/* 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.h * @brief LSM6DS0 MEMS interface module header. * * @{ */ #ifndef _LSM6DS0_H_ #define _LSM6DS0_H_ #include "hal_accelerometer.h" #include "hal_gyroscope.h" /*===========================================================================*/ /* Driver constants. */ /*===========================================================================*/ /** * @brief LSM6DS0 accelerometer subsystem number of axes. */ #define LSM6DS0_ACC_NUMBER_OF_AXES ((size_t) 3U) /** * @brief LSM6DS0 gyroscope subsystem number of axes. */ #define LSM6DS0_GYRO_NUMBER_OF_AXES ((size_t) 3U) /*===========================================================================*/ /* Driver pre-compile time settings. */ /*===========================================================================*/ /** * @name Configuration options * @{ */ /** * @brief LSM6DS0 SPI interface selector. * @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 I2C interface selector. * @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 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" #endif #if LSM6DS0_USE_SPI && !HAL_USE_SPI #error "LSM6DS0_USE_SPI requires HAL_USE_SPI" #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_SPI requires I2C_USE_MUTUAL_EXCLUSION" #endif /*===========================================================================*/ /* Driver data structures and types. */ /*===========================================================================*/ /** * @name LSM6DS0 accelerometer subsystem data structures and types. * @{ */ /** * @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 axes enabling. */ typedef enum { LSM6DS0_ACC_AE_DISABLED = 0x00, /**< All axes disabled. */ LSM6DS0_ACC_AE_X = 0x08, /**< Only X-axis enabled. */ LSM6DS0_ACC_AE_Y = 0x10, /**< Only Y-axis enabled. */ LSM6DS0_ACC_AE_XY = 0x18, /**< X and Y axes enabled. */ LSM6DS0_ACC_AE_Z = 0x20, /**< Only Z-axis enabled. */ LSM6DS0_ACC_AE_XZ = 0x28, /**< X and Z axes enabled. */ LSM6DS0_ACC_AE_YZ = 0x30, /**< Y and Z axes enabled. */ LSM6DS0_ACC_AE_XYZ = 0x38 /**< All axes enabled. */ } lsm6ds0_acc_ae_t; /** * @brief LSM6DS0 accelerometer subsystem anti aliasing filter bandwidth. */ typedef enum { LSM6DS0_ACC_OBW_ODR = 0x00, /**< Depending on ODR. */ LSM6DS0_ACC_OBW_AA = 0x04 /**< Same of the Anti aliasing. */ } lsm6ds0_acc_obw_t; /** * @brief LSM6DS0 accelerometer subsystem high resolution mode. */ typedef enum { LSM6DS0_ACC_HR_DISABLED = 0x00, /**< High resolution mode disabled. */ LSM6DS0_ACC_HR_ENABLED = 0x80 /**< High resolution mode enabled. */ } lsm6ds0_acc_hr_t; /** * @brief LSM6DS0 accelerometer subsystem filtered data selection. */ typedef enum { LSM6DS0_ACC_FDS_ENABLED = 0x00, /**< Internal filter bypassed. */ LSM6DS0_ACC_FDS_DISABLED = 0x04 /**< Internal filter not bypassed. */ } lsm6ds0_acc_fds_t; /** * @brief LSM6DS0 accelerometer subsystem digital filter. */ typedef enum { LSM6DS0_ACC_DCF_400 = 0x00, /**< Low pass cutoff freq. ODR/400 Hz. */ LSM6DS0_ACC_DCF_100 = 0x20, /**< Low pass cutoff freq. ODR/100 Hz. */ LSM6DS0_ACC_DCF_50 = 0x60, /**< Low pass cutoff freq. ODR/50 Hz. */ LSM6DS0_ACC_DCF_9 = 0x40 /**< Low pass cutoff freq. ODR/9 Hz. */ } lsm6ds0_acc_dcf_t; /** * @brief LSM6DS0 accelerometer subsystem anti aliasing filter bandwidth. */ typedef enum { LSM6DS0_ACC_AABW_408Hz = 0x00, /**< Anti Aliasing filter BW 408Hz. */ LSM6DS0_ACC_AABW_211Hz = 0x01, /**< Anti