From 99e37a053110cb0578ec89d2e02fde94a232ef50 Mon Sep 17 00:00:00 2001 From: Rocco Marco Guglielmi Date: Wed, 14 Mar 2018 08:50:43 +0000 Subject: Adjustments to LSM6DSL Driver (Still incomplete) git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@11736 110e8d01-0319-4d1e-a829-52ad28d1bb01 --- os/ex/ST/lsm6dsl.h | 869 +++++++++++++++++++++++++++------------------------- os/ex/ST/lsm6dsl.mk | 10 +- 2 files changed, 464 insertions(+), 415 deletions(-) (limited to 'os/ex') diff --git a/os/ex/ST/lsm6dsl.h b/os/ex/ST/lsm6dsl.h index 4a2a92d14..10551bb3b 100644 --- a/os/ex/ST/lsm6dsl.h +++ b/os/ex/ST/lsm6dsl.h @@ -19,15 +19,15 @@ */ /** - * @file lsm6ds0.h - * @brief LSM6DS0 MEMS interface module header. + * @file lsm6dsl.h + * @brief LSM6DSL MEMS interface module header. * - * @addtogroup LSM6DS0 + * @addtogroup LSM6DSL * @ingroup EX_ST * @{ */ -#ifndef _LSM6DS0_H_ -#define _LSM6DS0_H_ +#ifndef _LSM6DSL_H_ +#define _LSM6DSL_H_ #include "hal_accelerometer.h" #include "hal_gyroscope.h" @@ -41,47 +41,47 @@ * @{ */ /** - * @brief LSM6DS0 driver version string. + * @brief LSM6DSL driver version string. */ -#define EX_LSM6DS0_VERSION "1.0.0" +#define EX_LSM6DSL_VERSION "1.0.0" /** - * @brief LSM6DS0 driver version major number. + * @brief LSM6DSL driver version major number. */ -#define EX_LSM6DS0_MAJOR 1 +#define EX_LSM6DSL_MAJOR 1 /** - * @brief LSM6DS0 driver version minor number. + * @brief LSM6DSL driver version minor number. */ -#define EX_LSM6DS0_MINOR 0 +#define EX_LSM6DSL_MINOR 0 /** - * @brief LSM6DS0 driver version patch number. + * @brief LSM6DSL driver version patch number. */ -#define EX_LSM6DS0_PATCH 0 +#define EX_LSM6DSL_PATCH 0 /** @} */ /** - * @brief LSM6DS0 accelerometer subsystem characteristics. + * @brief LSM6DSL 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 LSM6DSL_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 LSM6DSL_ACC_2G 2.0f +#define LSM6DSL_ACC_4G 4.0f +#define LSM6DSL_ACC_8G 8.0f +#define LSM6DSL_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 LSM6DSL_ACC_SENS_2G 0.061f +#define LSM6DSL_ACC_SENS_4G 0.122f +#define LSM6DSL_ACC_SENS_8G 0.244f +#define LSM6DSL_ACC_SENS_16G 0.488f -#define LSM6DS0_ACC_BIAS 0.0f +#define LSM6DSL_ACC_BIAS 0.0f /** @} */ /** @@ -92,215 +92,264 @@ * * @{ */ -#define LSM6DS0_GYRO_NUMBER_OF_AXES 3U +#define LSM6DSL_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 LSM6DSL_GYRO_125DPS 125.0f +#define LSM6DSL_GYRO_250DPS 250.0f +#define LSM6DSL_GYRO_500DPS 500.0f +#define LSM6DSL_GYRO_1000DPS 1000.0f +#define LSM6DSL_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 LSM6DSL_GYRO_SENS_125DPS 0.004375f +#define LSM6DSL_GYRO_SENS_250DPS 0.008750f +#define LSM6DSL_GYRO_SENS_500DPS 0.017500f +#define LSM6DSL_GYRO_SENS_1000DPS 0.035000f +#define LSM6DSL_GYRO_SENS_2000DPS 0.070000f -#define LSM6DS0_GYRO_BIAS 0.0f +#define LSM6DSL_GYRO_BIAS 0.0f /** @} */ /** - * @name LSM6DS0 communication interfaces related bit masks + * @name LSM6DSL 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) +#define LSM6DSL_DI_MASK 0xFF +#define LSM6DSL_DI(n) (1 << n) +#define LSM6DSL_AD_MASK 0x7F +#define LSM6DSL_AD(n) (1 << n) +#define LSM6DSL_MS (1 << 7) /** @} */ /** - * @name LSM6DS0 register addresses + * @name LSM6DSL 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 +#define LSM6DSL_AD_FUNC_CFG_ACCESS 0x01 +#define LSM6DSL_AD_SENSOR_SYNC_TIME_FRAME 0x04 +#define LSM6DSL_AD_SENSOR_SYNC_RES_RATIO 0x05 +#define LSM6DSL_AD_FIFO_CTRL1 0x06 +#define LSM6DSL_AD_FIFO_CTRL2 0x07 +#define LSM6DSL_AD_FIFO_CTRL3 0x08 +#define LSM6DSL_AD_FIFO_CTRL4 0x09 +#define LSM6DSL_AD_FIFO_CTRL5 0x0A +#define LSM6DSL_AD_DRDY_PULSE_CFG_G 0x0B +#define LSM6DSL_AD_INT1_CTRL 0x0D +#define LSM6DSL_AD_INT2_CTRL 0x0E +#define LSM6DSL_AD_WHO_AM_I 0x0F +#define LSM6DSL_AD_CTRL1_XL 0x10 +#define LSM6DSL_AD_CTRL2_G 0x11 +#define LSM6DSL_AD_CTRL3_C 0x12 +#define LSM6DSL_AD_CTRL4_C 0x13 +#define LSM6DSL_AD_CTRL5_C 0x14 +#define LSM6DSL_AD_CTRL6_C 0x15 +#define LSM6DSL_AD_CTRL7_G 0x16 +#define LSM6DSL_AD_CTRL8_XL 0x17 +#define LSM6DSL_AD_CTRL9_XL 0x18 +#define LSM6DSL_AD_CTRL10_C 0x19 +#define LSM6DSL_AD_MASTER_CONFIG 0x1A +#define LSM6DSL_AD_WAKE_UP_SRC 0x1B +#define LSM6DSL_AD_TAP_SRC 0x1C +#define LSM6DSL_AD_D6D_SRC 0x1D +#define LSM6DSL_AD_STATUS_REG 0x1E +#define LSM6DSL_AD_OUT_TEMP_L 0x20 +#define LSM6DSL_AD_OUT_TEMP_H 0x21 +#define LSM6DSL_AD_OUTX_L_G 0x22 +#define LSM6DSL_AD_OUTX_H_G 0x23 +#define LSM6DSL_AD_OUTY_L_G 0x24 +#define LSM6DSL_AD_OUTY_H_G 0x25 +#define LSM6DSL_AD_OUTZ_L_G 