diff options
Diffstat (limited to 'os')
| -rw-r--r-- | os/ex/ST/lsm6dsl.c | 1113 | ||||
| -rw-r--r-- | os/ex/ST/lsm6dsl.h | 1060 | ||||
| -rw-r--r-- | os/ex/ST/lsm6dsl.mk | 10 |
3 files changed, 2183 insertions, 0 deletions
diff --git a/os/ex/ST/lsm6dsl.c b/os/ex/ST/lsm6dsl.c new file mode 100644 index 000000000..6a1fc34fc --- /dev/null +++ b/os/ex/ST/lsm6dsl.c @@ -0,0 +1,1113 @@ +/*
+ 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 lsm6dsl.c
+ * @brief LSM6DSL MEMS interface module code.
+ *
+ * @addtogroup LSM6DSL
+ * @ingroup EX_ST
+ * @{
+ */
+
+#include "hal.h"
+#include "lsm6dsl.h"
+
+/*===========================================================================*/
+/* Driver local definitions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver exported variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local variables and types. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local functions. */
+/*===========================================================================*/
+
+#if (LSM6DSL_USE_I2C) || defined(__DOXYGEN__)
+/**
+ * @brief Reads registers value using I2C.
+ * @pre The I2C interface must be initialized and the driver started.
+ * @note IF_ADD_INC bit must be 1 in CTRL_REG8
+ *
+ * @param[in] i2cp pointer to the I2C interface
+ * @param[in] sad slave address without R bit
+ * @param[in] reg first sub-register address
+ * @param[out] rxbuf pointer to an output buffer
+ * @param[in] n number of consecutive register to read
+ * @return the operation status.
+ * @notapi
+ */
+msg_t lsm6dslI2CReadRegister(I2CDriver *i2cp, lsm6dsl_sad_t sad, uint8_t reg,
+ uint8_t* rxbuf, size_t n) {
+
+ return i2cMasterTransmitTimeout(i2cp, sad, ®, 1, rxbuf, n,
+ TIME_INFINITE);
+}
+
+/**
+ * @brief Writes a value into a register using I2C.
+ * @pre The I2C interface must be initialized and the driver started.
+ *
+ * @param[in] i2cp pointer to the I2C interface
+ * @param[in] sad slave address without R bit
+ * @param[in] txbuf buffer containing sub-address value in first position
+ * and values to write
+ * @param[in] n size of txbuf less one (not considering the first
+ * element)
+ * @return the operation status.
+ * @notapi
+ */
+#define lsm6dslI2CWriteRegister(i2cp, sad, txbuf, n) \
+ i2cMasterTransmitTimeout(i2cp, sad, txbuf, n + 1, NULL, 0, \
+ TIME_INFINITE)
+#endif /* LSM6DSL_USE_I2C */
+
+/**
+ * @brief Return the number of axes of the BaseAccelerometer.
+ *
+ * @param[in] ip pointer to @p BaseAccelerometer interface.
+ *
+ * @return the number of axes.
+ */
+static size_t acc_get_axes_number(void *ip) {
+ (void)ip;
+
+ return LSM6DSL_ACC_NUMBER_OF_AXES;
+}
+
+/**
+ * @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] ip pointer to @p BaseAccelerometer interface.
+ * @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.
+ */
+static msg_t acc_read_raw(void *ip, int32_t axes[]) {
+ LSM6DSLDriver* devp;
+ uint8_t buff [LSM6DSL_ACC_NUMBER_OF_AXES * 2], i;
+ int16_t tmp;
+ msg_t msg;
+
+ osalDbgCheck((ip != NULL) && (axes != NULL));
+
+ /* Getting parent instance pointer.*/
+ devp = objGetInstance(LSM6DSLDriver*, (BaseAccelerometer*)ip);
+
+ osalDbgAssert((devp->state == LSM6DSL_READY),
+ "acc_read_raw(), invalid state");
+#if LSM6DSL_USE_I2C
+ osalDbgAssert((devp->config->i2cp->state == I2C_READY),
+ "acc_read_raw(), channel not ready");
+
+#if LSM6DSL_SHARED_I2C
+ i2cAcquireBus(devp->config->i2cp);
+ i2cStart(devp->config->i2cp,
+ devp->config->i2ccfg);
+#endif /* LSM6DSL_SHARED_I2C */
+
+ msg = lsm6dslI2CReadRegister(devp->config->i2cp, devp->config->slaveaddress,
+ LSM6DSL_AD_OUT_X_L_XL, buff,
+ LSM6DSL_ACC_NUMBER_OF_AXES * 2);
+
+#if LSM6DSL_SHARED_I2C
+ i2cReleaseBus(devp->config->i2cp);
+#endif /* LSM6DSL_SHARED_I2C */
+#endif /* LSM6DSL_USE_I2C */
+ if(msg == MSG_OK)
+ for(i = 0; i < LSM6DSL_ACC_NUMBER_OF_AXES; i++) {
+ tmp = buff[2 * i] + (buff[2 * i + 1] << 8);
+ axes[i] = (int32_t)tmp;
+ }
+ return msg;
+}
+
+/**
+ * @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] ip pointer to @p BaseAccelerometer interface.
