2CDriver *i2cp; + /** + * @brief I2C configuration associated to this LSM6DS0 accelerometer + * subsystem. + */ + const I2CConfig *i2ccfg; +#endif /* LSM6DS0_USE_I2C */ + /** + * @brief LSM6DS0 accelerometer subsystem configuration structure + */ + const LSM6DS0AccConfig *acccfg; + /** + * @brief LSM6DS0 gyroscope subsystem configuration structure + */ + const LSM6DS0GyroConfig *gyrocfg; + /** + * @brief Accelerometer and Gyroscope Slave Address + */ + lsm6ds0_sad_t slaveaddress; + /** + * @brief LSM6DS0 block data update + */ + lsm6ds0_bdu_t blockdataupdate; + /** + * @brief LSM6DS0 endianness + */ + lsm6ds0_end_t endianness; +} LSM6DS0Config; + +/** + * @brief Structure representing a LSM6DS0 driver. + */ +typedef struct LSM6DS0Driver LSM6DS0Driver; + +/** + * @brief @p LSM6DS0 accelerometer subsystem specific methods. + */ +#define _lsm6ds0_acc_methods \ + _base_accelerometer_methods + +/** + * @brief @p LSM6DS0 gyroscope subsystem specific methods. + */ +#define _lsm6ds0_gyro_methods \ + _base_gyroscope_methods + +/** + * @extends BaseAccelerometerVMT + * + * @brief @p LSM6DS0 accelerometer virtual methods table. + */ +struct LSM6DS0ACCVMT { + _lsm6ds0_acc_methods +}; + +/** + * @extends BaseCompassVMT + * + * @brief @p LSM6DS0 gyroscope virtual methods table. + */ +struct LSM6DS0GYROVMT { + _lsm6ds0_gyro_methods +}; + +/** + * @brief @p LSM6DS0Driver specific data. + */ +#define _lsm6ds0_data \ + _base_accelerometer_data \ + _base_gyroscope_data \ + /* Driver state.*/ \ + lsm6ds0_state_t state; \ + /* Current configuration data.*/ \ + const LSM6DS0Config *config; \ + /* Current accelerometer sensitivity.*/ \ + float accsens; \ + /* Current gyroscope sensitivity.*/ \ + float gyrosens; + +/** + * @brief LSM6DS0 6-axis accelerometer/gyroscope class. + */ +struct LSM6DS0Driver { + /** @brief Accelerometer Virtual Methods Table.*/ + const struct LSM6DS0ACCVMT *vmtac; + /** @brief Gyroscope Virtual Methods Table.*/ + const struct LSM6DS0GYROVMT *vmtgy; + _lsm6ds0_data +}; +/** @} */ + +/*===========================================================================*/ +/* Driver macros. */ +/*===========================================================================*/ + +/*===========================================================================*/ +/* External declarations. */ +/*===========================================================================*/ + +#ifdef __cplusplus +extern "C" { +#endif + void lsm6ds0ObjectInit(LSM6DS0Driver *devp); + void lsm6ds0Start(LSM6DS0Driver *devp, const LSM6DS0Config *config); + void lsm6ds0Stop(LSM6DS0Driver *devp); +#ifdef __cplusplus +} +#endif + +#endif /* _LSM6DS0_H_ */ + +/** @} */ |