/* ChibiOS - Copyright (C) 2016 Rocco Marco Guglielmi This file is part of ChibiOS. ChibiOS is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation; either version 3 of the License, or (at your option) any later version. ChibiOS is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with this program. If not, see . */ /** * @file lsm6ds0.c * @brief LSM6DS0 MEMS interface module code. * * @addtogroup lsm6ds0 * @{ */ #include "ch.h" #include "hal.h" #include "lsm6ds0.h" /*===========================================================================*/ /* Driver local definitions. */ /*===========================================================================*/ #define LSM6DS0_ACC_SENS_2G ((float)0.061f) #define LSM6DS0_ACC_SENS_4G ((float)0.122f) #define LSM6DS0_ACC_SENS_8G ((float)0.244f) #define LSM6DS0_ACC_SENS_16G ((float)0.732f) #define LSM6DS0_GYRO_SENS_245DPS ((float)0.00875f) #define LSM6DS0_GYRO_SENS_500DPS ((float)0.01750f) #define LSM6DS0_GYRO_SENS_2000DPS ((float)0.07000f) #define LSM6DS0_DI ((uint8_t)0xFF) #define LSM6DS0_DI_0 ((uint8_t)0x01) #define LSM6DS0_DI_1 ((uint8_t)0x02) #define LSM6DS0_DI_2 ((uint8_t)0x04) #define LSM6DS0_DI_3 ((uint8_t)0x08) #define LSM6DS0_DI_4 ((uint8_t)0x10) #define LSM6DS0_DI_5 ((uint8_t)0x20) #define LSM6DS0_DI_6 ((uint8_t)0x40) #define LSM6DS0_DI_7 ((uint8_t)0x80) #define LSM6DS0_AD_0 ((uint8_t)0x01) #define LSM6DS0_AD_1 ((uint8_t)0x02) #define LSM6DS0_AD_2 ((uint8_t)0x04) #define LSM6DS0_AD_3 ((uint8_t)0x08) #define LSM6DS0_AD_4 ((uint8_t)0x10) #define LSM6DS0_AD_5 ((uint8_t)0x20) #define LSM6DS0_AD_6 ((uint8_t)0x40) #define LSM6DS0_RW ((uint8_t)0x80) #define LSM6DS0_AD_ACT_THS ((uint8_t)0x04) #define LSM6DS0_AD_ACT_DUR ((uint8_t)0x05) #define LSM6DS0_AD_INT_GEN_CFG_XL ((uint8_t)0x06) #define LSM6DS0_AD_INT_GEN_THS_X_XL ((uint8_t)0x07) #define LSM6DS0_AD_INT_GEN_THS_Y_XL ((uint8_t)0x08) #define LSM6DS0_AD_INT_GEN_THS_Z_XL ((uint8_t)0x09) #define LSM6DS0_AD_INT_GEN_DUR_XL ((uint8_t)0x0A) #define LSM6DS0_AD_REFERENCE_G ((uint8_t)0x0B) #define LSM6DS0_AD_INT_CTRL ((uint8_t)0x0C) #define LSM6DS0_AD_WHO_AM_I ((uint8_t)0x0F) #define LSM6DS0_AD_CTRL_REG1_G ((uint8_t)0x10) #define LSM6DS0_AD_CTRL_REG2_G ((uint8_t)0x11) #define LSM6DS0_AD_CTRL_REG3_G ((uint8_t)0x12) #define LSM6DS0_AD_ORIENT_CFG_G ((uint8_t)0x13) #define LSM6DS0_AD_INT_GEN_SRC_G ((uint8_t)0x14) #define LSM6DS0_AD_OUT_TEMP_L ((uint8_t)0x15) #define LSM6DS0_AD_OUT_TEMP_H ((uint8_t)0x16) #define LSM6DS0_AD_STATUS_REG1 ((uint8_t)0x17) #define LSM6DS0_AD_OUT_X_L_G ((uint8_t)0x18) #define LSM6DS0_AD_OUT_X_H_G ((uint8_t)0x19) #define LSM6DS0_AD_OUT_Y_L_G ((uint8_t)0x1A) #define LSM6DS0_AD_OUT_Y_H_G ((uint8_t)0x1B) #define LSM6DS0_AD_OUT_Z_L_G ((uint8_t)0x1C) #define LSM6DS0_AD_OUT_Z_H_G ((uint8_t)0x1D) #define LSM6DS0_AD_CTRL_REG4 ((uint8_t)0x1E) #define LSM6DS0_AD_CTRL_REG5_XL ((uint8_t)0x1F) #define LSM6DS0_AD_CTRL_REG6_XL ((uint8_t)0x20) #define LSM6DS0_AD_CTRL_REG7_XL ((uint8_t)0x21) #define LSM6DS0_AD_CTRL_REG8 ((uint8_t)0x22) #define LSM6DS0_AD_CTRL_REG9 ((uint8_t)0x23) #define LSM6DS0_AD_CTRL_REG10 ((uint8_t)0x24) #define LSM6DS0_AD_INT_GEN_SRC_XL ((uint8_t)0x26) #define LSM6DS0_AD_STATUS_REG2 ((uint8_t)0x27) #define LSM6DS0_AD_OUT_X_L_XL ((uint8_t)0x28) #define LSM6DS0_AD_OUT_X_H_XL ((uint8_t)0x29) #define LSM6DS0_AD_OUT_Y_L_XL ((uint8_t)0x2A) #define LSM6DS0_AD_OUT_Y_H_XL ((uint8_t)0x2B) #define LSM6DS0_AD_OUT_Z_L_XL ((uint8_t)0x2C) #define LSM6DS0_AD_OUT_Z_H_XL ((uint8_t)0x2D) #define LSM6DS0_AD_FIFO_CTRL ((uint8_t)0x2E) #define LSM6DS0_AD_FIFO_SRC ((uint8_t)0x2F) #define LSM6DS0_AD_INT_GEN_CFG_G ((uint8_t)0x30) #define LSM6DS0_AD_INT_GEN_THS_XH_G ((uint8_t)0x31) #define LSM6DS0_AD_INT_GEN_THS_XL_G ((uint8_t)0x32) #define LSM6DS0_AD_INT_GEN_THS_YH_G ((uint8_t)0x33) #define LSM6DS0_AD_INT_GEN_THS_YL_G ((uint8_t)0x34) #define LSM6DS0_AD_INT_GEN_THS_ZH_G ((uint8_t)0x35) #define LSM6DS0_AD_INT_GEN_THS_ZL_G ((uint8_t)0x36) #define LSM6DS0_AD_INT_GEN_DUR_G ((uint8_t)0x37) #define LSM6DS0_CTRL_REG1_G_FS_MASK ((uint8_t)0x18) #define LSM6DS0_CTRL_REG6_XL_FS_MASK ((uint8_t)0x18) #define TO_G ((float)0.001f) #define TO_SI ((float)0.00981f) /*===========================================================================*/ /* Driver exported variables. */ /*===========================================================================*/ /*===========================================================================*/ /* Driver local variables and types. */ /*===========================================================================*/ /** * @brief LSM6DS0 address increment mode. */ typedef enum { LSM6DS0_IF_ADD_INC_DIS = 0x00, /**< Address increment disabled. */ LSM6DS0_IF_ADD_INC_EN = 0x04 /**< Address increment disabled. */ }lsm6ds0_id_add_inc_t; /** * @brief LSM6DS0 gyroscope subsystem sleep mode. */ typedef enum { LSM6DS0_GYRO_SLP_DISABLED = 0x00, /**< Gyroscope in normal mode. */ LSM6DS0_GYRO_SLP_ENABLED = 0x40 /**< Gyroscope in sleep mode. */ }lsm6ds0_gyro_slp_t; /*===========================================================================*/ /* Driver local functions. */ /*===========================================================================*/ #if (LSM6DS0_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 * @return the read value. */ uint8_t lsm6ds0I2CReadRegister(I2CDriver *i2cp, lsm6ds0_sad_t sad, uint8_t reg, msg_t* msgp) { msg_t msg; #if defined(STM32F103_MCUCONF) uint8_t rxbuf[2]; msg = i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, rxbuf, 