/* ChibiOS - Copyright (C) 2016..2018 Rocco Marco Guglielmi This file is part of ChibiOS. ChibiOS is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation; either version 3 of the License, or (at your option) any later version. ChibiOS is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with this program. If not, see . */ /** * @file lsm6dsl.h * @brief LSM6DSL MEMS interface module header. * * @addtogroup LSM6DSL * @ingroup EX_ST * @{ */ #ifndef _LSM6DSL_H_ #define _LSM6DSL_H_ #include "hal_accelerometer.h" #include "hal_gyroscope.h" /*===========================================================================*/ /* Driver constants. */ /*===========================================================================*/ /** * @name Version identification * @{ */ /** * @brief LSM6DSL driver version string. */ #define EX_LSM6DSL_VERSION "1.0.0" /** * @brief LSM6DSL driver version major number. */ #define EX_LSM6DSL_MAJOR 1 /** * @brief LSM6DSL driver version minor number. */ #define EX_LSM6DSL_MINOR 0 /** * @brief LSM6DSL driver version patch number. */ #define EX_LSM6DSL_PATCH 0 /** @} */ /** * @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 LSM6DSL_ACC_NUMBER_OF_AXES 3U #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 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 LSM6DSL_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 LSM6DSL_GYRO_NUMBER_OF_AXES 3U #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 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 LSM6DSL_GYRO_BIAS 0.0f /** @} */ /** * @name LSM6DSL communication interfaces related bit masks * @{ */ #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 LSM6DSL register addresses * @{ */ #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 LSM6DSL_AD_CTRL1_XL register bits definitions * @{ */ #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 LSM6DSL_AD_CTRL2_G register bits definitions * @{ */ #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_G0 (1 << 4) #define LSMDSL_CTRL2_G_ODR_G1 (1 << 5) #define LSMDSL_CTRL2_G_ODR_G2 (1 << 6) #define LSMDSL_CTRL2_G_ODR_G3 (1 << 7) /** @} */ /** * @name LSM6DSL_AD_CTRL3_C register bits definitions * @{ */ #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 LSM6DSL_AD_CTRL4_C register bits definitions * @{ */ #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 LSM6DSL_AD_CTRL5_C register bits definitions * @{ */ #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 LSM6DSL_AD_CTRL6_C register bits definitions * @{ */ #define LSMDSL_CTRL6_C_FTYPE_0 (1 << 0) #define LSMDSL_CTRL6_C_FTYPE_1 (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 LSM6DSL_AD_CTRL7_G register bits definitions * @{ */ #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 LSM6DSL_AD_CTRL8_XL register bits definitions * @{ */ #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 LSM6DSL_AD_CTRL9_XL register bits definitions * @{ */ #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 LSM6DSL_AD_CTRL10_C register bits definitions * @{ */ #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) /** @} */ /*===========================================================================*/ /* Driver pre-compile time settings. */ /*===========================================================================*/ /** * @name Configuration options * @{ */ /** * @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(LSM6DSL_USE_SPI) || defined(__DOXYGEN__) #define LSM6DSL_USE_SPI FALSE #endif /** * @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(LSM6DSL_SHARED_SPI) || defined(__DOXYGEN__) #define LSM6DSL_SHARED_SPI FALSE #endif /** * @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(LSM6DSL_USE_I2C) || defined(__DOXYGEN__) #define LSM6DSL_USE_I2C TRUE #endif /** * @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(LSM6DSL_SHARED_I2C) || defined(__DOXYGEN__) #define LSM6DSL_SHARED_I2C FALSE #endif /** * @brief LSM6DSL advanced configurations switch. * @details If set to @p TRUE more configurations are available. * @note The default is @p FALSE. */ #if !defined(LSM6DSL_USE_ADVANCED) || defined(__DOXYGEN__) #define LSM6DSL_USE_ADVANCED FALSE #endif /** * @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(LSM6DSL_ACC_USE_ADVANCED) || defined(__DOXYGEN__) #define LSM6DSL_ACC_USE_ADVANCED FALSE #endif /** * @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(LSM6DSL_GYRO_USE_ADVANCED) || defined(__DOXYGEN__) #define LSM6DSL_GYRO_USE_ADVANCED FALSE #endif /** * @brief Number of acquisitions for gyroscope bias removal. * @details This is the number of acquisitions performed to compute the * bias. A repetition is required in order to remove noise. */ #if !defined(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(LSM6DSL_GYRO_BIAS_SETTLING_US) || defined(__DOXYGEN__) #define LSM6DSL_GYRO_BIAS_SETTLING_US 5000 #endif /** @} */ /*===========================================================================*/ /* Derived constants and error checks. */ /*===========================================================================*/ #if !(LSM6DSL_USE_SPI ^ LSM6DSL_USE_I2C) #error "LSM6DSL_USE_SPI and LSM6DSL_USE_I2C cannot be both true or both false" #endif #if LSM6DSL_USE_SPI && !HAL_USE_SPI #error "LSM6DSL_USE_SPI requires HAL_USE_SPI" #endif #if LSM6DSL_SHARED_SPI && !SPI_USE_MUTUAL_EXCLUSION #error "LSM6DSL_SHARED_SPI requires SPI_USE_MUTUAL_EXCLUSION" #endif #if LSM6DSL_USE_I2C && !HAL_USE_I2C #error "LSM6DSL_USE_I2C requires HAL_USE_I2C" #endif #if LSM6DSL_SHARED_I2C && !I2C_USE_MUTUAL_EXCLUSION #error "LSM6DSL_SHARED_I2C requires I2C_USE_MUTUAL_EXCLUSION" #endif /** * @todo Add support for LSM6DSL over SPI. */ #if LSM6DSL_USE_SPI #error "LSM6DSL over SPI still not supported" #endif /*===========================================================================*/ /* Driver data structures and types. */ /*===========================================================================*/ /** * @name LSM6DSL data structures and types. * @{ */ /** * @brief Structure representing a LSM6DSL driver. */ typedef struct LSM6DSLDriver LSM6DSLDriver; /** * @brief Accelerometer and Gyroscope Slave Address. */ typedef enum { LSM6DSL_SAD_GND = 0x6A, /**< SAD pin connected to GND. */ LSM6DSL_SAD_VCC = 0x6B /**< SAD pin connected to VCC. */ } lsm6dsl_sad_t; /** * @brief LSM6DSL accelerometer subsystem full scale. */ typedef enum { LSM6DSL_ACC_FS_2G = 0x00, /**< Full scale ±2g. */ LSM6DSL_ACC_FS_4G = 0x40, /**< Full scale ±4g. */ LSM6DSL_ACC_FS_8G = 0x80, /**< Full scale ±8g. */ LSM6DSL_ACC_FS_16G = 0xC0 /**< Full scale ±16g. */ } lsm6dsl_acc_fs_t; /** * @brief LSM6DSL accelerometer subsystem output data rate. */ typedef enum { LSM6DSL_ACC_ODR_PD = 0x00, /**< Power down */ LSM6DSL_ACC_ODR_1P6Hz = 0xB0, /**< ODR 1.6 Hz (Low Power only) */ LSM6DSL_ACC_ODR_12P5Hz = 0x10, /**< ODR 12.5 Hz */ LSM6DSL_ACC_ODR_26Hz = 0x20, /**< ODR 26 Hz */ LSM6DSL_ACC_ODR_52Hz = 0x30, /**< ODR 52 Hz */ LSM6DSL_ACC_ODR_104Hz = 0x40, /**< ODR 104 Hz */ LSM6DSL_ACC_ODR_208Hz = 0x50, /**< ODR 208 Hz */ LSM6DSL_ACC_ODR_416Hz = 0x60, /**< ODR 416 Hz */ LSM6DSL_ACC_ODR_833Hz = 0x70, /**< ODR 833 Hz */ LSM6DSL_ACC_ODR_1P66Hz = 0x80, /**< ODR 1.66 kHz */ LSM6DSL_ACC_ODR_3P33Hz = 0x90, /**< ODR 3.33 kHz */ LSM6DSL_ACC_ODR_6P66Hz = 0xA0 /**< ODR 6.66 kHz */ } lsm6dsl_acc_odr_t; /** * @brief LSM6DSL accelerometer subsystem output data rate. */ typedef enum { LSM6DSL_ACC_LP_DISABLED = 0x00, /**< Low power disabled */ LSM6DSL_ACC_LP_ENABLED = 0x10 /**< Low power enabled */ } lsm6dsl_acc_lp_t; /** * @brief LSM6DSL gyroscope subsystem full scale. */ typedef enum { LSM6DSL_GYRO_FS_125DPS = 0x02, /**< Full scale ±125 degree per second */ LSM6DSL_GYRO_FS_250DPS = 0x00, /**< Full scale ±250 degree per second */ LSM6DSL_GYRO_FS_500DPS = 0x04, /**< Full