+ * @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.
+ */
+static msg_t acc_read_cooked(void *ip, float axes[]) {
+ LSM6DSLDriver* devp;
+ uint32_t i;
+ int32_t raw[LSM6DSL_ACC_NUMBER_OF_AXES];
+ msg_t msg;
+
+ osalDbgCheck((ip != NULL) && (axes != NULL));
+
+ /* Getting parent instance pointer.*/
+ devp = objGetInstance(LSM6DSLDriver*, (BaseAccelerometer*)ip);
+
+ osalDbgAssert((devp->state == LSM6DSL_READY),
+ "acc_read_cooked(), invalid state");
+
+ msg = acc_read_raw(ip, raw);
+ for(i = 0; i < LSM6DSL_ACC_NUMBER_OF_AXES; i++) {
+ axes[i] = (raw[i] * devp->accsensitivity[i]) - devp->accbias[i];
+ }
+ return msg;
+}
+
+/**
+ * @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] ip pointer to @p BaseAccelerometer interface.
+ * @param[in] bp a buffer which contains biases.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ */
+static msg_t acc_set_bias(void *ip, float *bp) {
+ LSM6DSLDriver* devp;
+ uint32_t i;
+ msg_t msg = MSG_OK;
+
+ osalDbgCheck((ip != NULL) && (bp != NULL));
+
+ /* Getting parent instance pointer.*/
+ devp = objGetInstance(LSM6DSLDriver*, (BaseAccelerometer*)ip);
+
+ osalDbgAssert((devp->state == LSM6DSL_READY),
+ "acc_set_bias(), invalid state");
+
+ for(i = 0; i < LSM6DSL_ACC_NUMBER_OF_AXES; i++) {
+ devp->accbias[i] = bp[i];
+ }
+ return msg;
+}
+
+/**
+ * @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] ip pointer to @p BaseAccelerometer interface.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ */
+static msg_t acc_reset_bias(void *ip) {
+ LSM6DSLDriver* devp;
+ uint32_t i;
+ msg_t msg = MSG_OK;
+
+ osalDbgCheck(ip != NULL);
+
+ /* Getting parent instance pointer.*/
+ devp = objGetInstance(LSM6DSLDriver*, (BaseAccelerometer*)ip);
+
+ osalDbgAssert((devp->state == LSM6DSL_READY),
+ "acc_reset_bias(), invalid state");
+
+ for(i = 0; i < LSM6DSL_ACC_NUMBER_OF_AXES; i++)
+ devp->accbias[i] = LSM6DSL_ACC_BIAS;
+ return msg;
+}
+
+/**
+ * @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 @p BaseAccelerometer interface.
+ * @param[in] sp a buffer which contains sensitivities.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ */
+static msg_t acc_set_sensivity(void *ip, float *sp) {
+ LSM6DSLDriver* devp;
+ uint32_t i;
+ msg_t msg = MSG_OK;
+
+ /* Getting parent instance pointer.*/
+ devp = objGetInstance(LSM6DSLDriver*, (BaseAccelerometer*)ip);
+
+ osalDbgCheck((ip != NULL) && (sp != NULL));
+
+ osalDbgAssert((devp->state == LSM6DSL_READY),
+ "acc_set_sensivity(), invalid state");
+
+ for(i = 0; i < LSM6DSL_ACC_NUMBER_OF_AXES; i++) {
+ devp->accsensitivity[i] = sp[i];
+ }
+ return msg;
+}
+
+/**
+ * @brief Reset sensitivity values for the BaseAccelerometer.
+ * @note Default sensitivities value are obtained from device datasheet.
+ *
+ * @param[in] ip pointer to @p BaseAccelerometer interface.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ * @retval MSG_RESET otherwise.
+ */
+static msg_t acc_reset_sensivity(void *ip) {
+ LSM6DSLDriver* devp;
+ uint32_t i;
+ msg_t msg = MSG_OK;
+
+ osalDbgCheck(ip != NULL);
+
+ /* Getting parent instance pointer.*/
+ devp = objGetInstance(LSM6DSLDriver*, (BaseAccelerometer*)ip);
+
+ osalDbgAssert((devp->state == LSM6DSL_READY),
+ "acc_reset_sensivity(), invalid state");
+
+ if(devp->config->accfullscale == LSM6DSL_ACC_FS_2G)
+ for(i = 0; i < LSM6DSL_ACC_NUMBER_OF_AXES; i++)
+ devp->accsensitivity[i] = LSM6DSL_ACC_SENS_2G;
+ else if(devp->config->accfullscale == LSM6DSL_ACC_FS_4G)
+ for(i = 0; i < LSM6DSL_ACC_NUMBER_OF_AXES; i++)
+ devp->accsensitivity[i] = LSM6DSL_ACC_SENS_4G;
+ else if(devp->config->accfullscale == LSM6DSL_ACC_FS_8G)
+ for(i = 0; i < LSM6DSL_ACC_NUMBER_OF_AXES; i++)
+ devp->accsensitivity[i] = LSM6DSL_ACC_SENS_8G;
+ else if(devp->config->accfullscale == LSM6DSL_ACC_FS_16G)
+ for(i = 0; i < LSM6DSL_ACC_NUMBER_OF_AXES; i++)
+ devp->accsensitivity[i] = LSM6DSL_ACC_SENS_16G;
+ else {
+ osalDbgAssert(FALSE, "reset_sensivity(), accelerometer full scale issue");
+ msg = MSG_RESET;
+ }
+ return msg;
+}
+
+/**
+ * @brief Changes the LSM6DSLDriver 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] ip pointer to @p LSM6DSLDriver interface.