0x26 +#define LSM6DSL_AD_OUTZ_H_G 0x27 +#define LSM6DSL_AD_OUTX_L_XL 0x28 +#define LSM6DSL_AD_OUTX_H_XL 0x29 +#define LSM6DSL_AD_OUTY_L_XL 0x2A +#define LSM6DSL_AD_OUTY_H_XL 0x2B +#define LSM6DSL_AD_OUTZ_L_XL 0x2C +#define LSM6DSL_AD_OUTZ_H_XL 0x2D +#define LSM6DSL_AD_SENSORHUB1_REG 0x2E +#define LSM6DSL_AD_SENSORHUB2_REG 0x2F +#define LSM6DSL_AD_SENSORHUB3_REG 0x30 +#define LSM6DSL_AD_SENSORHUB4_REG 0x31 +#define LSM6DSL_AD_SENSORHUB5_REG 0x32 +#define LSM6DSL_AD_SENSORHUB6_REG 0x33 +#define LSM6DSL_AD_SENSORHUB7_REG 0x34 +#define LSM6DSL_AD_SENSORHUB8_REG 0x35 +#define LSM6DSL_AD_SENSORHUB9_REG 0x36 +#define LSM6DSL_AD_SENSORHUB10_REG 0x37 +#define LSM6DSL_AD_SENSORHUB11_REG 0x38 +#define LSM6DSL_AD_SENSORHUB12_REG 0x39 +#define LSM6DSL_AD_FIFO_STATUS1 0x3A +#define LSM6DSL_AD_FIFO_STATUS2 0x3B +#define LSM6DSL_AD_FIFO_STATUS3 0x3C +#define LSM6DSL_AD_FIFO_STATUS4 0x3D +#define LSM6DSL_AD_FIFO_DATA_OUT_L 0x3E +#define LSM6DSL_AD_FIFO_DATA_OUT_H 0x3F +#define LSM6DSL_AD_TIMESTAMP0_REG 0x40 +#define LSM6DSL_AD_TIMESTAMP1_REG 0x41 +#define LSM6DSL_AD_TIMESTAMP2_REG 0x42 +#define LSM6DSL_AD_STEP_TIMESTAMP_L 0x49 +#define LSM6DSL_AD_STEP_TIMESTAMP_H 0x4A +#define LSM6DSL_AD_STEP_COUNTER_L 0x4B +#define LSM6DSL_AD_STEP_COUNTER_H 0x4C +#define LSM6DSL_AD_SENSORHUB13_REG 0x4D +#define LSM6DSL_AD_SENSORHUB14_REG 0x4E +#define LSM6DSL_AD_SENSORHUB15_REG 0x4F +#define LSM6DSL_AD_SENSORHUB16_REG 0x50 +#define LSM6DSL_AD_SENSORHUB17_REG 0x51 +#define LSM6DSL_AD_SENSORHUB18_REG 0x52 +#define LSM6DSL_AD_FUNC_SRC1 0x53 +#define LSM6DSL_AD_FUNC_SRC2 0x54 +#define LSM6DSL_AD_WRIST_TILT_IA 0x55 +#define LSM6DSL_AD_TAP_CFG 0x58 +#define LSM6DSL_AD_TAP_THS_6D 0x59 +#define LSM6DSL_AD_INT_DUR2 0x5A +#define LSM6DSL_AD_WAKE_UP_THS 0x5B +#define LSM6DSL_AD_WAKE_UP_DUR 0x5C +#define LSM6DSL_AD_FREE_FALL 0x5D +#define LSM6DSL_AD_MD1_CFG 0x5E +#define LSM6DSL_AD_MD2_CFG 0x5F +#define LSM6DSL_AD_MASTER_CMD_CODE 0x60 +#define LSM6DSL_AD_SENS_SYNC_SPI_ERROR_CODE 0x61 +#define LSM6DSL_AD_OUT_MAG_RAW_X_L 0x66 +#define LSM6DSL_AD_OUT_MAG_RAW_X_H 0x67 +#define LSM6DSL_AD_OUT_MAG_RAW_Y_L 0x68 +#define LSM6DSL_AD_OUT_MAG_RAW_Y_H 0x69 +#define LSM6DSL_AD_OUT_MAG_RAW_Z_L 0x6A +#define LSM6DSL_AD_OUT_MAG_RAW_Z_H 0x6B +#define LSM6DSL_AD_X_OFS_USR 0x73 +#define LSM6DSL_AD_Y_OFS_USR 0x74 +#define LSM6DSL_AD_Z_OFS_USR 0x75 /** @} */ /** - * @name LSM6DS0_AD_CTRL_REG1_G register bits definitions + * @name LSM6DSL_AD_CTRL1_XL 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) +#define LSMDSL_CTRL1_XL_BW0_XL (1 << 0) +#define LSMDSL_CTRL1_XL_LPF1_BW_SEL (1 << 1) +#define LSMDSL_CTRL1_XL_FS_MASK 0x0C +#define LSMDSL_CTRL1_XL_FS_XL0 (1 << 2) +#define LSMDSL_CTRL1_XL_FS_XL1 (1 << 3) +#define LSMDSL_CTRL1_XL_ODR_XL0 (1 << 4) +#define LSMDSL_CTRL1_XL_ODR_XL1 (1 << 5) +#define LSMDSL_CTRL1_XL_ODR_XL2 (1 << 6) +#define LSMDSL_CTRL1_XL_ODR_XL3 (1 << 7) /** @} */ /** - * @name LSM6DS0_AD_CTRL_REG2_G register bits definitions + * @name LSM6DSL_AD_CTRL2_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) +#define LSMDSL_CTRL2_G_FS_MASK 0x0E +#define LSMDSL_CTRL2_G_FS_125 (1 << 1) +#define LSMDSL_CTRL2_G_FS_G0 (1 << 2) +#define LSMDSL_CTRL2_G_FS_G1 (1 << 3) +#define LSMDSL_CTRL2_G_ODR_G (1 << 4) +#define LSMDSL_CTRL2_G_ODR_G (1 << 5) +#define LSMDSL_CTRL2_G_ODR_G (1 << 6) +#define LSMDSL_CTRL2_G_ODR_G (1 << 7) /** @} */ /** - * @name LSM6DS0_AD_CTRL_REG3_G register bits definitions + * @name LSM6DSL_AD_CTRL3_C 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) +#define LSMDSL_CTRL3_C_SW_RESET (1 << 0) +#define LSMDSL_CTRL3_C_BLE (1 << 1) +#define LSMDSL_CTRL3_C_IF_INC (1 << 2) +#define LSMDSL_CTRL3_C_SIM (1 << 3) +#define LSMDSL_CTRL3_C_PP_OD (1 << 4) +#define LSMDSL_CTRL3_C_H_LACTIVE (1 << 5) +#define LSMDSL_CTRL3_C_BDU (1 << 6) +#define LSMDSL_CTRL3_C_BOOT (1 << 7) /** @} */ /** - * @name LSM6DS0_AD_CTRL_REG4 register bits definitions + * @name LSM6DSL_AD_CTRL4_C 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) +#define LSMDSL_CTRL4_C_NOT_USED_01 (1 << 0) +#define LSMDSL_CTRL4_C_LPF1_SEL_G (1 << 1) +#define LSMDSL_CTRL4_C_I2C_DISABLE (1 << 2) +#define LSMDSL_CTRL4_C_DRDY_MASK (1 << 3) +#define LSMDSL_CTRL4_C_DEN_DRDY_IN (1 << 4) +#define LSMDSL_CTRL4_C_INT2_ON_INT (1 << 5) +#define LSMDSL_CTRL4_C_SLEEP (1 << 6) +#define LSMDSL_CTRL4_C_DEN_XL_EN (1 << 7) /** @} */ /** - * @name LSM6DS0_AD_CTRL_REG5_XL register bits definitions + * @name LSM6DSL_AD_CTRL5_C 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) +#define LSMDSL_CTRL5_C_ST0_XL (1 << 0) +#define