scale ±500 degree per second */ LSM6DSL_GYRO_FS_1000DPS = 0x08, /**< Full scale ±1000 degree per second */ LSM6DSL_GYRO_FS_2000DPS = 0x0C /**< Full scale ±2000 degree per second */ } lsm6dsl_gyro_fs_t; /** * @brief LSM6DSL gyroscope subsystem output data rate. */ typedef enum { LSM6DSL_GYRO_ODR_PD = 0x00, /**< Power down */ LSM6DSL_GYRO_ODR_12P5Hz = 0x10, /**< ODR 12.5 Hz */ LSM6DSL_GYRO_ODR_26Hz = 0x20, /**< ODR 26 Hz */ LSM6DSL_GYRO_ODR_52Hz = 0x30, /**< ODR 52 Hz */ LSM6DSL_GYRO_ODR_104Hz = 0x40, /**< ODR 104 Hz */ LSM6DSL_GYRO_ODR_208Hz = 0x50, /**< ODR 208 Hz */ LSM6DSL_GYRO_ODR_416Hz = 0x60, /**< ODR 416 Hz */ LSM6DSL_GYRO_ODR_833Hz = 0x70, /**< ODR 833 Hz */ LSM6DSL_GYRO_ODR_1P66Hz = 0x80, /**< ODR 1.66 kHz */ LSM6DSL_GYRO_ODR_3P33Hz = 0x90, /**< ODR 3.33 kHz */ LSM6DSL_GYRO_ODR_6P66Hz = 0xA0 /**< ODR 6.66 kHz */ } lsm6dsl_gyro_odr_t; /** * @brief LSM6DSL gyroscope subsystem low mode configuration. */ typedef enum { LSM6DSL_GYRO_LP_DISABLED = 0x00, /**< Low power mode disabled. */ LSM6DSL_GYRO_LP_ENABLED = 0x80 /**< Low power mode enabled. */ } lsm6dsl_gyro_lp_t; /** * @brief LSM6DSL gyroscope subsystem output selection. */ typedef enum { LSM6DSL_GYRO_LPF_DISABLED = -1, /**< Low pass filter disabled. */ LSM6DSL_GYRO_LPF_FTYPE0 = 0x00, /**< Refer to table 68 of Datasheet. */ LSM6DSL_GYRO_LPF_FTYPE1 = 0x01, /**< Refer to table 68 of Datasheet. */ LSM6DSL_GYRO_LPF_FTYPE2 = 0x10, /**< Refer to table 68 of Datasheet. */ LSM6DSL_GYRO_LPF_FTYPE3 = 0x11 /**< Refer to table 68 of Datasheet. */ } lsm6dsl_gyro_lpf_t; /** * @brief LSM6DSL block data update. */ typedef enum { LSM6DSL_BDU_CONTINUOUS = 0x00, /**< Block data continuously updated. */ LSM6DSL_BDU_BLOCKED = 0x40 /**< Block data updated after reading. */ } lsm6dsl_bdu_t; /** * @brief LSM6DSL endianness. */ typedef enum { LSM6DSL_END_LITTLE = 0x00, /**< Little endian. */ LSM6DSL_END_BIG = 0x20 /**< Big endian. */ } lsm6dsl_end_t; /** * @brief Driver state machine possible states. */ typedef enum { LSM6DSL_UNINIT = 0, /**< Not initialized. */ LSM6DSL_STOP = 1, /**< Stopped. */ LSM6DSL_READY = 2, /**< Ready. */ } lsm6dsl_state_t; /** * @brief LSM6DSL configuration structure. */ typedef struct { #if (LSM6DSL_USE_SPI) || defined(__DOXYGEN__) /** * @brief SPI driver associated to this LSM6DSL. */ SPIDriver *spip; /** * @brief SPI configuration associated to this LSM6DSL accelerometer * subsystem. */ const SPIConfig *accspicfg; #endif /* LSM6DSL_USE_SPI */ #if (LSM6DSL_USE_I2C) || defined(__DOXYGEN__) /** * @brief I2C driver associated to this LSM6DSL. */ I2CDriver *i2cp; /** * @brief I2C configuration associated to this LSM6DSL accelerometer * subsystem. */ const I2CConfig *i2ccfg; /** * @brief LSM6DSL Slave Address */ lsm6dsl_sad_t slaveaddress; #endif /* LSM6DSL_USE_I2C */ /** * @brief LSM6DSL accelerometer subsystem initial sensitivity. */ float *accsensitivity; /** * @brief LSM6DSL accelerometer subsystem initial bias. */ float *accbias; /** * @brief LSM6DSL accelerometer subsystem full scale. */ lsm6dsl_acc_fs_t accfullscale; /** * @brief LSM6DSL accelerometer subsystem output data rate. */ lsm6dsl_acc_odr_t accoutdatarate; #if LSM6DSL_ACC_USE_ADVANCED || defined(__DOXYGEN__) /** * @brief LSM6DSL accelerometer subsystem low power mode. */ lsm6dsl_acc_lp_t acclpmode; #endif /* LSM6DSL_ACC_USE_ADVANCED */ /** * @brief LSM6DSL gyroscope subsystem initial sensitivity. */ float *gyrosensitivity; /** * @brief LSM6DSL gyroscope subsystem initial bias. */ float *gyrobias; /** * @brief LSM6DSL gyroscope subsystem full scale. */ lsm6dsl_gyro_fs_t gyrofullscale; /** * @brief LSM6DSL gyroscope subsystem output data rate. */ lsm6dsl_gyro_odr_t gyrooutdatarate; #if LSM6DSL_GYRO_USE_ADVANCED || defined(__DOXYGEN__) /** * @brief LSM6DSL gyroscope subsystem low mode configuration. */ lsm6dsl_gyro_lp_t gyrolpmode; /** * @brief LSM6DSL gyroscope subsystem low pass filter