+ * @param[in] fs new fullscale value.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ * @retval MSG_RESET otherwise.
+ */
+static msg_t acc_set_full_scale(LSM6DSLDriver *devp,
+ lsm6dsl_acc_fs_t fs) {
+ float newfs, scale;
+ uint8_t i, buff[2];
+ msg_t msg;
+
+ osalDbgCheck(devp != NULL);
+
+ osalDbgAssert((devp->state == LSM6DSL_READY),
+ "acc_set_full_scale(), invalid state");
+ osalDbgAssert((devp->config->i2cp->state == I2C_READY),
+ "acc_set_full_scale(), channel not ready");
+
+ /* Computing new fullscale value.*/
+ if(fs == LSM6DSL_ACC_FS_2G) {
+ newfs = LSM6DSL_ACC_2G;
+ }
+ else if(fs == LSM6DSL_ACC_FS_4G) {
+ newfs = LSM6DSL_ACC_4G;
+ }
+ else if(fs == LSM6DSL_ACC_FS_8G) {
+ newfs = LSM6DSL_ACC_8G;
+ }
+ else if(fs == LSM6DSL_ACC_FS_16G) {
+ newfs = LSM6DSL_ACC_16G;
+ }
+ else {
+ msg = MSG_RESET;
+ return msg;
+ }
+
+ if(newfs != devp->accfullscale) {
+ /* Computing scale value.*/
+ scale = newfs / devp->accfullscale;
+ devp->accfullscale = newfs;
+
+#if LSM6DSL_SHARED_I2C
+ i2cAcquireBus(devp->config->i2cp);
+ i2cStart(devp->config->i2cp,
+ devp->config->i2ccfg);
+#endif /* LSM6DSL_SHARED_I2C */
+
+ /* Updating register.*/
+ msg = lsm6dslI2CReadRegister(devp->config->i2cp,
+ devp->config->slaveaddress,
+ LSM6DSL_AD_CTRL_REG6_XL, &buff[1], 1);
+
+#if LSM6DSL_SHARED_I2C
+ i2cReleaseBus(devp->config->i2cp);
+#endif /* LSM6DSL_SHARED_I2C */
+
+ if(msg != MSG_OK)
+ return msg;
+
+ buff[1] &= ~(LSM6DSL_CTRL_REG6_XL_FS_MASK);
+ buff[1] |= fs;
+ buff[0] = LSM6DSL_AD_CTRL_REG6_XL;
+
+#if LSM6DSL_SHARED_I2C
+ i2cAcquireBus(devp->config->i2cp);
+ i2cStart(devp->config->i2cp, devp->config->i2ccfg);
+#endif /* LSM6DSL_SHARED_I2C */
+
+ msg = lsm6dslI2CWriteRegister(devp->config->i2cp,
+ devp->config->slaveaddress, buff, 1);
+
+#if LSM6DSL_SHARED_I2C
+ i2cReleaseBus(devp->config->i2cp);
+#endif /* LSM6DSL_SHARED_I2C */
+
+ if(msg != MSG_OK)
+ return msg;
+
+ /* Scaling sensitivity and bias. Re-calibration is suggested anyway.*/
+ for(i = 0; i < LSM6DSL_ACC_NUMBER_OF_AXES; i++) {
+ devp->accsensitivity[i] *= scale;
+ devp->accbias[i] *= scale;
+ }
+ }
+ return msg;
+}
+
+/**
+ * @brief Return the number of axes of the BaseGyroscope.
+ *
+ * @param[in] ip pointer to @p BaseGyroscope interface.
+ *
+ * @return the number of axes.
+ */
+static size_t gyro_get_axes_number(void *ip) {
+ (void)ip;
+
+ return LSM6DSL_GYRO_NUMBER_OF_AXES;
+}
+
+/**
+ * @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] ip pointer to @p BaseGyroscope interface.
+ * @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.
