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Diffstat (limited to 'os/ex/ST/lsm6dsl.h')
| -rw-r--r-- | os/ex/ST/lsm6dsl.h | 1060 |
1 files changed, 1060 insertions, 0 deletions
diff --git a/os/ex/ST/lsm6dsl.h b/os/ex/ST/lsm6dsl.h new file mode 100644 index 000000000..4a2a92d14 --- /dev/null +++ b/os/ex/ST/lsm6dsl.h @@ -0,0 +1,1060 @@ +/*
+ ChibiOS - Copyright (C) 2016..2018 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.
+ *
+ * @addtogroup LSM6DS0
+ * @ingroup EX_ST
+ * @{
+ */
+#ifndef _LSM6DS0_H_
+#define _LSM6DS0_H_
+
+#include "hal_accelerometer.h"
+#include "hal_gyroscope.h"
+
+/*===========================================================================*/
+/* Driver constants. */
+/*===========================================================================*/
+
+/**
+ * @name Version identification
+ * @{
+ */
+/**
+ * @brief LSM6DS0 driver version string.
+ */
+#define EX_LSM6DS0_VERSION "1.0.0"
+
+/**
+ * @brief LSM6DS0 driver version major number.
+ */
+#define EX_LSM6DS0_MAJOR 1
+
+/**
+ * @brief LSM6DS0 driver version minor number.
+ */
+#define EX_LSM6DS0_MINOR 0
+
+/**
+ * @brief LSM6DS0 driver version patch number.
+ */
+#define EX_LSM6DS0_PATCH 0
+/** @} */
+
+/**
+ * @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.
+ *
+ * @{
+ */
+#define LSM6DS0_ACC_NUMBER_OF_AXES 3U
+
+#define LSM6DS0_ACC_2G 2.0f
+#define LSM6DS0_ACC_4G 4.0f
+#define LSM6DS0_ACC_8G 8.0f
+#define LSM6DS0_ACC_16G 16.0f
+
+#define LSM6DS0_ACC_SENS_2G 0.061f
+#define LSM6DS0_ACC_SENS_4G 0.122f
+#define LSM6DS0_ACC_SENS_8G 0.244f
+#define LSM6DS0_ACC_SENS_16G 0.488f
+
+#define LSM6DS0_ACC_BIAS 0.0f
+/** @} */
+
+/**
+ * @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.
+ *
+ * @{
+ */
+#define LSM6DS0_GYRO_NUMBER_OF_AXES 3U
+
+#define LSM6DS0_GYRO_125DPS 125.0f
+#define LSM6DS0_GYRO_250DPS 250.0f
+#define LSM6DS0_GYRO_500DPS 500.0f
+#define LSM6DS0_GYRO_1000DPS 1000.0f
+#define LSM6DS0_GYRO_2000DPS 2000.0f
+
+#define LSM6DS0_GYRO_SENS_125DPS 0.004375f
+#define LSM6DS0_GYRO_SENS_250DPS 0.008750f
+#define LSM6DS0_GYRO_SENS_500DPS 0.017500f
+#define LSM6DS0_GYRO_SENS_1000DPS 0.035000f
+#define LSM6DS0_GYRO_SENS_2000DPS 0.070000f
+
+#define LSM6DS0_GYRO_BIAS 0.0f
+/** @} */
+
+/**
+ * @name LSM6DS0 communication interfaces related bit masks
+ * @{
+ */
+#define LSM6DS0_DI_MASK 0xFF
+#define LSM6DS0_DI(n) (1 << n)
+#define LSM6DS0_AD_MASK 0x7F
+#define LSM6DS0_AD(n) (1 << n)
+#define LSM6DS0_MS (1 << 7)
+/** @} */
+
+/**
+ * @name LSM6DS0 register addresses