LSMDSL_CTRL5_C_ST1_XL (1 << 1) +#define LSMDSL_CTRL5_C_ST0_G (1 << 2) +#define LSMDSL_CTRL5_C_ST1_G (1 << 3) +#define LSMDSL_CTRL5_C_DEN_LH (1 << 4) +#define LSMDSL_CTRL5_C_ROUNDING0 (1 << 5) +#define LSMDSL_CTRL5_C_ROUNDING1 (1 << 6) +#define LSMDSL_CTRL5_C_ROUNDING2 (1 << 7) /** @} */ /** - * @name LSM6DS0_AD_CTRL_REG6_XL register bits definitions + * @name LSM6DSL_AD_CTRL6_C 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) +#define LSMDSL_CTRL6_C_FTYPE_0 (1 << 0) +#define LSMDSL_CTRL6_C_FTYPE_0 (1 << 1) +#define LSMDSL_CTRL6_C_USR_OFF_W (1 << 3) +#define LSMDSL_CTRL6_C_XL_HM_MODE (1 << 4) +#define LSMDSL_CTRL6_C_LVL2_EN (1 << 5) +#define LSMDSL_CTRL6_C_LVL_EN (1 << 6) +#define LSMDSL_CTRL6_C_TRIG_EN (1 << 7) /** @} */ /** - * @name LSM6DS0_AD_CTRL_REG7_XL register bits definitions + * @name LSM6DSL_AD_CTRL7_G 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) +#define LSMDSL_CTRL7_G_ROUNDING_ST (1 << 2) +#define LSMDSL_CTRL7_G_HPM0_G (1 << 4) +#define LSMDSL_CTRL7_G_HPM1_G (1 << 5) +#define LSMDSL_CTRL7_G_HP_EN_G (1 << 6) +#define LSMDSL_CTRL7_G_G_HM_MODE (1 << 7) /** @} */ /** - * @name LSM6DS0_AD_CTRL_REG8 register bits definitions + * @name LSM6DSL_AD_CTRL8_XL 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) +#define LSMDSL_CTRL8_XL_LOW_PASS_ON (1 << 0) +#define LSMDSL_CTRL8_XL_HP_SLOPE_XL (1 << 2) +#define LSMDSL_CTRL8_XL_INPUT_COMPO (1 << 3) +#define LSMDSL_CTRL8_XL_HP_REF_MODE (1 << 4) +#define LSMDSL_CTRL8_XL_HPCF_XL0 (1 << 5) +#define LSMDSL_CTRL8_XL_HPCF_XL1 (1 << 6) +#define LSMDSL_CTRL8_XL_LPF2_XL_EN (1 << 7) /** @} */ /** - * @name LSM6DS0_AD_CTRL_REG9 register bits definitions + * @name LSM6DSL_AD_CTRL9_XL 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) +#define LSMDSL_CTRL9_XL_SOFT_EN (1 << 2) +#define LSMDSL_CTRL9_XL_DEN_XL_G (1 << 4) +#define LSMDSL_CTRL9_XL_DEN_Z (1 << 5) +#define LSMDSL_CTRL9_XL_DEN_Y (1 << 6) +#define LSMDSL_CTRL9_XL_DEN_X (1 << 7) /** @} */ /** - * @name LSM6DS0_AD_CTRL_REG10 register bits definitions + * @name LSM6DSL_AD_CTRL10_C register bits definitions * @{ */ -#define LSM6DS0_CTRL_REG10 0x05 -#define LSM6DS0_CTRL_REG10_ST_XL (1 << 0) -#define LSM6DS0_CTRL_REG10_ST_G (1 << 2) +#define LSMDSL_CTRL10_C_SIGN_MOTION (1 << 0) +#define LSMDSL_CTRL10_C_PEDO_RST_ST (1 << 1) +#define LSMDSL_CTRL10_C_FUNC_EN (1 << 2) +#define LSMDSL_CTRL10_C_TILT_EN (1 << 3) +#define LSMDSL_CTRL10_C_PEDO_EN (1 << 4) +#define LSMDSL_CTRL10_C_TIMER_EN (1 << 5) +#define LSMDSL_CTRL10_C_WRIST_TILT (1 << 7) /** @} */ /*===========================================================================*/ @@ -312,70 +361,70 @@ * @{ */ /** - * @brief LSM6DS0 SPI interface switch. + * @brief LSM6DSL 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 +#if !defined(LSM6DSL_USE_SPI) || defined(__DOXYGEN__) +#define LSM6DSL_USE_SPI FALSE #endif /** - * @brief LSM6DS0 shared SPI switch. + * @brief LSM6DSL 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 +#if !defined(LSM6DSL_SHARED_SPI) || defined(__DOXYGEN__) +#define LSM6DSL_SHARED_SPI FALSE #endif /** - * @brief LSM6DS0 I2C interface switch. + * @brief LSM6DSL 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 +#if !defined(LSM6DSL_USE_I2C) || defined(__DOXYGEN__) +#define LSM6DSL_USE_I2C TRUE #endif /** - * @brief LSM6DS0 shared I2C switch. + * @brief LSM6DSL 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 +#if !defined(LSM6DSL_SHARED_I2C) || defined(__DOXYGEN__) +#define LSM6DSL_SHARED_I2C FALSE #endif /** - * @brief LSM6DS0 advanced configurations switch. + * @brief LSM6DSL 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 +#if !defined(LSM6DSL_USE_ADVANCED) || defined(__DOXYGEN__) +#define LSM6DSL_USE_ADVANCED FALSE #endif /** - * @brief LSM6DS0 accelerometer subsystem advanced configurations + * @brief LSM6DSL 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 +#if !defined(LSM6DSL_ACC_USE_ADVANCED) || defined(__DOXYGEN__) +#define LSM6DSL_ACC_USE_ADVANCED FALSE #endif /** - * @brief LSM6DS0 gyroscope subsystem advanced configurations + * @brief LSM6DSL 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 +#if !defined(LSM6DSL_GYRO_USE_ADVANCED) || defined(__DOXYGEN__) +#define LSM6DSL_GYRO_USE_ADVANCED FALSE #endif /** @@ -383,16 +432,16 @@ * @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 +#if !defined(LSM6DSL_GYRO_BIAS_ACQ_TIMES) || defined(__DOXYGEN__) +#define LSM6DSL_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 +#if !defined(LSM6DSL_GYRO_BIAS_SETTLING_US) || defined(__DOXYGEN__) +#define LSM6DSL_GYRO_BIAS_SETTLING_US 5000 #endif /** @} */ @@ -400,31 +449,31 @@ /* Derived constants and error checks. */ /*===========================================================================*/ -#if !