/* 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 "1.1.2" /** * @brief LSM6DS0 driver version major number. */ #define EX_LSM6DS0_MAJOR 1 /** * @brief LSM6DS0 driver version minor number. */ #define EX_LSM6DS0_MINOR 1 /** * @brief LSM6DS0 driver version patch number. */ #define EX_LSM6DS0_PATCH 2 /** @} */ /** * @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 0.732f #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_245DPS 245.0f #define LSM6DS0_GYRO_500DPS 500.0f #define LSM6DS0_GYRO_2000DPS 2000.0f #define LSM6DS0_GYRO_SENS_245DPS 0.00875f #define LSM6DS0_GYRO_SENS_500DPS 0.01750f #define LSM6DS0_GYRO_SENS_2000DPS 0.07000f #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 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_USE_ADVANCED || defined(__DOXYGEN__) /** * @brief LSM6DS0 accelerometer subsystem decimation mode. */ lsm6ds0_acc_dec_t accdecmode; #endif /* LSM6DS0_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_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; /** * @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_ */ /** @} */