Aliasing filter BW 211Hz. */ LSM6DS0_ACC_AABW_105Hz = 0x02, /**< Anti Aliasing filter BW 105Hz. */ LSM6DS0_ACC_AABW_50Hz = 0x03, /**< Anti Aliasing filter BW 50Hz. */ LSM6DS0_ACC_AABW_AUTO = 0x04 /**< Anti Aliasing filter BW auto. */ } lsm6ds0_acc_aabw_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 accelerometer subsystem unit. */ typedef enum { LSM6DS0_ACC_UNIT_G = 0x00, /**< Cooked data in g. */ LSM6DS0_ACC_UNIT_MG = 0x01, /**< Cooked data in mg. */ LSM6DS0_ACC_UNIT_SI = 0x02, /**< Cooked data in m/s^2. */ } lsm6ds0_acc_unit_t; /** * @brief LSM6DS0 accelerometer subsystem configuration structure. */ typedef struct { /** * @brief LSM6DS0 accelerometer subsystem full scale. */ lsm6ds0_acc_fs_t fullscale; /** * @brief LSM6DS0 accelerometer subsystem output data rate. */ lsm6ds0_acc_odr_t outdatarate; /** * @brief LSM6DS0 accelerometer subsystem axes enabling. */ lsm6ds0_acc_ae_t axesenabling; /** * @brief LSM6DS0 accelerometer subsystem output bandwidth. */ lsm6ds0_acc_obw_t outbandwidth; /** * @brief LSM6DS0 accelerometer subsystem high resolution mode. */ lsm6ds0_acc_hr_t highresmode; /** * @brief LSM6DS0 accelerometer subsystem filtered data selection. */ lsm6ds0_acc_fds_t filtdatasel; /** * @brief LSM6DS0 accelerometer subsystem digital filter. */ lsm6ds0_acc_dcf_t digifilter; /** * @brief LSM6DS0 accelerometer subsystem anti aliasing filter bandwidth. */ lsm6ds0_acc_aabw_t aabandwidth; /** * @brief LSM6DS0 accelerometer subsystem decimation mode. */ lsm6ds0_acc_dec_t decmode; /** * @brief LSM6DS0 accelerometer subsystem unit. */ lsm6ds0_acc_unit_t unit; } LSM6DS0AccConfig; /** @} */ /** * @name LSM6DS0 gyroscope subsystem data structures and types. * @{ */ /** * @brief LSM6DS0 gyroscope subsystem full scale. */ typedef enum { LSM6DS0_GYRO_FS_245DSP = 0x00, /**< Full scale ±245 degree per second */ LSM6DS0_GYRO_FS_500DSP = 0x08, /**< Full scale ±500 degree per second */ LSM6DS0_GYRO_FS_2000DSP = 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 axes enabling. */ typedef enum { LSM6DS0_GYRO_AE_DISABLED = 0x00, /**< All axes disabled. */ LSM6DS0_GYRO_AE_X = 0x08, /**< Only X-axis enabled. */ LSM6DS0_GYRO_AE_Y = 0x10, /**< Only Y-axis enabled. */ LSM6DS0_GYRO_AE_XY = 0x18, /**< X and Y axes enabled. */ LSM6DS0_GYRO_AE_Z = 0x20, /**< Only Z-axis enabled. */ LSM6DS0_GYRO_AE_XZ = 0x28, /**< X and Z axes enabled. */ LSM6DS0_GYRO_AE_YZ = 0x30, /**< Y and Z axes enabled. */ LSM6DS0_GYRO_AE_XYZ = 0x38 /**< All axes enabled. */ } lsm6ds0_gyro_ae_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 gyroscope subsystem configuration structure. */ typedef struct { /** * @brief LSM6DS0 gyroscope subsystem full scale. */ lsm6ds0_gyro_fs_t fullscale; /** * @brief LSM6DS0 gyroscope subsystem output data rate. */ lsm6ds0_gyro_odr_t outdatarate; /** * @brief LSM6DS0 gyroscope subsystem axes enabling. */ lsm6ds0_gyro_ae_t axesenabling; /** * @brief LSM6DS0 gyroscope subsystem low mode configuration. */ lsm6ds0_gyro_lp_t lowmodecfg; /** * @brief LSM6DS0 gyroscope subsystem output selection. */ lsm6ds0_gyro_out_sel_t outsel; /** * @brief LSM6DS0 gyroscope subsystem high pass filter. */ lsm6ds0_gyro_hp_t hpfenable; /** * @brief LSM6DS0 gyroscope subsystem high pass filter configuration. */ lsm6ds0_gyro_hpcf_t hpcfg; } LSM6DS0GyroConfig; /** @} */ /** * @name LSM6DS0 main system data structures and types. * @{ */ /** * @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 