+ * @{
+ */
+#define LSM6DS0_AD_ACT_THS 0x04
+#define LSM6DS0_AD_ACT_DUR 0x05
+#define LSM6DS0_AD_INT_GEN_CFG_XL 0x06
+#define LSM6DS0_AD_INT_GEN_THS_X_XL 0x07
+#define LSM6DS0_AD_INT_GEN_THS_Y_XL 0x08
+#define LSM6DS0_AD_INT_GEN_THS_Z_XL 0x09
+#define LSM6DS0_AD_INT_GEN_DUR_XL 0x0A
+#define LSM6DS0_AD_REFERENCE_G 0x0B
+#define LSM6DS0_AD_INT_CTRL 0x0C
+#define LSM6DS0_AD_WHO_AM_I 0x0F
+#define LSM6DS0_AD_CTRL_REG1_G 0x10
+#define LSM6DS0_AD_CTRL_REG2_G 0x11
+#define LSM6DS0_AD_CTRL_REG3_G 0x12
+#define LSM6DS0_AD_ORIENT_CFG_G 0x13
+#define LSM6DS0_AD_INT_GEN_SRC_G 0x14
+#define LSM6DS0_AD_OUT_TEMP_L 0x15
+#define LSM6DS0_AD_OUT_TEMP_H 0x16
+#define LSM6DS0_AD_STATUS_REG1 0x17
+#define LSM6DS0_AD_OUT_X_L_G 0x18
+#define LSM6DS0_AD_OUT_X_H_G 0x19
+#define LSM6DS0_AD_OUT_Y_L_G 0x1A
+#define LSM6DS0_AD_OUT_Y_H_G 0x1B
+#define LSM6DS0_AD_OUT_Z_L_G 0x1C
+#define LSM6DS0_AD_OUT_Z_H_G 0x1D
+#define LSM6DS0_AD_CTRL_REG4 0x1E
+#define LSM6DS0_AD_CTRL_REG5_XL 0x1F
+#define LSM6DS0_AD_CTRL_REG6_XL 0x20
+#define LSM6DS0_AD_CTRL_REG7_XL 0x21
+#define LSM6DS0_AD_CTRL_REG8 0x22
+#define LSM6DS0_AD_CTRL_REG9 0x23
+#define LSM6DS0_AD_CTRL_REG10 0x24
+#define LSM6DS0_AD_INT_GEN_SRC_XL 0x26
+#define LSM6DS0_AD_STATUS_REG2 0x27
+#define LSM6DS0_AD_OUT_X_L_XL 0x28
+#define LSM6DS0_AD_OUT_X_H_XL 0x29
+#define LSM6DS0_AD_OUT_Y_L_XL 0x2A
+#define LSM6DS0_AD_OUT_Y_H_XL 0x2B
+#define LSM6DS0_AD_OUT_Z_L_XL 0x2C
+#define LSM6DS0_AD_OUT_Z_H_XL 0x2D
+#define LSM6DS0_AD_FIFO_CTRL 0x2E
+#define LSM6DS0_AD_FIFO_SRC 0x2F
+#define LSM6DS0_AD_INT_GEN_CFG_G 0x30
+#define LSM6DS0_AD_INT_GEN_THS_XH_G 0x31
+#define LSM6DS0_AD_INT_GEN_THS_XL_G 0x32
+#define LSM6DS0_AD_INT_GEN_THS_YH_G 0x33
+#define LSM6DS0_AD_INT_GEN_THS_YL_G 0x34
+#define LSM6DS0_AD_INT_GEN_THS_ZH_G 0x35
+#define LSM6DS0_AD_INT_GEN_THS_ZL_G 0x36
+#define LSM6DS0_AD_INT_GEN_DUR_G 0x37
+/** @} */
+
+/**
+ * @name LSM6DS0_AD_CTRL_REG1_G register bits definitions
+ * @{
+ */
+#define LSM6DS0_CTRL_REG1_G 0xFA
+#define LSM6DS0_CTRL_REG1_G_BW_G0 (1 << 0)
+#define LSM6DS0_CTRL_REG1_G_BW_G1 (1 << 1)
+#define LSM6DS0_CTRL_REG1_G_FS_MASK 0x1F
+#define LSM6DS0_CTRL_REG1_G_FS_G0 (1 << 3)
+#define LSM6DS0_CTRL_REG1_G_FS_G1 (1 << 4)
+#define LSM6DS0_CTRL_REG1_G_ODR_G0 (1 << 5)
+#define LSM6DS0_CTRL_REG1_G_ODR_G1 (1 << 6)
+#define LSM6DS0_CTRL_REG1_G_ODR_G2 (1 << 7)
+/** @} */
+
+/**
+ * @name LSM6DS0_AD_CTRL_REG2_G register bits definitions
+ * @{
+ */
+#define LSM6DS0_CTRL_REG2_G 0x0F
+#define LSM6DS0_CTRL_REG2_G_OUT_SEL0 (1 << 0)