+ */
+static msg_t gyro_read_raw(void *ip, int32_t axes[LSM6DSL_GYRO_NUMBER_OF_AXES]) {
+ LSM6DSLDriver* devp;
+ int16_t tmp;
+ uint8_t i, buff [2 * LSM6DSL_GYRO_NUMBER_OF_AXES];
+ msg_t msg = MSG_OK;
+
+ osalDbgCheck((ip != NULL) && (axes != NULL));
+
+ /* Getting parent instance pointer.*/
+ devp = objGetInstance(LSM6DSLDriver*, (BaseGyroscope*)ip);
+
+ osalDbgAssert((devp->state == LSM6DSL_READY),
+ "gyro_read_raw(), invalid state");
+#if LSM6DSL_USE_I2C
+ osalDbgAssert((devp->config->i2cp->state == I2C_READY),
+ "gyro_read_raw(), channel not ready");
+
+#if LSM6DSL_SHARED_I2C
+ i2cAcquireBus(devp->config->i2cp);
+ i2cStart(devp->config->i2cp,
+ devp->config->i2ccfg);
+#endif /* LSM6DSL_SHARED_I2C */
+
+ msg = lsm6dslI2CReadRegister(devp->config->i2cp, devp->config->slaveaddress,
+ LSM6DSL_AD_OUT_X_L_G, buff,
+ LSM6DSL_GYRO_NUMBER_OF_AXES * 2);
+
+#if LSM6DSL_SHARED_I2C
+ i2cReleaseBus(devp->config->i2cp);
+#endif /* LSM6DSL_SHARED_I2C */
+#endif /* LSM6DSL_USE_I2C */
+
+ for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++) {
+ tmp = buff[2 * i] + (buff[2 * i + 1] << 8);
+ axes[i] = (int32_t)tmp;
+ }
+ return msg;
+}
+
+/**
+ * @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] ip pointer to @p BaseGyroscope interface.
+ * @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.
+ */
+static msg_t gyro_read_cooked(void *ip, float axes[]) {
+ LSM6DSLDriver* devp;
+ uint32_t i;
+ int32_t raw[LSM6DSL_GYRO_NUMBER_OF_AXES];
+ msg_t msg;
+
+ osalDbgCheck((ip != NULL) && (axes != NULL));
+
+ /* Getting parent instance pointer.*/
+ devp = objGetInstance(LSM6DSLDriver*, (BaseGyroscope*)ip);
+
+ osalDbgAssert((devp->state == LSM6DSL_READY),
+ "gyro_read_cooked(), invalid state");
+
+ msg = gyro_read_raw(ip, raw);
+ for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++){
+ axes[i] = (raw[i] * devp->gyrosensitivity[i]) - devp->gyrobias[i];
+ }
+ return msg;
+}
+
+/**
+ * @brief Samples bias values for the BaseGyroscope.
+ * @note The LSM6DSL 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 LSM6DSL_BIAS_ACQ_TIMES
+ * and @p LSM6DSL_BIAS_SETTLING_US.
+ *
+ * @param[in] ip pointer to @p BaseGyroscope interface.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ */
+static msg_t gyro_sample_bias(void *ip) {
+ LSM6DSLDriver* devp;
+ uint32_t i, j;
+ int32_t raw[LSM6DSL_GYRO_NUMBER_OF_AXES];
+ int32_t buff[LSM6DSL_GYRO_NUMBER_OF_AXES] = {0, 0, 0};
+ msg_t msg;
+
+ osalDbgCheck(ip != NULL);
+
+ /* Getting parent instance pointer.*/
+ devp = objGetInstance(LSM6DSLDriver*, (BaseGyroscope*)ip);
+
+ osalDbgAssert((devp->state == LSM6DSL_READY),
+ "gyro_sample_bias(), invalid state");
+#if LSM6DSL_USE_I2C
+ osalDbgAssert((devp->config->i2cp->state == I2C_READY),
+ "gyro_sample_bias(), channel not ready");
+#endif
+
+ for(i = 0; i < LSM6DSL_GYRO_BIAS_ACQ_TIMES; i++){
+ msg = gyro_read_raw(ip, raw);
+ if(msg != MSG_OK)
+ return msg;
+ for(j = 0; j < LSM6DSL_GYRO_NUMBER_OF_AXES; j++){
+ buff[j] += raw[j];
+ }
+ osalThreadSleepMicroseconds(LSM6DSL_GYRO_BIAS_SETTLING_US);
+ }
+
+ for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++){
+ devp->gyrobias[i] = (buff[i] / LSM6DSL_GYRO_BIAS_ACQ_TIMES);
+ devp->gyrobias[i] *= devp->gyrosensitivity[i];
+ }
+ return msg;
+}
+
+/**
+ * @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] ip pointer to @p BaseGyroscope interface.
+ * @param[in] bp a buffer which contains biases.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ */
+static msg_t gyro_set_bias(void *ip, float *bp) {
+ LSM6DSLDriver* devp;
+ uint32_t i;
+ msg_t msg = MSG_OK;
+
+ osalDbgCheck((ip != NULL) && (bp != NULL));
+
+ /* Getting parent instance pointer.*/
+ devp = objGetInstance(LSM6DSLDriver*, (BaseGyroscope*)ip);
+
+ osalDbgAssert((devp->state == LSM6DSL_READY),
+ "gyro_set_bias(), invalid state");
+
+ for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++) {
+ devp->gyrobias[i] = bp[i];
+ }
+ return msg;
+}
+
+/**
+ * @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] ip pointer to @p BaseGyroscope interface.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ */
+static msg_t gyro_reset_bias(void *ip) {
+ LSM6DSLDriver* devp;
+ uint32_t i;
+ msg_t msg = MSG_OK;
+
+ osalDbgCheck(ip != NULL);
+
+ /* Getting parent instance pointer.*/
+ devp = objGetInstance(LSM6DSLDriver*, (BaseGyroscope*)ip);
+
+ osalDbgAssert((devp->state == LSM6DSL_READY),
+ "gyro_reset_bias(), invalid state");
+
+ for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++)
+ devp->gyrobias[i] = LSM6DSL_GYRO_BIAS;
+ return msg;
+}
+
+/**
+ * @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] ip pointer to @p BaseGyroscope interface.