2, TIME_INFINITE); if(msgp != NULL){ *msgp = msg; } return rxbuf[0]; #else uint8_t txbuf, rxbuf; txbuf = reg; msg = i2cMasterTransmitTimeout(i2cp, sad, &txbuf, 1, &rxbuf, 1, TIME_INFINITE); if(msgp != NULL){ *msgp = msg; } return rxbuf; #endif } /** * @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] sub sub-register address * @param[in] value the value to be written * @return the operation status. */ msg_t lsm6ds0I2CWriteRegister(I2CDriver *i2cp, lsm6ds0_sad_t sad, uint8_t reg, uint8_t value) { uint8_t rxbuf; uint8_t txbuf[2]; switch (reg) { default: /* Reserved register must not be written, according to the datasheet * this could permanently damage the device. */ osalDbgAssert(FALSE, "lsm6ds0WriteRegisterI2C(), reserved register"); case LSM6DS0_AD_WHO_AM_I: case LSM6DS0_AD_INT_GEN_SRC_G: case LSM6DS0_AD_OUT_TEMP_L: case LSM6DS0_AD_OUT_TEMP_H: case LSM6DS0_AD_STATUS_REG1: case LSM6DS0_AD_OUT_X_L_G: case LSM6DS0_AD_OUT_X_H_G: case LSM6DS0_AD_OUT_Y_L_G: case LSM6DS0_AD_OUT_Y_H_G: case LSM6DS0_AD_OUT_Z_L_G: case LSM6DS0_AD_OUT_Z_H_G: case LSM6DS0_AD_INT_GEN_SRC_XL: case LSM6DS0_AD_STATUS_REG2: case LSM6DS0_AD_OUT_X_L_XL: case LSM6DS0_AD_OUT_X_H_XL: case LSM6DS0_AD_OUT_Y_L_XL: case LSM6DS0_AD_OUT_Y_H_XL: case LSM6DS0_AD_OUT_Z_L_XL: case LSM6DS0_AD_OUT_Z_H_XL: case LSM6DS0_AD_FIFO_SRC: /* Read only registers cannot be written, the command is ignored.*/ return MSG_RESET; case LSM6DS0_AD_ACT_THS: case LSM6DS0_AD_ACT_DUR: case LSM6DS0_AD_INT_GEN_CFG_XL: case LSM6DS0_AD_INT_GEN_THS_X_XL: case LSM6DS0_AD_INT_GEN_THS_Y_XL: case LSM6DS0_AD_INT_GEN_THS_Z_XL: case LSM6DS0_AD_INT_GEN_DUR_XL: case LSM6DS0_AD_REFERENCE_G: case LSM6DS0_AD_INT_CTRL: case LSM6DS0_AD_CTRL_REG1_G: case LSM6DS0_AD_CTRL_REG2_G: case LSM6DS0_AD_CTRL_REG3_G: case LSM6DS0_AD_ORIENT_CFG_G: case LSM6DS0_AD_CTRL_REG4: case LSM6DS0_AD_CTRL_REG5_XL: case LSM6DS0_AD_CTRL_REG6_XL: case LSM6DS0_AD_CTRL_REG7_XL: case LSM6DS0_AD_CTRL_REG8: case LSM6DS0_AD_CTRL_REG9: case LSM6DS0_AD_CTRL_REG10: case LSM6DS0_AD_FIFO_CTRL: case LSM6DS0_AD_INT_GEN_CFG_G: case LSM6DS0_AD_INT_GEN_THS_XH_G: case LSM6DS0_AD_INT_GEN_THS_XL_G: case LSM6DS0_AD_INT_GEN_THS_YH_G: case LSM6DS0_AD_INT_GEN_THS_YL_G: case LSM6DS0_AD_INT_GEN_THS_ZH_G: case LSM6DS0_AD_INT_GEN_THS_ZL_G: case LSM6DS0_AD_INT_GEN_DUR_G: txbuf[0] = reg; txbuf[1] = value; return i2cMasterTransmitTimeout(i2cp, sad, txbuf, 2, &rxbuf, 0, TIME_INFINITE); break; } } #endif /* LSM6DS0_USE_I2C */ /* * Interface implementation. */ static size_t acc_get_axes_number(void *ip) { osalDbgCheck((ip != NULL) && (((LSM6DS0Driver *)ip)->config->acccfg != NULL)); return LSM6DS0_ACC_NUMBER_OF_AXES; } static msg_t acc_read_raw(void *ip, int32_t axes[LSM6DS0_ACC_NUMBER_OF_AXES]) { osalDbgCheck(((ip != NULL) && (axes != NULL)) && (((LSM6DS0Driver *)ip)->config->acccfg != NULL)); osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY), "acc_read_raw(), invalid state"); #if LSM6DS0_USE_I2C osalDbgAssert((((LSM6DS0Driver *)ip)->config->i2cp->state == I2C_READY), "acc_read_raw(), channel not ready"); #if LSM6DS0_SHARED_I2C i2cAcquireBus(((LSM6DS0Driver *)ip)->config->i2cp); i2cStart(((LSM6DS0Driver *)ip)->config->i2cp, ((LSM6DS0Driver *)ip)->config->i2ccfg); #endif /* LSM6DS0_SHARED_I2C */ if(((LSM6DS0Driver *)ip)->config->acccfg->axesenabling & LSM6DS0_ACC_AE_X){ axes[0] = (int16_t)(lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp, ((LSM6DS0Driver *)ip)->config->slaveaddress, LSM6DS0_AD_OUT_X_L_XL, NULL)); axes[0] += (int16_t)(lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp, ((LSM6DS0Driver *)ip)->config->slaveaddress, LSM6DS0_AD_OUT_X_H_XL, NULL) << 8); } if(((LSM6DS0Driver *)ip)->config->acccfg->axesenabling & LSM6DS0_ACC_AE_Y){ axes[1] = (int16_t)(lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp, ((LSM6DS0Driver *)ip)->config->slaveaddress, LSM6DS0_AD_OUT_Y_L_XL, NULL)); axes[1] += (int16_t)(lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp, ((LSM6DS0Driver *)ip)->config->slaveaddress, LSM6DS0_AD_OUT_Y_H_XL, NULL) << 8); } if(((LSM6DS0Driver *)ip)->config->acccfg->axesenabling & LSM6DS0_ACC_AE_Z){ axes[2] = (int16_t)(lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp, ((LSM6DS0Driver *)ip)->config->slaveaddress, LSM6DS0_AD_OUT_Z_L_XL, NULL)); axes[2] += (int16_t)(lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp, ((LSM6DS0Driver *)ip)->config->slaveaddress, LSM6DS0_AD_OUT_Z_H_XL, NULL) << 8); } #if LSM6DS0_SHARED_I2C i2cReleaseBus(((LSM6DS0Driver *)ip)->config->i2cp); #endif /* LSM6DS0_SHARED_I2C */ #endif return MSG_OK; } static msg_t acc_read_cooked(void *ip, float axes[]) { uint32_t i; int32_t raw[LSM6DS0_ACC_NUMBER_OF_AXES]; msg_t msg; osalDbgCheck(((ip != NULL) && (axes != NULL)) && (((LSM6DS0Driver *)ip)->config->acccfg != NULL)); osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY), "acc_read_cooked(), invalid state"); msg = acc_read_raw(ip, raw); for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES ; i++){ axes[i] = raw[i] * ((LSM6DS0Driver *)ip)->accsens; if(((LSM6DS0Driver *)ip)->config->acccfg->unit == LSM6DS0_ACC_UNIT_G){ axes[i] *= TO_G; } else if(((LSM6DS0Driver *)ip)->config->acccfg->unit == LSM6DS0_ACC_UNIT_SI){ axes[i] *= TO_SI; } } return msg; } static size_t gyro_get_axes_number(void *ip) { osalDbgCheck((ip != NULL) && (((LSM6DS0Driver *)ip)->config->gyrocfg != NULL)); return LSM6DS0_GYRO_NUMBER_OF_AXES; } static msg_t gyro_read_raw(void *ip, int32_t axes[LSM6DS0_GYRO_NUMBER_OF_AXES]) { osalDbgCheck(((ip != NULL) && (axes != NULL)) && (((LSM6DS0Driver *)ip)->config->gyrocfg != NULL)); osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY), "gyro_read_raw(), invalid state"); #if LSM6DS0_USE_I2C osalDbgAssert((((LSM6DS0Driver *)ip)->config->i2cp->state == I2C_READY), "gyro_read_raw(), channel not ready"); #if LSM6DS0_SHARED_I2C i2cAcquireBus(((LSM6DS0Driver *)ip)->config->i2cp); i2cStart(((LSM6DS0Driver *)ip)->config->i2cp, ((LSM6DS0Driver *)ip)->config->i2ccfg); #endif /* LSM6DS0_SHARED_I2C */ if(((LSM6DS0Driver *)ip)->config->gyrocfg->axesenabling & LSM6DS0_GYRO_AE_X){ axes[0] = (int16_t)(lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp, ((LSM6DS0Driver *)ip)->config->slaveaddress, LSM6DS0_AD_OUT_X_L_G, NULL)); axes[0] += (int16_t)(lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp, ((LSM6DS0Driver *)ip)->config->slaveaddress, LSM6DS0_AD_OUT_X_H_G, NULL) << 8); } if(((LSM6DS0Driver *)ip)->config->gyrocfg->axesenabling & LSM6DS0_GYRO_AE_Y){ axes[1] = (int16_t)(lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp, ((LSM6DS0Driver *)ip)->config->slaveaddress, LSM6DS0_AD_OUT_Y_L_G, NULL)); axes[1] += (int16_t)(lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp, ((LSM6DS0Driver *)ip)->config->slaveaddress, LSM6DS0_AD_OUT_Y_H_G, NULL) << 8); } if(((LSM6DS0Driver *)ip)->config->gyrocfg->axesenabling & LSM6DS0_GYRO_AE_Z){ axes[2] = (int16_t)(lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp, ((LSM6DS0Driver *)ip)->config->slaveaddress, LSM6DS0_AD_OUT_Z_L_G, NULL)); axes[2] += (int16_t)(lsm6ds0I2CReadRegister(((LSM6DS0Driver *)ip)->config->i2cp, ((LSM6DS0Driver *)ip)->config->slaveaddress, LSM6DS0_AD_OUT_Z_H_G, NULL) << 8); } #if LSM6DS0_SHARED_I2C i2cReleaseBus(((LSM6DS0Driver *)ip)->config->i2cp); #endif /* LSM6DS0_SHARED_I2C */ #endif return MSG_OK; } static msg_t gyro_read_cooked(void *ip, float axes[]) { uint32_t i; int32_t raw[LSM6DS0_GYRO_NUMBER_OF_AXES]; msg_t msg; osalDbgCheck(((ip != NULL) && (axes != NULL)) && (((LSM6DS0Driver *)ip)->config->gyrocfg != NULL)); osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY), "gyro_read_cooked(), invalid state"); msg = acc_read_raw(ip, raw); for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES ; i++){ axes[i] = raw[i] * ((LSM6DS0Driver *)ip)->gyrosens; } return msg; } static msg_t gyro_reset_calibration(void *ip) { uint32_t i; osalDbgCheck(ip != NULL); osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY) || (((LSM6DS0Driver *)ip)->state == LSM6DS0_STOP), "reset_calibration(), invalid state"); for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++) ((LSM6DS0Driver *)ip)->gyrobias[i] = 0; return MSG_OK; } static msg_t gyro_calibrate(void *ip) { uint32_t i, j; int32_t raw[LSM6DS0_GYRO_NUMBER_OF_AXES]; int32_t