(LSM6DS0_USE_SPI ^ LSM6DS0_USE_I2C) -#error "LSM6DS0_USE_SPI and LSM6DS0_USE_I2C cannot be both true or both false" +#if !(LSM6DSL_USE_SPI ^ LSM6DSL_USE_I2C) +#error "LSM6DSL_USE_SPI and LSM6DSL_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" +#if LSM6DSL_USE_SPI && !HAL_USE_SPI +#error "LSM6DSL_USE_SPI requires HAL_USE_SPI" #endif -#if LSM6DS0_SHARED_SPI && !SPI_USE_MUTUAL_EXCLUSION -#error "LSM6DS0_SHARED_SPI requires SPI_USE_MUTUAL_EXCLUSION" +#if LSM6DSL_SHARED_SPI && !SPI_USE_MUTUAL_EXCLUSION +#error "LSM6DSL_SHARED_SPI requires SPI_USE_MUTUAL_EXCLUSION" #endif -#if LSM6DS0_USE_I2C && !HAL_USE_I2C -#error "LSM6DS0_USE_I2C requires HAL_USE_I2C" +#if LSM6DSL_USE_I2C && !HAL_USE_I2C +#error "LSM6DSL_USE_I2C requires HAL_USE_I2C" #endif -#if LSM6DS0_SHARED_I2C && !I2C_USE_MUTUAL_EXCLUSION -#error "LSM6DS0_SHARED_I2C requires I2C_USE_MUTUAL_EXCLUSION" +#if LSM6DSL_SHARED_I2C && !I2C_USE_MUTUAL_EXCLUSION +#error "LSM6DSL_SHARED_I2C requires I2C_USE_MUTUAL_EXCLUSION" #endif /** - * @todo Add support for LSM6DS0 over SPI. + * @todo Add support for LSM6DSL over SPI. */ -#if LSM6DS0_USE_SPI -#error "LSM6DS0 over SPI still not supported" +#if LSM6DSL_USE_SPI +#error "LSM6DSL over SPI still not supported" #endif /*===========================================================================*/ @@ -432,314 +481,314 @@ /*===========================================================================*/ /** - * @name LSM6DS0 data structures and types. + * @name LSM6DSL data structures and types. * @{ */ /** - * @brief Structure representing a LSM6DS0 driver. + * @brief Structure representing a LSM6DSL driver. */ -typedef struct LSM6DS0Driver LSM6DS0Driver; +typedef struct LSM6DSLDriver LSM6DSLDriver; /** * @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; + LSM6DSL_SAD_GND = 0x6A, /**< SAD pin connected to GND. */ + LSM6DSL_SAD_VCC = 0x6B /**< SAD pin connected to VCC. */ +} lsm6dsl_sad_t; /** - * @brief LSM6DS0 accelerometer subsystem full scale. + * @brief LSM6DSL 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; + LSM6DSL_ACC_FS_2G = 0x00, /**< Full scale ±2g. */ + LSM6DSL_ACC_FS_4G = 0x10, /**< Full scale ±4g. */ + LSM6DSL_ACC_FS_8G = 0x18, /**< Full scale ±8g. */ + LSM6DSL_ACC_FS_16G = 0x08 /**< Full scale ±16g. */ +} lsm6dsl_acc_fs_t; /** - * @brief LSM6DS0 accelerometer subsystem output data rate. + * @brief LSM6DSL 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; + LSM6DSL_ACC_ODR_PD = 0x00, /**< Power down */ + LSM6DSL_ACC_ODR_10Hz = 0x20, /**< ODR 10 Hz */ + LSM6DSL_ACC_ODR_50Hz = 0x40, /**< ODR 50 Hz */ + LSM6DSL_ACC_ODR_119Hz = 0x60, /**< ODR 119 Hz */ + LSM6DSL_ACC_ODR_238Hz = 0x80, /**< ODR 238 Hz */ + LSM6DSL_ACC_ODR_476Hz = 0xA0, /**< ODR 476 Hz */ + LSM6DSL_ACC_ODR_952Hz = 0xC0 /**< ODR 952 Hz */ +} lsm6dsl_acc_odr_t; /** - * @brief LSM6DS0 accelerometer subsystem decimation mode. + * @brief LSM6DSL 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; + LSM6DSL_ACC_DEC_DISABLED = 0x00, /**< Decimation disabled. */ + LSM6DSL_ACC_DEC_X2 = 0x40, /**< Output updated every 2 samples. */ + LSM6DSL_ACC_DEC_X4 = 0x80, /**< Output updated every 4 samples. */ + LSM6DSL_ACC_DEC_X8 = 0xC0 /**< Output updated every 8 samples. */ +} lsm6dsl_acc_dec_t; /** - * @brief LSM6DS0 gyroscope subsystem full scale. + * @brief LSM6DSL 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; + LSM6DSL_GYRO_FS_245DPS = 0x00, /**< Full scale ±245 degree per second */ + LSM6DSL_GYRO_FS_500DPS = 0x08, /**< Full scale ±500 degree per second */ + LSM6DSL_GYRO_FS_2000DPS = 0x18 /**< Full scale ±2000 degree per second */ +} lsm6dsl_gyro_fs_t; /** - * @brief LSM6DS0 gyroscope subsystem output data rate. + * @brief LSM6DSL 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. + LSM6DSL_GYRO_ODR_PD = 0x00, + LSM6DSL_GYRO_ODR_95HZ_FC_25 = 0x10, + LSM6DSL_GYRO_ODR_14_9HZ_FC_5 = 0X20, + LSM6DSL_GYRO_ODR_59_5HZ_FC_16 = 0X40, + LSM6DSL_GYRO_ODR_119HZ_FC_14 = 0X60, + LSM6DSL_GYRO_ODR_119HZ_FC_31 = 0X61, + LSM6DSL_GYRO_ODR_238HZ_FC_14 = 0X80, + LSM6DSL_GYRO_ODR_238HZ_FC_29 = 0X81, + LSM6DSL_GYRO_ODR_238HZ_FC_63 = 0X82, + LSM6DSL_GYRO_ODR_238HZ_FC_78 = 0X83, + LSM6DSL_GYRO_ODR_476HZ_FC_21 = 0XA0, + LSM6DSL_GYRO_ODR_476HZ_FC_28 = 0XA1, + LSM6DSL_GYRO_ODR_476HZ_FC_57 = 0XA2, + LSM6DSL_GYRO_ODR_476HZ_FC_100 = 0XA3, + LSM6DSL_GYRO_ODR_952HZ_FC_33 = 