+#define LSM6DS0_CTRL_REG2_G_OUT_SEL1 (1 << 1)
+#define LSM6DS0_CTRL_REG2_G_INT_SEL0 (1 << 2)
+#define LSM6DS0_CTRL_REG2_G_INT_SEL1 (1 << 3)
+/** @} */
+
+/**
+ * @name LSM6DS0_AD_CTRL_REG3_G register bits definitions
+ * @{
+ */
+#define LSM6DS0_CTRL_REG3_G 0x64
+#define LSM6DS0_CTRL_REG3_G_HP_CF0_G (1 << 0)
+#define LSM6DS0_CTRL_REG3_G_HP_CF1_G (1 << 1)
+#define LSM6DS0_CTRL_REG3_G_HP_CF2_G (1 << 2)
+#define LSM6DS0_CTRL_REG3_G_HP_CF3_G (1 << 3)
+#define LSM6DS0_CTRL_REG3_G_HP_EN (1 << 6)
+#define LSM6DS0_CTRL_REG3_G_LP_MODE (1 << 7)
+/** @} */
+
+/**
+ * @name LSM6DS0_AD_CTRL_REG4 register bits definitions
+ * @{
+ */
+#define LSM6DS0_CTRL_REG4 0x3A
+#define LSM6DS0_CTRL_REG4_4D_XL1 (1 << 0)
+#define LSM6DS0_CTRL_REG4_LIR_XL1 (1 << 1)
+#define LSM6DS0_CTRL_REG4_XEN_G (1 << 3)
+#define LSM6DS0_CTRL_REG4_YEN_G (1 << 4)
+#define LSM6DS0_CTRL_REG4_ZEN_G (1 << 5)
+/** @} */
+
+/**
+ * @name LSM6DS0_AD_CTRL_REG5_XL register bits definitions
+ * @{
+ */
+#define LSM6DS0_CTRL_REG5_XL 0xF8
+#define LSM6DS0_CTRL_REG5_XL_XEN_XL (1 << 3)
+#define LSM6DS0_CTRL_REG5_XL_YEN_XL (1 << 4)
+#define LSM6DS0_CTRL_REG5_XL_ZEN_XL (1 << 5)
+#define LSM6DS0_CTRL_REG5_XL_DEC0 (1 << 6)
+#define LSM6DS0_CTRL_REG5_XL_DEC1 (1 << 7)
+/** @} */
+
+/**
+ * @name LSM6DS0_AD_CTRL_REG6_XL register bits definitions
+ * @{
+ */
+#define LSM6DS0_CTRL_REG6_XL 0xFF
+#define LSM6DS0_CTRL_REG6_XL_BW_XL0 (1 << 0)
+#define LSM6DS0_CTRL_REG6_XL_BW_XL1 (1 << 1)
+#define LSM6DS0_CTRL_REG6_XL_BW_SCAL_ODR (1 << 2)
+#define LSM6DS0_CTRL_REG6_XL_FS_MASK 0x1F
+#define LSM6DS0_CTRL_REG6_XL_FS0_XL (1 << 3)
+#define LSM6DS0_CTRL_REG6_XL_FS1_XL (1 << 4)
+#define LSM6DS0_CTRL_REG6_XL_ODR_XL0 (1 << 5)
+#define LSM6DS0_CTRL_REG6_XL_ODR_XL1 (1 << 6)
+#define LSM6DS0_CTRL_REG6_XL_ODR_XL2 (1 << 7)
+/** @} */
+
+/**
+ * @name LSM6DS0_AD_CTRL_REG7_XL register bits definitions
+ * @{
+ */
+#define LSM6DS0_CTRL_REG7_XL 0xE5
+#define LSM6DS0_CTRL_REG7_XL_HPIS1 (1 << 0)
+#define LSM6DS0_CTRL_REG7_XL_FDS (1 << 2)
+#define LSM6DS0_CTRL_REG7_XL_DCF0 (1 << 5)
+#define LSM6DS0_CTRL_REG7_XL_DCF1 (1 << 6)
+#define LSM6DS0_CTRL_REG7_XL_HR (1 << 7)
+/** @} */
+
+/**
+ * @name LSM6DS0_AD_CTRL_REG8 register bits definitions
+ * @{
+ */
+#define LSM6DS0_CTRL_REG8 0xFF
+#define LSM6DS0_CTRL_REG8_SW_RESET (1 << 0)
+#define LSM6DS0_CTRL_REG8_BLE (1 << 1)
+#define LSM6DS0_CTRL_REG8_IF_ADD_INC (1 << 2)
+#define LSM6DS0_CTRL_REG8_SIM (1 << 3)
+#define LSM6DS0_CTRL_REG8_PP_OD (1 << 4)
+#define LSM6DS0_CTRL_REG8_H_LACTIVE (1 << 5)