+ * @param[in] sp a buffer which contains sensitivities.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ */
+static msg_t gyro_set_sensivity(void *ip, float *sp) {
+ LSM6DSLDriver* devp;
+ uint32_t i;
+ msg_t msg = MSG_OK;
+
+ osalDbgCheck((ip != NULL) && (sp !=NULL));
+
+ /* Getting parent instance pointer.*/
+ devp = objGetInstance(LSM6DSLDriver*, (BaseGyroscope*)ip);
+
+ osalDbgAssert((devp->state == LSM6DSL_READY),
+ "gyro_set_sensivity(), invalid state");
+
+ for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++) {
+ devp->gyrosensitivity[i] = sp[i];
+ }
+ return msg;
+}
+
+/**
+ * @brief Reset sensitivity values for the BaseGyroscope.
+ * @note Default sensitivities value are obtained from device datasheet.
+ *
+ * @param[in] ip pointer to @p BaseGyroscope interface.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ * @retval MSG_RESET otherwise.
+ */
+static msg_t gyro_reset_sensivity(void *ip) {
+ LSM6DSLDriver* devp;
+ uint32_t i;
+ msg_t msg = MSG_OK;
+
+ osalDbgCheck(ip != NULL);
+
+ /* Getting parent instance pointer.*/
+ devp = objGetInstance(LSM6DSLDriver*, (BaseGyroscope*)ip);
+
+ osalDbgAssert((devp->state == LSM6DSL_READY),
+ "gyro_reset_sensivity(), invalid state");
+
+ if(devp->config->gyrofullscale == LSM6DSL_GYRO_FS_245DPS)
+ for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++)
+ devp->gyrosensitivity[i] = LSM6DSL_GYRO_SENS_245DPS;
+ else if(devp->config->gyrofullscale == LSM6DSL_GYRO_FS_500DPS)
+ for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++)
+ devp->gyrosensitivity[i] = LSM6DSL_GYRO_SENS_500DPS;
+ else if(devp->config->gyrofullscale == LSM6DSL_GYRO_FS_2000DPS)
+ for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++)
+ devp->gyrosensitivity[i] = LSM6DSL_GYRO_SENS_2000DPS;
+ else {
+ osalDbgAssert(FALSE, "gyro_reset_sensivity(), full scale issue");
+ return MSG_RESET;
+ }
+ return msg;
+}
+
+/**
+ * @brief Changes the LSM6DSLDriver 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] ip pointer to @p BaseGyroscope interface.
+ * @param[in] fs new fullscale value.
+ *
+ * @return The operation status.
+ * @retval MSG_OK if the function succeeded.
+ * @retval MSG_RESET otherwise.
+ */
+static msg_t gyro_set_full_scale(LSM6DSLDriver *devp, lsm6dsl_gyro_fs_t fs) {
+ float newfs, scale;
+ uint8_t i, buff[2];
+ msg_t msg = MSG_OK;
+
+ osalDbgCheck(devp != NULL);
+
+ osalDbgAssert((devp->state == LSM6DSL_READY),
+ "gyro_set_full_scale(), invalid state");
+#if LSM6DSL_USE_I2C
+ osalDbgAssert((devp->config->i2cp->state == I2C_READY),
+ "gyro_set_full_scale(), channel not ready");
+#endif
+
+ if(fs == LSM6DSL_GYRO_FS_245DPS) {
+ newfs = LSM6DSL_GYRO_245DPS;
+ }
+ else if(fs == LSM6DSL_GYRO_FS_500DPS) {
+ newfs = LSM6DSL_GYRO_500DPS;
+ }
+ else if(fs == LSM6DSL_GYRO_FS_2000DPS) {
+ newfs = LSM6DSL_GYRO_2000DPS;
+ }
+ else {
+ return MSG_RESET;
+ }
+
+ if(newfs != devp->gyrofullscale) {
+ scale = newfs / devp->gyrofullscale;
+ devp->gyrofullscale = newfs;
+
+#if LSM6DSL_USE_I2C
+#if LSM6DSL_SHARED_I2C
+ i2cAcquireBus(devp->config->i2cp);
+ i2cStart(devp->config->i2cp,
+ devp->config->i2ccfg);
+#endif /* LSM6DSL_SHARED_I2C */
+
+ /* Updating register.*/
+ msg = lsm6dslI2CReadRegister(devp->config->i2cp,
+ devp->config->slaveaddress,
+ LSM6DSL_AD_CTRL_REG1_G, &buff[1], 1);
+
+#if LSM6DSL_SHARED_I2C
+ i2cReleaseBus(devp->config->i2cp);
+#endif /* LSM6DSL_SHARED_I2C */
+#endif /* LSM6DSL_USE_I2C */
+
+ buff[1] &= ~(LSM6DSL_CTRL_REG1_G_FS_MASK);
+ buff[1] |= fs;
+ buff[0] = LSM6DSL_AD_CTRL_REG1_G;