0XC0, + LSM6DSL_GYRO_ODR_952HZ_FC_40 = 0XC1, + LSM6DSL_GYRO_ODR_952HZ_FC_58 = 0XC2, + LSM6DSL_GYRO_ODR_952HZ_FC_100 = 0XC3 +} lsm6dsl_gyro_odr_t; + +/** + * @brief LSM6DSL 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; + LSM6DSL_GYRO_LP_DISABLED = 0x00, /**< Low power mode disabled. */ + LSM6DSL_GYRO_LP_ENABLED = 0x80 /**< Low power mode enabled. */ +} lsm6dsl_gyro_lp_t; /** - * @brief LSM6DS0 gyroscope subsystem output selection. + * @brief LSM6DSL 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; + LSM6DSL_GYRO_OUT_SEL_0 = 0x00, /**< Low pass filter 1. */ + LSM6DSL_GYRO_OUT_SEL_1 = 0x01, /**< High pass filter 1 if enabled. */ + LSM6DSL_GYRO_OUT_SEL_2 = 0x02 /**< Low pass filter 2. */ +} lsm6dsl_gyro_out_sel_t; /** - * @brief LSM6DS0 gyroscope subsystem high pass filter. + * @brief LSM6DSL 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; + LSM6DSL_GYRO_HP_DISABLED = 0x00, /**< High pass filter disabled. */ + LSM6DSL_GYRO_HP_ENABLED = 0x40 /**< High pass filter enabled. */ +} lsm6dsl_gyro_hp_t; /** - * @brief LSM6DS0 gyroscope subsystem high pass filter configuration. + * @brief LSM6DSL 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; + LSM6DSL_GYRO_HPCF_0 = 0x00, /**< Refer to table 48 of RM */ + LSM6DSL_GYRO_HPCF_1 = 0x01, + LSM6DSL_GYRO_HPCF_2 = 0x02, + LSM6DSL_GYRO_HPCF_3 = 0x03, + LSM6DSL_GYRO_HPCF_4 = 0x04, + LSM6DSL_GYRO_HPCF_5 = 0x05, + LSM6DSL_GYRO_HPCF_6 = 0x06, + LSM6DSL_GYRO_HPCF_7 = 0x07, + LSM6DSL_GYRO_HPCF_8 = 0x08, + LSM6DSL_GYRO_HPCF_9 = 0x09 +} lsm6dsl_gyro_hpcf_t; /** - * @brief LSM6DS0 block data update. + * @brief LSM6DSL 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; + LSM6DSL_BDU_CONTINUOUS = 0x00, /**< Block data continuously updated. */ + LSM6DSL_BDU_BLOCKED = 0x40 /**< Block data updated after reading. */ +} lsm6dsl_bdu_t; /** - * @brief LSM6DS0 endianness. + * @brief LSM6DSL endianness. */ typedef enum { - LSM6DS0_END_LITTLE = 0x00, /**< Little endian. */ - LSM6DS0_END_BIG = 0x20 /**< Big endian. */ -} lsm6ds0_end_t; + LSM6DSL_END_LITTLE = 0x00, /**< Little endian. */ + LSM6DSL_END_BIG = 0x20 /**< Big endian. */ +} lsm6dsl_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; + LSM6DSL_UNINIT = 0, /**< Not initialized. */ + LSM6DSL_STOP = 1, /**< Stopped. */ + LSM6DSL_READY = 2, /**< Ready. */ +} lsm6dsl_state_t; /** - * @brief LSM6DS0 configuration structure. + * @brief LSM6DSL configuration structure. */ typedef struct { -#if (LSM6DS0_USE_SPI) || defined(__DOXYGEN__) +#if (LSM6DSL_USE_SPI) || defined(__DOXYGEN__) /** - * @brief SPI driver associated to this LSM6DS0. + * @brief SPI driver associated to this LSM6DSL. */ SPIDriver *spip; /** - * @brief SPI configuration associated to this LSM6DS0 accelerometer + * @brief SPI configuration associated to this LSM6DSL accelerometer * subsystem. */ const SPIConfig *accspicfg; -#endif /* LSM6DS0_USE_SPI */ -#if (LSM6DS0_USE_I2C) || defined(__DOXYGEN__) +#endif /* LSM6DSL_USE_SPI */ +#if (LSM6DSL_USE_I2C) || defined(__DOXYGEN__) /** - * @brief I2C driver associated to this LSM6DS0. + * @brief I2C driver associated to this LSM6DSL. */ I2CDriver *i2cp; /** - * @brief I2C configuration associated to this LSM6DS0 accelerometer + * @brief I2C configuration associated to this LSM6DSL accelerometer * subsystem. */ const I2CConfig *i2ccfg; /** - * @brief LSM6DS0 Slave Address + * @brief LSM6DSL Slave Address */ - lsm6ds0_sad_t slaveaddress; -#endif /* LSM6DS0_USE_I2C */ + lsm6dsl_sad_t slaveaddress; +#endif /* LSM6DSL_USE_I2C */ /** - * @brief LSM6DS0 accelerometer subsystem initial sensitivity. + * @brief LSM6DSL accelerometer subsystem initial sensitivity. */ float *accsensitivity; /** - * @brief LSM6DS0 accelerometer subsystem initial bias. + * @brief LSM6DSL accelerometer subsystem initial bias. */ float *accbias; /** - * @brief LSM6DS0 accelerometer subsystem full scale. + * @brief LSM6DSL accelerometer subsystem full scale. */ - lsm6ds0_acc_fs_t accfullscale; + lsm6dsl_acc_fs_t accfullscale; /** - * @brief LSM6DS0 accelerometer subsystem output data rate. + * @brief LSM6DSL accelerometer subsystem output data rate. */ - lsm6ds0_acc_odr_t accoutdatarate; -#if LSM6DS0_ACC_USE_ADVANCED || defined(__DOXYGEN__) + lsm6dsl_acc_odr_t accoutdatarate; +#if LSM6DSL_ACC_USE_ADVANCED || defined(__DOXYGEN__) /** - * @brief LSM6DS0 accelerometer subsystem decimation mode. + * @brief LSM6DSL accelerometer subsystem decimation mode. */ - lsm6ds0_acc_dec_t accdecmode; -#endif /* LSM6DS0_ACC_USE_ADVANCED */ + lsm6dsl_acc_dec_t accdecmode; +#endif /* LSM6DSL_ACC_USE_ADVANCED */ /** - * @brief LSM6DS0 gyroscope subsystem initial sensitivity. + * @brief LSM6DSL gyroscope subsystem initial sensitivity. */ float *gyrosensitivity; /** - * @brief LSM6DS0 gyroscope subsystem initial bias. + * @brief LSM6DSL gyroscope subsystem initial bias. */ float *gyrobias; /** - * @brief LSM6DS0 gyroscope subsystem full scale. + * @brief LSM6DSL gyroscope subsystem full scale. */ - lsm6ds0_gyro_fs_t gyrofullscale; + lsm6dsl_gyro_fs_t gyrofullscale; /** - * @brief LSM6DS0 gyroscope subsystem output data rate. + * @brief LSM6DSL gyroscope subsystem output data rate. */ - lsm6ds0_gyro_odr_t gyrooutdatarate; -#if LSM6DS0_GYRO_USE_ADVANCED || defined(__DOXYGEN__) + lsm6dsl_gyro_odr_t gyrooutdatarate; +#if LSM6DSL_GYRO_USE_ADVANCED || defined(__DOXYGEN__) /** - * @brief LSM6DS0 gyroscope subsystem low mode configuration. + * @brief LSM6DSL gyroscope subsystem low mode configuration. */ - lsm6ds0_gyro_lp_t gyrolowmodecfg; + lsm6dsl_gyro_lp_t gyrolowmodecfg; /** - * @brief LSM6DS0 gyroscope subsystem output selection. + * @brief LSM6DSL gyroscope subsystem output selection. */ - lsm6ds0_gyro_out_sel_t gyrooutsel; + lsm6dsl_gyro_out_sel_t gyrooutsel; /** - * @brief LSM6DS0 gyroscope subsystem high pass filter. + * @brief LSM6DSL gyroscope subsystem high pass filter. */ - lsm6ds0_gyro_hp_t gyrohpfenable; + lsm6dsl_gyro_hp_t gyrohpfenable; /** - * @brief LSM6DS0 gyroscope subsystem high pass filter configuration. + * @brief LSM6DSL gyroscope subsystem high pass filter configuration. */ - lsm6ds0_gyro_hpcf_t gyrohpcfg; - #endif /* LSM6DS0_GYRO_USE_ADVANCED */ -#if (LSM6DS0_USE_ADVANCED) || defined(__DOXYGEN__) + lsm6dsl_gyro_hpcf_t gyrohpcfg; + #endif /* LSM6DSL_GYRO_USE_ADVANCED */ +#if (LSM6DSL_USE_ADVANCED) || defined(__DOXYGEN__) /** - * @brief LSM6DS0 block data update + * @brief LSM6DSL block data update */ - lsm6ds0_bdu_t blockdataupdate; + lsm6dsl_bdu_t blockdataupdate; /** - * @brief LSM6DS0 endianness + * @brief LSM6DSL endianness */ - lsm6ds0_end_t endianness; -#endif /* LSM6DS0_USE_ADVANCED */ -} LSM6DS0Config; + lsm6dsl_end_t endianness; +#endif /* LSM6DSL_USE_ADVANCED */ +} LSM6DSLConfig; /** - * @brief @p LSM6DS0 specific methods. + * @brief @p LSM6DSL 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); +#define _lsm6dsl_methods_alone \ + /* Change full scale value of LSM6DSL accelerometer subsystem .*/ \ + msg_t (*acc_set_full_scale)(LSM6DSLDriver *devp, lsm6dsl_acc_fs_t fs); \ + /* Change full scale value of LSM6DSL gyroscope subsystem .*/ \ + msg_t (*gyro_set_full_scale)(LSM6DSLDriver *devp, lsm6dsl_gyro_fs_t fs); /** - * @brief @p LSM6DS0 specific methods with inherited ones. + * @brief @p LSM6DSL specific methods with inherited ones. */ -#define _lsm6ds0_methods \ +#define _lsm6dsl_methods \ _base_object_methods \ - _lsm6ds0_methods_alone + _lsm6dsl_methods_alone /** * @extends BaseObjectVMT * - * @brief @p LSM6DS0 virtual methods table. + * @brief @p LSM6DSL virtual methods table. */ -struct LSM6DS0VMT { - _lsm6ds0_methods +struct LSM6DSLVMT { + _lsm6dsl_methods }; /** - * @brief @p LSM6DS0Driver specific data. + * @brief @p LSM6DSLDriver specific data. */ -#define _lsm6ds0_data \ +#define _lsm6dsl_data \ _base_sensor_data \ /* Driver state.*/ \ - lsm6ds0_state_t state; \ + lsm6dsl_state_t state; \ /* Current configuration data.*/ \ - const LSM6DS0Config *config; \ + const LSM6DSLConfig *config; \ /* Accelerometer subsystem axes number.*/ \ size_t accaxes; \ /* Accelerometer subsystem current sensitivity.*/ \ - float accsensitivity[LSM6DS0_ACC_NUMBER_OF_AXES]; \ + float accsensitivity[LSM6DSL_ACC_NUMBER_OF_AXES]; \ /* Accelerometer subsystem current bias .*/ \ - float accbias[LSM6DS0_ACC_NUMBER_OF_AXES]; \ + float accbias[LSM6DSL_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]; \ + float gyrosensitivity[LSM6DSL_GYRO_NUMBER_OF_AXES]; \ /* Gyroscope subsystem current Bias.*/ \ - float gyrobias[LSM6DS0_GYRO_NUMBER_OF_AXES]; \ + float gyrobias[LSM6DSL_GYRO_NUMBER_OF_AXES]; \ /* Gyroscope subsystem current full scale value.*/ \ float gyrofullscale; /** - * @brief LSM6DS0 6-axis accelerometer/gyroscope class. + * @brief LSM6DSL 6-axis accelerometer/gyroscope class. */ -struct LSM6DS0Driver { +struct LSM6DSLDriver { /** @brief Virtual Methods Table.*/ - const struct LSM6DS0VMT *vmt; + const struct LSM6DSLVMT *vmt; /** @brief Base accelerometer interface.*/ BaseAccelerometer acc_if; /** @brief Base gyroscope interface.