+#define LSM6DS0_CTRL_REG8_BDU (1 << 6)
+#define LSM6DS0_CTRL_REG8_BOOT (1 << 7)
+/** @} */
+
+/**
+ * @name LSM6DS0_AD_CTRL_REG9 register bits definitions
+ * @{
+ */
+#define LSM6DS0_CTRL_REG9 0x5F
+#define LSM6DS0_CTRL_REG9_STOP_ON_FTH (1 << 0)
+#define LSM6DS0_CTRL_REG9_FIFO_EN (1 << 1)
+#define LSM6DS0_CTRL_REG9_I2C_DISABLE (1 << 2)
+#define LSM6DS0_CTRL_REG9_DRDY_MASK_BIT (1 << 3)
+#define LSM6DS0_CTRL_REG9_FIFO_TEMP_EN (1 << 4)
+#define LSM6DS0_CTRL_REG9_SLEEP_G (1 << 6)
+/** @} */
+
+/**
+ * @name LSM6DS0_AD_CTRL_REG10 register bits definitions
+ * @{
+ */
+#define LSM6DS0_CTRL_REG10 0x05
+#define LSM6DS0_CTRL_REG10_ST_XL (1 << 0)
+#define LSM6DS0_CTRL_REG10_ST_G (1 << 2)
+/** @} */
+
+/*===========================================================================*/
+/* Driver pre-compile time settings. */
+/*===========================================================================*/
+
+/**
+ * @name Configuration options
+ * @{
+ */
+/**
+ * @brief LSM6DS0 SPI interface switch.
+ * @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 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.
+ */
+#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 LSM6DS0 advanced configurations switch.
+ * @details If set to @p TRUE more configurations are available.
+ * @note The default is @p FALSE.
+ */
+#if !defined(LSM6DS0_USE_ADVANCED) || defined(__DOXYGEN__)
+#define LSM6DS0_USE_ADVANCED FALSE
+#endif
+
+/**
+ * @brief LSM6DS0 accelerometer subsystem advanced configurations
+ * switch.
+ * @details If set to @p TRUE more configurations are available.
+ * @note The default is @p FALSE.
+ */
+#if !defined(LSM6DS0_ACC_USE_ADVANCED) || defined(__DOXYGEN__)
+#define LSM6DS0_ACC_USE_ADVANCED FALSE
+#endif
+
+/**
+ * @brief LSM6DS0 gyroscope subsystem advanced configurations
+ * switch.
+ * @details If set to @p TRUE more configurations are available.
+ * @note The default is @p FALSE.
+ */
+#if !defined(LSM6DS0_GYRO_USE_ADVANCED) || defined(__DOXYGEN__)
+#define LSM6DS0_GYRO_USE_ADVANCED 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 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_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
+
+/*===========================================================================*/
+/* Driver 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 {
+ 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 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 gyroscope subsystem full scale.