+
+#if LSM6DSL_USE_I2C
+#if LSM6DSL_SHARED_I2C
+ i2cAcquireBus(devp->config->i2cp);
+ i2cStart(devp->config->i2cp,
+ devp->config->i2ccfg);
+#endif /* LSM6DSL_SHARED_I2C */
+
+ lsm6dslI2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
+ buff, 1);
+
+#if LSM6DSL_SHARED_I2C
+ i2cReleaseBus(devp->config->i2cp);
+#endif /* LSM6DSL_SHARED_I2C */
+#endif /* LSM6DSL_USE_I2C */
+
+ /* Scaling sensitivity and bias. Re-calibration is suggested anyway. */
+ for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++) {
+ devp->gyrosensitivity[i] *= scale;
+ devp->gyrobias[i] *= scale;
+ }
+ }
+ return msg;
+}
+
+static const struct LSM6DSLVMT vmt_device = {
+ (size_t)0,
+ acc_set_full_scale, gyro_set_full_scale
+};
+
+static const struct BaseAccelerometerVMT vmt_accelerometer = {
+ sizeof(struct LSM6DSLVMT*),
+ acc_get_axes_number, acc_read_raw, acc_read_cooked,
+ acc_set_bias, acc_reset_bias, acc_set_sensivity, acc_reset_sensivity
+};
+
+static const struct BaseGyroscopeVMT vmt_gyroscope = {
+ sizeof(struct LSM6DSLVMT*) + sizeof(BaseAccelerometer),
+ gyro_get_axes_number, gyro_read_raw, gyro_read_cooked,
+ gyro_sample_bias, gyro_set_bias, gyro_reset_bias,
+ gyro_set_sensivity, gyro_reset_sensivity
+};
+
+/*===========================================================================*/
+/* Driver exported functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Initializes an instance.
+ *
+ * @param[out] devp pointer to the @p LSM6DSLDriver object
+ *
+ * @init
+ */
+void lsm6dslObjectInit(LSM6DSLDriver *devp) {
+ devp->vmt = &vmt_device;
+ devp->acc_if.vmt = &vmt_accelerometer;
+ devp->gyro_if.vmt = &vmt_gyroscope;
+
+ devp->config = NULL;
+
+ devp->accaxes = LSM6DSL_ACC_NUMBER_OF_AXES;
+ devp->gyroaxes = LSM6DSL_GYRO_NUMBER_OF_AXES;
+
+ devp->state = LSM6DSL_STOP;
+}
+
+/**
+ * @brief Configures and activates LSM6DSL Complex Driver peripheral.
+ *
+ * @param[in] devp pointer to the @p LSM6DSLDriver object
+ * @param[in] config pointer to the @p LSM6DSLConfig object
+ *
+ * @api
+ */
+void lsm6dslStart(LSM6DSLDriver *devp, const LSM6DSLConfig *config) {
+ uint32_t i;
+ uint8_t cr[5];
+ osalDbgCheck((devp != NULL) && (config != NULL));
+
+ osalDbgAssert((devp->state == LSM6DSL_STOP) ||
+ (devp->state == LSM6DSL_READY),
+ "lsm6dslStart(), invalid state");
+
+ devp->config = config;
+
+ /* Configuring common registers.*/
+
+ /* Control register 8 configuration block.*/
+ {
+ cr[0] = LSM6DSL_AD_CTRL_REG8;
+ cr[1] = LSM6DSL_CTRL_REG8_IF_ADD_INC;
+#if LSM6DSL_USE_ADVANCED || defined(__DOXYGEN__)
+ cr[1] |= devp->config->endianness | devp->config->blockdataupdate;
+#endif
+ }
+#if LSM6DSL_USE_I2C
+#if LSM6DSL_SHARED_I2C
+ i2cAcquireBus(devp->config->i2cp);
+#endif /* LSM6DSL_SHARED_I2C */
+
+ i2cStart(devp->config->i2cp, devp->config->i2ccfg);
+ lsm6dslI2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
+ cr, 1);
+
+#if LSM6DSL_SHARED_I2C
+ i2cReleaseBus(devp->config->i2cp);
+#endif /* LSM6DSL_SHARED_I2C */
+#endif /* LSM6DSL_USE_I2C */
+
+ /* Configuring Accelerometer subsystem.*/
+ /* Multiple write starting address.*/
+ cr[0] = LSM6DSL_AD_CTRL_REG5_XL;
+ /* Control register 5 configuration block.*/
+ {
+ cr[1] = LSM6DSL_CTRL_REG5_XL_XEN_XL | LSM6DSL_CTRL_REG5_XL_YEN_XL |
+ LSM6DSL_CTRL_REG5_XL_ZEN_XL;
+#if LSM6DSL_ACC_USE_ADVANCED || defined(__DOXYGEN__)
+ cr[1] |= devp->config->accdecmode;
+#endif
+ }
+
+ /* Control register 6 configuration block.*/
+ {
+ cr[2] = devp->config->accoutdatarate |
+ devp->config->accfullscale;
