From 8172b86629fa65eac4a113aba501a1ae4d726749 Mon Sep 17 00:00:00 2001 From: Rocco Marco Guglielmi Date: Tue, 13 Mar 2018 21:41:12 +0000 Subject: Added LSM6DSL driver template (working on it) git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@11733 110e8d01-0319-4d1e-a829-52ad28d1bb01 --- os/ex/ST/lsm6dsl.c | 1113 +++++++++++++++++++++++++++++++++++++++++++++++++++ os/ex/ST/lsm6dsl.h | 1060 ++++++++++++++++++++++++++++++++++++++++++++++++ os/ex/ST/lsm6dsl.mk | 10 + 3 files changed, 2183 insertions(+) create mode 100644 os/ex/ST/lsm6dsl.c create mode 100644 os/ex/ST/lsm6dsl.h create mode 100644 os/ex/ST/lsm6dsl.mk (limited to 'os/ex') 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 . + +*/ + +/** + * @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 . + +*/ + +/** + * @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 -- cgit v1.2.3