+ */
+typedef enum {
+ LSM6DS0_GYRO_FS_245DPS = 0x00, /**< Full scale ±245 degree per second */
+ LSM6DS0_GYRO_FS_500DPS = 0x08, /**< Full scale ±500 degree per second */
+ LSM6DS0_GYRO_FS_2000DPS = 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 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 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;
+#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;
+ /**
+ * @brief LSM6DS0 Slave Address
+ */
+ lsm6ds0_sad_t slaveaddress;
+#endif /* LSM6DS0_USE_I2C */
+ /**
+ * @brief LSM6DS0 accelerometer subsystem initial sensitivity.
+ */
+ float *accsensitivity;
+ /**
+ * @brief LSM6DS0 accelerometer subsystem initial bias.
+ */
+ float *accbias;
+ /**
+ * @brief LSM6DS0 accelerometer subsystem full scale.
+ */
+ 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
+ */
+ lsm6ds0_bdu_t blockdataupdate;
+ /**
+ * @brief LSM6DS0 endianness
+ */
+ lsm6ds0_end_t endianness;
+#endif /* LSM6DS0_USE_ADVANCED */
+} LSM6DS0Config;
+
+/**
+ * @brief @p LSM6DS0 specific methods.
+ */
+#define _lsm6ds0_methods_alone \
+ /* Change full scale value of LSM6DS0 accelerometer subsystem .*/ \
+ msg_t (*acc_set_full_scale)(LSM6DS0Driver *devp, lsm6ds0_acc_fs_t fs); \
+ /* Change full scale value of LSM6DS0 gyroscope subsystem .*/ \
+ msg_t (*gyro_set_full_scale)(LSM6DS0Driver *devp, lsm6ds0_gyro_fs_t fs);
+
+/**
+ * @brief @p LSM6DS0 specific methods with inherited ones.
+ */
+#define _lsm6ds0_methods \
+ _base_object_methods \
+ _lsm6ds0_methods_alone
+
+/**
+ * @extends BaseObjectVMT
+ *
+ * @brief @p LSM6DS0 virtual methods table.
+ */
+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; \
+ /* Accelerometer subsystem axes number.*/ \
+ size_t accaxes; \
+ /* Accelerometer subsystem current sensitivity.*/ \
+ float accsensitivity[LSM6DS0_ACC_NUMBER_OF_AXES]; \
+ /* Accelerometer subsystem current bias .*/ \
+ float accbias[LSM6DS0_ACC_NUMBER_OF_AXES]; \
+ /* Accelerometer subsystem current full scale value.*/ \
+ float accfullscale; \
+ /* Gyroscope subsystem axes number.*/ \
+ size_t gyroaxes; \
+ /* Gyroscope subsystem current sensitivity.*/ \
+ float gyrosensitivity[LSM6DS0_GYRO_NUMBER_OF_AXES]; \
+ /* Gyroscope subsystem current Bias.*/ \
+ float gyrobias[LSM6DS0_GYRO_NUMBER_OF_AXES]; \
+ /* Gyroscope subsystem current full scale value.*/ \
+ float gyrofullscale;
+
+/**
+ * @brief LSM6DS0 6-axis accelerometer/gyroscope class.
+ */
+struct LSM6DS0Driver {
+ /** @brief Virtual Methods Table.*/
+ const struct LSM6DS0VMT *vmt;
+ /** @brief Base accelerometer interface.*/
+ BaseAccelerometer acc_if;
+ /** @brief Base gyroscope interface.*/
+ BaseGyroscope gyro_if;
+ _lsm6ds0_data
+};
+/** @} */
+
+/*===========================================================================*/
+/* Driver macros. */
+/*===========================================================================*/
+
+/**
+ * @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] 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 lsm6ds0AccelerometerSetSensitivity(devp, sp) \
+ accelerometerSetSensitivity(&((devp)->acc_if), sp)
+
+/**
+ * @brief Reset sensitivity values for the BaseAccelerometer.
+ * @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 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 lsm6ds0GyroscopeSetFullScale(devp, fs) \
+ (devp)->vmt->acc_set_full_scale(devp, fs)
+
+/*===========================================================================*/
+/* 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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