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; /** * @brief SPI configuration associated to this LSM6DS0 compass * subsystem. */ const SPIConfig *gyrospicfg; #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; #endif /* LSM6DS0_USE_I2C */ /** * @brief LSM6DS0 accelerometer subsystem configuration structure */ const LSM6DS0AccConfig *acccfg; /** * @brief LSM6DS0 gyroscope subsystem configuration structure */ const LSM6DS0GyroConfig *gyrocfg; /** * @brief Accelerometer and Gyroscope Slave Address */ lsm6ds0_sad_t slaveaddress; /** * @brief LSM6DS0 block data update */ lsm6ds0_bdu_t blockdataupdate; /** * @brief LSM6DS0 endianness */ lsm6ds0_end_t endianness; } LSM6DS0Config; /** * @brief Structure representing a LSM6DS0 driver. */ typedef struct LSM6DS0Driver LSM6DS0Driver; /** * @brief @p LSM6DS0 accelerometer subsystem specific methods. */ #define _lsm6ds0_acc_methods \ _base_accelerometer_methods /** * @brief @p LSM6DS0 gyroscope subsystem specific methods. */ #define _lsm6ds0_gyro_methods \ _base_gyroscope_methods \ /* Retrieve the temperature of LSM6DS0 chip.*/ \ msg_t (*get_temperature)(void *instance, float* temperature); /** * @extends BaseAccelerometerVMT * * @brief @p LSM6DS0 accelerometer virtual methods table. */ struct LSM6DS0ACCVMT { _lsm6ds0_acc_methods }; /** * @extends BaseCompassVMT * * @brief @p LSM6DS0 gyroscope virtual methods table. */ struct LSM6DS0GYROVMT { _lsm6ds0_gyro_methods }; /** * @brief @p LSM6DS0Driver specific data. */ #define _lsm6ds0_data \ _base_accelerometer_data \ _base_gyroscope_data \ /* Driver state.*/ \ lsm6ds0_state_t state; \ /* Current configuration data.*/ \ const LSM6DS0Config *config; \ /* Current accelerometer sensitivity.*/ \ float accsensitivity[LSM6DS0_ACC_NUMBER_OF_AXES]; \ /* Accelerometer bias data.*/ \ int32_t accbias[LSM6DS0_ACC_NUMBER_OF_AXES]; \ /* Current gyroscope sensitivity.*/ \ float gyrosensitivity[LSM6DS0_GYRO_NUMBER_OF_AXES]; \ /* Bias data.*/ \ int32_t gyrobias[LSM6DS0_GYRO_NUMBER_OF_AXES]; /** * @brief LSM6DS0 6-axis accelerometer/gyroscope class. */ struct LSM6DS0Driver { /** @brief BaseSensor Virtual Methods Table. */ const struct BaseSensorVMT *vmt_basesensor; /** @brief BaseAccelerometer Virtual Methods Table. */ const struct BaseAccelerometerVMT *vmt_baseaccelerometer; /** @brief BaseGyroscope Virtual Methods Table. */ const struct BaseGyroscopeVMT *vmt_basegyroscope; /** @brief LSM6DS0 Accelerometer Virtual Methods Table. */ const struct LSM6DS0ACCVMT *vmt_lsm6ds0acc; /** @brief LSM6DS0 Gyroscope Virtual Methods Table. */ const struct LSM6DS0GYROVMT *vmt_lsm6ds0gyro; _lsm6ds0_data }; /** @} */ /*===========================================================================*/ /* Driver macros. */ /*===========================================================================*/ /** * @brief Get current MEMS temperature. * @detail This information is very useful especially for high accuracy IMU * * @param[in] ip pointer to a @p BaseGyroscope class. * @param[out] temp the MEMS temperature as single precision floating. * * @return The operation status. * @retval MSG_OK if the function succeeded. * @retval MSG_RESET if one or more errors occurred. * @api */ #define gyroscopeGetTemp(ip, tpp) \ (ip)->vmt_lsm6ds0gyro->get_temperature(ip, tpp) /*===========================================================================*/ /* 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_ */ /** @} */