+ }
+
+#if LSM6DSL_USE_I2C
+#if LSM6DSL_SHARED_I2C
+ i2cAcquireBus(devp->config->i2cp);
+ i2cStart(devp->config->i2cp, devp->config->i2ccfg);
+#endif /* LSM6DSL_SHARED_I2C */
+
+ lsm6dslI2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
+ cr, 2);
+
+#if LSM6DSL_SHARED_I2C
+ i2cReleaseBus(devp->config->i2cp);
+#endif /* LSM6DSL_SHARED_I2C */
+#endif /* LSM6DSL_USE_I2C */
+
+ /* Storing sensitivity according to user settings */
+ if(devp->config->accfullscale == LSM6DSL_ACC_FS_2G) {
+ for(i = 0; i < LSM6DSL_ACC_NUMBER_OF_AXES; i++) {
+ if(devp->config->accsensitivity == NULL)
+ devp->accsensitivity[i] = LSM6DSL_ACC_SENS_2G;
+ else
+ devp->accsensitivity[i] = devp->config->accsensitivity[i];
+ }
+ devp->accfullscale = LSM6DSL_ACC_2G;
+ }
+ else if(devp->config->accfullscale == LSM6DSL_ACC_FS_4G) {
+ for(i = 0; i < LSM6DSL_ACC_NUMBER_OF_AXES; i++) {
+ if(devp->config->accsensitivity == NULL)
+ devp->accsensitivity[i] = LSM6DSL_ACC_SENS_4G;
+ else
+ devp->accsensitivity[i] = devp->config->accsensitivity[i];
+ }
+ devp->accfullscale = LSM6DSL_ACC_4G;
+ }
+ else if(devp->config->accfullscale == LSM6DSL_ACC_FS_8G) {
+ for(i = 0; i < LSM6DSL_ACC_NUMBER_OF_AXES; i++) {
+ if(devp->config->accsensitivity == NULL)
+ devp->accsensitivity[i] = LSM6DSL_ACC_SENS_8G;
+ else
+ devp->accsensitivity[i] = devp->config->accsensitivity[i];
+ }
+ devp->accfullscale = LSM6DSL_ACC_8G;
+ }
+ else if(devp->config->accfullscale == LSM6DSL_ACC_FS_16G) {
+ for(i = 0; i < LSM6DSL_ACC_NUMBER_OF_AXES; i++) {
+ if(devp->config->accsensitivity == NULL)
+ devp->accsensitivity[i] = LSM6DSL_ACC_SENS_16G;
+ else
+ devp->accsensitivity[i] = devp->config->accsensitivity[i];
+ }
+ devp->accfullscale = LSM6DSL_ACC_16G;
+ }
+ else
+ osalDbgAssert(FALSE, "lsm6dslStart(), accelerometer full scale issue");
+
+ /* Storing bias information */
+ if(devp->config->accbias != NULL)
+ for(i = 0; i < LSM6DSL_ACC_NUMBER_OF_AXES; i++)
+ devp->accbias[i] = devp->config->accbias[i];
+ else
+ for(i = 0; i < LSM6DSL_ACC_NUMBER_OF_AXES; i++)
+ devp->accbias[i] = LSM6DSL_ACC_BIAS;
+
+ /* Configuring Gyroscope subsystem.*/
+ /* Multiple write starting address.*/
+ cr[0] = LSM6DSL_AD_CTRL_REG1_G;
+
+ /* Control register 1 configuration block.*/
+ {
+ cr[1] = devp->config->gyrofullscale |
+ devp->config->gyrooutdatarate;
+#if LSM6DSL_GYRO_USE_ADVANCED || defined(__DOXYGEN__)
+ cr[1] |= devp->config->gyrodecmode;
+#endif
+ }
+
+ /* Control register 2 configuration block.*/
+ {
+ cr[2] = 0;
+#if LSM6DSL_GYRO_USE_ADVANCED || defined(__DOXYGEN__)
+ cr[2] |= devp->config->gyrooutsel;
+#endif
+ }
+
+ /* Control register 3 configuration block.*/
+ {
+ cr[3] = 0;
+#if LSM6DSL_GYRO_USE_ADVANCED || defined(__DOXYGEN__)
+ cr[3] |= devp->config->gyrohpfenable |
+ devp->config->gyrolowmodecfg |
+ devp->config->gyrohpcfg;
+#endif
+ }
+
+ /* Control register 4 configuration block.*/
+ {
+ cr[4] = LSM6DSL_CTRL_REG4_XEN_G | LSM6DSL_CTRL_REG4_YEN_G |
+ LSM6DSL_CTRL_REG4_ZEN_G;
+ }
+#if LSM6DSL_USE_I2C
+#if LSM6DSL_SHARED_I2C
+ i2cAcquireBus(devp->config->i2cp);
+ i2cStart(devp->config->i2cp, devp->config->i2ccfg);
+#endif /* LSM6DSL_SHARED_I2C */
+
+ lsm6dslI2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
+ cr, 4);
+
+#if LSM6DSL_SHARED_I2C
+ i2cReleaseBus(devp->config->i2cp);
+#endif /* LSM6DSL_SHARED_I2C */
+#endif /* LSM6DSL_USE_I2C */
+
+ cr[0] = LSM6DSL_AD_CTRL_REG9;
+ /* Control register 9 configuration block.*/
+ {
+ cr[1] = 0;
+ }
+#if LSM6DSL_USE_I2C
+#if LSM6DSL_SHARED_I2C
+ i2cAcquireBus(devp->config->i2cp);