*/ BaseGyroscope gyro_if; - _lsm6ds0_data + _lsm6dsl_data }; /** @} */ @@ -750,13 +799,13 @@ struct LSM6DS0Driver { /** * @brief Return the number of axes of the BaseAccelerometer. * - * @param[in] devp pointer to @p LSM6DS0Driver. + * @param[in] devp pointer to @p LSM6DSLDriver. * * @return the number of axes. * * @api */ -#define lsm6ds0AccelerometerGetAxesNumber(devp) \ +#define lsm6dslAccelerometerGetAxesNumber(devp) \ accelerometerGetAxesNumber(&((devp)->acc_if)) /** @@ -766,7 +815,7 @@ struct LSM6DS0Driver { * @note The axes array must be at least the same size of the * BaseAccelerometer axes number. * - * @param[in] devp pointer to @p LSM6DS0Driver. + * @param[in] devp pointer to @p LSM6DSLDriver. * @param[out] axes a buffer which would be filled with raw data. * * @return The operation status. @@ -777,7 +826,7 @@ struct LSM6DS0Driver { * * @api */ -#define lsm6ds0AccelerometerReadRaw(devp, axes) \ +#define lsm6dslAccelerometerReadRaw(devp, axes) \ accelerometerReadRaw(&((devp)->acc_if), axes) /** @@ -788,7 +837,7 @@ struct LSM6DS0Driver { * @note The axes array must be at least the same size of the * BaseAccelerometer axes number. * - * @param[in] devp pointer to @p LSM6DS0Driver. + * @param[in] devp pointer to @p LSM6DSLDriver. * @param[out] axes a buffer which would be filled with cooked data. * * @return The operation status. @@ -799,7 +848,7 @@ struct LSM6DS0Driver { * * @api */ -#define lsm6ds0AccelerometerReadCooked(devp, axes) \ +#define lsm6dslAccelerometerReadCooked(devp, axes) \ accelerometerReadCooked(&((devp)->acc_if), axes) /** @@ -808,7 +857,7 @@ struct LSM6DS0Driver { * @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] devp pointer to @p LSM6DSLDriver. * @param[in] bp a buffer which contains biases. * * @return The operation status. @@ -816,7 +865,7 @@ struct LSM6DS0Driver { * * @api */ -#define lsm6ds0AccelerometerSetBias(devp, bp) \ +#define lsm6dslAccelerometerSetBias(devp, bp) \ accelerometerSetBias(&((devp)->acc_if), bp) /** @@ -824,14 +873,14 @@ struct LSM6DS0Driver { * @note Default biases value are obtained from device datasheet when * available otherwise they are considered zero. * - * @param[in] devp pointer to @p LSM6DS0Driver. + * @param[in] devp pointer to @p LSM6DSLDriver. * * @return The operation status. * @retval MSG_OK if the function succeeded. * * @api */ -#define lsm6ds0AccelerometerResetBias(devp) \ +#define lsm6dslAccelerometerResetBias(devp) \ accelerometerResetBias(&((devp)->acc_if)) /** @@ -840,7 +889,7 @@ struct LSM6DS0Driver { * @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] devp pointer to @p LSM6DSLDriver. * @param[in] sp a buffer which contains sensitivities. * * @return The operation status. @@ -848,14 +897,14 @@ struct LSM6DS0Driver { * * @api */ -#define lsm6ds0AccelerometerSetSensitivity(devp, sp) \ +#define lsm6dslAccelerometerSetSensitivity(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. + * @param[in] devp pointer to @p LSM6DSLDriver. * * @return The operation status. * @retval MSG_OK if the function succeeded. @@ -863,16 +912,16 @@ struct LSM6DS0Driver { * * @api */ -#define lsm6ds0AccelerometerResetSensitivity(devp) \ +#define lsm6dslAccelerometerResetSensitivity(devp) \ accelerometerResetSensitivity(&((devp)->acc_if)) /** - * @brief Changes the LSM6DS0Driver accelerometer fullscale value. + * @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] devp pointer to @p LSM6DS0Driver. + * @param[in] devp pointer to @p LSM6DSLDriver. * @param[in] fs new fullscale value. * * @return The operation status. @@ -881,19 +930,19 @@ struct LSM6DS0Driver { * * @api */ -#define lsm6ds0AccelerometerSetFullScale(devp, fs) \ +#define lsm6dslAccelerometerSetFullScale(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. + * @param[in] devp pointer to @p LSM6DSLDriver. * * @return the number of axes. * * @api */ -#define lsm6ds0GyroscopeGetAxesNumber(devp) \ +#define lsm6dslGyroscopeGetAxesNumber(devp) \ gyroscopeGetAxesNumber(&((devp)->gyro_if)) /** @@ -903,7 +952,7 @@ struct LSM6DS0Driver { * @note The axes array must be at least the same size of the * BaseGyroscope axes number. * - * @param[in] devp pointer to @p LSM6DS0Driver. + * @param[in] devp pointer to @p LSM6DSLDriver. * @param[out] axes a buffer which would be filled with raw data. * * @return The operation status. @@ -914,7 +963,7 @@ struct LSM6DS0Driver { * * @api */ -#define lsm6ds0GyroscopeReadRaw(devp, axes) \ +#define lsm6dslGyroscopeReadRaw(devp, axes) \ gyroscopeReadRaw(&((devp)->gyro_if), axes) /** @@ -925,7 +974,7 @@ struct