buff[LSM6DS0_GYRO_NUMBER_OF_AXES] = {0, 0, 0}; osalDbgCheck(ip != NULL); osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY), "gyro_calibrate(), invalid state"); for(i = 0; i < LSM6DS0_GYRO_BIAS_ACQ_TIMES; i++){ gyro_read_raw(ip, raw); for(j = 0; j < LSM6DS0_GYRO_NUMBER_OF_AXES; j++){ buff[j] += raw[j]; } osalThreadSleepMicroseconds(LSM6DS0_GYRO_BIAS_SETTLING_uS); } for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++){ ((LSM6DS0Driver *)ip)->gyrobias[i] = buff[i] / LSM6DS0_GYRO_BIAS_ACQ_TIMES; } return MSG_OK; } static const struct LSM6DS0ACCVMT vmt_baseaccelerometer = { acc_get_axes_number, acc_read_raw, acc_read_cooked }; static const struct LSM6DS0GYROVMT vmt_basegyroscope = { gyro_get_axes_number, gyro_read_raw, gyro_read_cooked, gyro_reset_calibration, gyro_calibrate }; /*===========================================================================*/ /* Driver exported functions. */ /*===========================================================================*/ /** * @brief Initializes an instance. * * @param[out] devp pointer to the @p LSM6DS0Driver object * * @init */ void lsm6ds0ObjectInit(LSM6DS0Driver *devp) { devp->vmt_baseaccelerometer = &vmt_baseaccelerometer; devp->vmt_basegyroscope = &vmt_basegyroscope; devp->state = LSM6DS0_STOP; devp->config = NULL; } /** * @brief Configures and activates LSM6DS0 Complex Driver peripheral. * * @param[in] devp pointer to the @p LSM6DS0Driver object * @param[in] config pointer to the @p LSM6DS0Config object * * @api */ void lsm6ds0Start(LSM6DS0Driver *devp, const LSM6DS0Config *config) { osalDbgCheck((devp != NULL) && (config != NULL)); osalDbgAssert((devp->state == LSM6DS0_STOP) || (devp->state == LSM6DS0_READY), "lsm6ds0Start(), invalid state"); devp->config = config; #if LSM6DS0_USE_I2C #if LSM6DS0_SHARED_I2C i2cAcquireBus((devp)->config->i2cp); #endif /* LSM6DS0_SHARED_I2C */ i2cStart((devp)->config->i2cp, (devp)->config->i2ccfg); if((devp)->config->acccfg != NULL) { lsm6ds0I2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress, LSM6DS0_AD_CTRL_REG5_XL, devp->config->acccfg->decmode | devp->config->acccfg->axesenabling); lsm6ds0I2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress, LSM6DS0_AD_CTRL_REG6_XL, devp->config->acccfg->outdatarate | devp->config->acccfg->fullscale ); } if((devp)->config->gyrocfg != NULL) { lsm6ds0I2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress, LSM6DS0_AD_CTRL_REG1_G, devp->config->gyrocfg->fullscale | devp->config->gyrocfg->outdatarate); lsm6ds0I2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress, LSM6DS0_AD_CTRL_REG2_G, devp->config->gyrocfg->outsel); lsm6ds0I2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress, LSM6DS0_AD_CTRL_REG3_G, devp->config->gyrocfg->hpfenable | devp->config->gyrocfg->lowmodecfg | devp->config->gyrocfg->hpcfg); lsm6ds0I2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress, LSM6DS0_AD_CTRL_REG4, devp->config->gyrocfg->axesenabling); lsm6ds0I2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress, LSM6DS0_AD_CTRL_REG9, LSM6DS0_GYRO_SLP_DISABLED); } lsm6ds0I2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress, LSM6DS0_AD_CTRL_REG8, devp->config->endianness | devp->config->blockdataupdate); #if LSM6DS0_SHARED_I2C i2cReleaseBus((devp)->config->i2cp); #endif /* LSM6DS0_SHARED_I2C */ #endif /* LSM6DS0_USE_I2C */ /* Storing sensitivity information according to full scale value */ if((devp)->config->acccfg != NULL) { if(devp->config->acccfg->fullscale == LSM6DS0_ACC_FS_2G) devp->accsens = LSM6DS0_ACC_SENS_2G; else if(devp->config->acccfg->fullscale == LSM6DS0_ACC_FS_4G) devp->accsens = LSM6DS0_ACC_SENS_4G; else if(devp->config->acccfg->fullscale == LSM6DS0_ACC_FS_8G) devp->accsens = LSM6DS0_ACC_SENS_8G; else if(devp->config->acccfg->fullscale == LSM6DS0_ACC_FS_16G) devp->accsens = LSM6DS0_ACC_SENS_16G; else osalDbgAssert(FALSE, "lsm6ds0Start(), accelerometer full scale issue"); } if((devp)->config->gyrocfg != NULL) { if(devp->config->gyrocfg->fullscale == LSM6DS0_GYRO_FS_245DSP) devp->gyrosens = LSM6DS0_GYRO_SENS_245DPS; else if(devp->config->gyrocfg->fullscale == LSM6DS0_GYRO_FS_500DSP) devp->gyrosens = LSM6DS0_GYRO_SENS_500DPS; else if(devp->config->gyrocfg->fullscale == LSM6DS0_GYRO_FS_2000DSP) devp->gyrosens = LSM6DS0_GYRO_SENS_2000DPS; else osalDbgAssert(FALSE, "lsm6ds0Start(), gyroscope full scale issue"); } /* This is the Gyroscope transient recovery time */ osalThreadSleepMilliseconds(5); devp->state = LSM6DS0_READY; } /** * @brief Deactivates the LSM6DS0 Complex Driver peripheral. * * @param[in] devp pointer to the @p LSM6DS0Driver object * * @api */ void lsm6ds0Stop(LSM6DS0Driver *devp) { osalDbgCheck(devp != NULL); osalDbgAssert((devp->state == LSM6DS0_STOP) || (devp->state == LSM6DS0_READY), "lsm6ds0Stop(), invalid state"); #if (LSM6DS0_USE_I2C) if (devp->state == LSM6DS0_STOP) { #if LSM6DS0_SHARED_I2C i2cAcquireBus((devp)->config->i2cp); i2cStart((devp)->config->i2cp, (devp)->config->i2ccfg); #endif /* LSM6DS0_SHARED_I2C */ if((devp)->config->acccfg != NULL) { lsm6ds0I2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress, LSM6DS0_AD_CTRL_REG6_XL, LSM6DS0_ACC_ODR_PD); } if((devp)->config->gyrocfg != NULL) { lsm6ds0I2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress, LSM6DS0_AD_CTRL_REG9, LSM6DS0_GYRO_SLP_ENABLED); } i2cStop((devp)->config->i2cp); #if LSM6DS0_SHARED_I2C i2cReleaseBus((devp)->config->i2cp); #endif /* LSM6DS0_SHARED_I2C */ } #endif /* LSM6DS0_USE_I2C */ devp->state = LSM6DS0_STOP; } /** @} */