+ i2cStart(devp->config->i2cp, devp->config->i2ccfg);
+#endif /* LSM6DSL_SHARED_I2C */
+
+ lsm6dslI2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
+ cr, 1);
+
+#if LSM6DSL_SHARED_I2C
+ i2cReleaseBus(devp->config->i2cp);
+#endif /* LSM6DSL_SHARED_I2C */
+#endif /* LSM6DSL_USE_I2C */
+
+ if(devp->config->gyrofullscale == LSM6DSL_GYRO_FS_245DPS) {
+ for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++) {
+ if(devp->config->gyrosensitivity == NULL)
+ devp->gyrosensitivity[i] = LSM6DSL_GYRO_SENS_245DPS;
+ else
+ devp->gyrosensitivity[i] = devp->config->gyrosensitivity[i];
+ }
+ devp->gyrofullscale = LSM6DSL_GYRO_245DPS;
+ }
+ else if(devp->config->gyrofullscale == LSM6DSL_GYRO_FS_500DPS) {
+ for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++) {
+ if(devp->config->gyrosensitivity == NULL)
+ devp->gyrosensitivity[i] = LSM6DSL_GYRO_SENS_500DPS;
+ else
+ devp->gyrosensitivity[i] = devp->config->gyrosensitivity[i];
+ }
+ devp->gyrofullscale = LSM6DSL_GYRO_500DPS;
+ }
+ else if(devp->config->gyrofullscale == LSM6DSL_GYRO_FS_2000DPS) {
+ for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++) {
+ if(devp->config->gyrosensitivity == NULL)
+ devp->gyrosensitivity[i] = LSM6DSL_GYRO_SENS_2000DPS;
+ else
+ devp->gyrosensitivity[i] = devp->config->gyrosensitivity[i];
+ }
+ devp->gyrofullscale = LSM6DSL_GYRO_2000DPS;
+ }
+ else
+ osalDbgAssert(FALSE, "lsm6dslStart(), gyroscope full scale issue");
+
+ /* Storing bias information */
+ if(devp->config->gyrobias != NULL)
+ for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++)
+ devp->gyrobias[i] = devp->config->gyrobias[i];
+ else
+ for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++)
+ devp->gyrobias[i] = LSM6DSL_GYRO_BIAS;
+
+ /* This is the MEMS transient recovery time */
+ osalThreadSleepMilliseconds(5);
+
+ devp->state = LSM6DSL_READY;
+}
+
+/**
+ * @brief Deactivates the LSM6DSL Complex Driver peripheral.
+ *
+ * @param[in] devp pointer to the @p LSM6DSLDriver object
+ *
+ * @api
+ */
+void lsm6dslStop(LSM6DSLDriver *devp) {
+ uint8_t cr[2];
+
+ osalDbgCheck(devp != NULL);
+
+ osalDbgAssert((devp->state == LSM6DSL_STOP) || (devp->state == LSM6DSL_READY),
+ "lsm6dslStop(), invalid state");
+
+ if (devp->state == LSM6DSL_READY) {
+#if LSM6DSL_USE_I2C
+#if LSM6DSL_SHARED_I2C
+ i2cAcquireBus(devp->config->i2cp);
+ i2cStart(devp->config->i2cp, devp->config->i2ccfg);
+#endif /* LSM6DSL_SHARED_I2C */
+
+ /* Disabling accelerometer.*/
+ cr[0] = LSM6DSL_AD_CTRL_REG6_XL;
+ cr[1] = 0;
+ lsm6dslI2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
+ cr, 1);
+
+ /* Disabling gyroscope.*/
+ cr[0] = LSM6DSL_AD_CTRL_REG9;
+ cr[1] = LSM6DSL_CTRL_REG9_SLEEP_G;
+ lsm6dslI2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
+ cr, 1);
+
+ i2cStop(devp->config->i2cp);
+#if LSM6DSL_SHARED_I2C
+ i2cReleaseBus(devp->config->i2cp);
+#endif /* LSM6DSL_SHARED_I2C */
+#endif /* LSM6DSL_USE_I2C */
+ }
+ devp->state = LSM6DSL_STOP;
+}
+/** @} */
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_ */
+
+/** @} */
diff --git a/os/ex/ST/lsm6dsl.mk b/os/ex/ST/lsm6dsl.mk new file mode 100644 index 000000000..438680dda --- /dev/null +++ b/os/ex/ST/lsm6dsl.mk @@ -0,0 +1,10 @@ +# List of all the LSM6DS0 device files.
+LSM6DS0SRC := $(CHIBIOS)/os/ex/ST/lsm6ds0.c
+
+# Required include directories
+LSM6DS0INC := $(CHIBIOS)/os/hal/lib/peripherals/sensors \
+ $(CHIBIOS)/os/ex/ST
+
+# Shared variables
+ALLCSRC += $(LSM6DS0SRC)
+ALLINC += $(LSM6DS0INC)
\ No newline at end of file |