LSM6DS0Driver { * @note The axes array must be at least the same size of the * BaseGyroscope axes number. * - * @param[in] devp pointer to @p LSM6DS0Driver. + * @param[in] devp pointer to @p LSM6DSLDriver. * @param[out] axes a buffer which would be filled with cooked data. * * @return The operation status. @@ -936,17 +985,17 @@ struct LSM6DS0Driver { * * @api */ -#define lsm6ds0GyroscopeReadCooked(devp, axes) \ +#define lsm6dslGyroscopeReadCooked(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 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 LSM6DS0_BIAS_ACQ_TIMES - * and @p LSM6DS0_BIAS_SETTLING_US. + * @note The behavior of this function depends on @P LSM6DSL_BIAS_ACQ_TIMES + * and @p LSM6DSL_BIAS_SETTLING_US. * - * @param[in] devp pointer to @p LSM6DS0Driver. + * @param[in] devp pointer to @p LSM6DSLDriver. * * @return The operation status. * @retval MSG_OK if the function succeeded. @@ -956,7 +1005,7 @@ struct LSM6DS0Driver { * * @api */ -#define lsm6ds0GyroscopeSampleBias(devp) \ +#define lsm6dslGyroscopeSampleBias(devp) \ gyroscopeSampleBias(&((devp)->gyro_if)) /** @@ -965,7 +1014,7 @@ struct LSM6DS0Driver { * @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] devp pointer to @p LSM6DSLDriver. * @param[in] bp a buffer which contains biases. * * @return The operation status. @@ -973,7 +1022,7 @@ struct LSM6DS0Driver { * * @api */ -#define lsm6ds0GyroscopeSetBias(devp, bp) \ +#define lsm6dslGyroscopeSetBias(devp, bp) \ gyroscopeSetBias(&((devp)->gyro_if), bp) /** @@ -981,14 +1030,14 @@ struct LSM6DS0Driver { * @note Default biases value are obtained from device datasheet when * available otherwise they are considered zero. * - * @param[in] devp pointer to @p LSM6DS0Driver. + * @param[in] devp pointer to @p LSM6DSLDriver. * * @return The operation status. * @retval MSG_OK if the function succeeded. * * @api */ -#define lsm6ds0GyroscopeResetBias(devp) \ +#define lsm6dslGyroscopeResetBias(devp) \ gyroscopeResetBias(&((devp)->gyro_if)) /** @@ -997,7 +1046,7 @@ struct LSM6DS0Driver { * @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] devp pointer to @p LSM6DSLDriver. * @param[in] sp a buffer which contains sensitivities. * * @return The operation status. @@ -1005,14 +1054,14 @@ struct LSM6DS0Driver { * * @api */ -#define lsm6ds0GyroscopeSetSensitivity(devp, sp) \ +#define lsm6dslGyroscopeSetSensitivity(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. + * @param[in] devp pointer to @p LSM6DSLDriver. * * @return The operation status. * @retval MSG_OK if the function succeeded. @@ -1020,16 +1069,16 @@ struct LSM6DS0Driver { * * @api */ -#define lsm6ds0GyroscopeResetSensitivity(devp) \ +#define lsm6dslGyroscopeResetSensitivity(devp) \ gyroscopeResetSensitivity(&((devp)->gyro_if)) /** - * @brief Changes the LSM6DS0Driver gyroscope fullscale value. + * @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] devp pointer to @p LSM6DS0Driver. + * @param[in] devp pointer to @p LSM6DSLDriver. * @param[in] fs new fullscale value. * * @return The operation status. @@ -1038,7 +1087,7 @@ struct LSM6DS0Driver { * * @api */ -#define lsm6ds0GyroscopeSetFullScale(devp, fs) \ +#define lsm6dslGyroscopeSetFullScale(devp, fs) \ (devp)->vmt->acc_set_full_scale(devp, fs) /*===========================================================================*/ @@ -1048,13 +1097,13 @@ struct LSM6DS0Driver { #ifdef __cplusplus extern "C" { #endif - void lsm6ds0ObjectInit(LSM6DS0Driver *devp); - void lsm6ds0Start(LSM6DS0Driver *devp, const LSM6DS0Config *config); - void lsm6ds0Stop(LSM6DS0Driver *devp); + void lsm6dslObjectInit(LSM6DSLDriver *devp); + void lsm6dslStart(LSM6DSLDriver *devp, const LSM6DSLConfig *config); + void lsm6dslStop(LSM6DSLDriver *devp); #ifdef __cplusplus } #endif -#endif /* _LSM6DS0_H_ */ +#endif /* _LSM6DSL_H_ */ /** @} */ diff --git a/os/ex/ST/lsm6dsl.mk b/os/ex/ST/lsm6dsl.mk index 438680dda..e2bbf7b5b 100644 --- a/os/ex/ST/lsm6dsl.mk +++ b/os/ex/ST/lsm6dsl.mk @@ -1,10 +1,10 @@ -# List of all the LSM6DS0 device files. -LSM6DS0SRC := $(CHIBIOS)/os/ex/ST/lsm6ds0.c +# List of all the LSM6DSL device files. +LSM6DSLSRC := $(CHIBIOS)/os/ex/ST/lsm6ds0.c # Required include directories -LSM6DS0INC := $(CHIBIOS)/os/hal/lib/peripherals/sensors \ +LSM6DSLINC := $(CHIBIOS)/os/hal/lib/peripherals/sensors \ $(CHIBIOS)/os/ex/ST # Shared variables -ALLCSRC += $(LSM6DS0SRC) -ALLINC += $(LSM6DS0INC) \ No newline at end of file +ALLCSRC += $(LSM6DSLSRC) +ALLINC += $(LSM6DSLINC) \ No newline at end of file -- cgit v1.2.3