configuration. */ lsm6dsl_gyro_lpf_t gyrolowpassfilter; #endif /* LSM6DSL_GYRO_USE_ADVANCED */ #if (LSM6DSL_USE_ADVANCED) || defined(__DOXYGEN__) /** * @brief LSM6DSL block data update */ lsm6dsl_bdu_t blockdataupdate; /** * @brief LSM6DSL endianness */ lsm6dsl_end_t endianness; #endif /* LSM6DSL_USE_ADVANCED */ } LSM6DSLConfig; /** * @brief @p LSM6DSL specific methods. */ #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 LSM6DSL specific methods with inherited ones. */ #define _lsm6dsl_methods \ _base_object_methods \ _lsm6dsl_methods_alone /** * @extends BaseObjectVMT * * @brief @p LSM6DSL virtual methods table. */ struct LSM6DSLVMT { _lsm6dsl_methods }; /** * @brief @p LSM6DSLDriver specific data. */ #define _lsm6dsl_data \ _base_sensor_data \ /* Driver state.*/ \ lsm6dsl_state_t state; \ /* Current configuration data.*/ \ const LSM6DSLConfig *config; \ /* Accelerometer subsystem axes number.*/ \ size_t accaxes; \ /* Accelerometer subsystem current sensitivity.*/ \ float accsensitivity[LSM6DSL_ACC_NUMBER_OF_AXES]; \ /* Accelerometer subsystem current bias .*/ \ 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[LSM6DSL_GYRO_NUMBER_OF_AXES]; \ /* Gyroscope subsystem current Bias.*/ \ float gyrobias[LSM6DSL_GYRO_NUMBER_OF_AXES]; \ /* Gyroscope subsystem current full scale value.*/ \ float gyrofullscale; /** * @brief LSM6DSL 6-axis accelerometer/gyroscope class. */ struct LSM6DSLDriver { /** @brief Virtual Methods Table.*/ const struct LSM6DSLVMT *vmt; /** @brief Base accelerometer interface.*/ BaseAccelerometer acc_if; /** @brief Base gyroscope interface.*/ BaseGyroscope gyro_if; _lsm6dsl_data }; /** @} */ /*===========================================================================*/ /* Driver macros. */ /*===========================================================================*/ /** * @brief Return the number of axes of the BaseAccelerometer. * * @param[in] devp pointer to @p LSM6DSLDriver. * * @return the number of axes. * * @api */ #define lsm6dslAccelerometerGetAxesNumber(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 LSM6DSLDriver. * @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 lsm6dslAccelerometerReadRaw(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 LSM6DSLDriver. * @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 lsm6dslAccelerometerReadCooked(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 LSM6DSLDriver. * @param[in] bp a buffer which contains biases. * * @return The operation status. * @retval MSG_OK if the function succeeded. * * @api */ #define lsm6dslAccelerometerSetBias(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 LSM6DSLDriver. * * @return The operation status. * @retval MSG_OK if the function succeeded. * * @api */ #define lsm6dslAccelerometerResetBias(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 LSM6DSLDriver. * @param[in] sp a buffer which contains sensitivities. * * @return The operation status. * @retval MSG_OK if the function succeeded. * * @api */ #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 LSM6DSLDriver. * * @return The operation status. * @retval MSG_OK if the function succeeded. * @retval MSG_RESET otherwise. * * @api */ #define lsm6dslAccelerometerResetSensitivity(devp) \ accelerometerResetSensitivity(&((devp)->acc_if)) /** * @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 LSM6DSLDriver. * @param[in] fs new fullscale value. * * @return The operation status. * @retval MSG_OK if the function succeeded. * @retval MSG_RESET otherwise. * * @api */ #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 LSM6DSLDriver. * * @return the number of axes. * * @api */ #define lsm6dslGyroscopeGetAxesNumber(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 LSM6DSLDriver. * @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 lsm6dslGyroscopeReadRaw(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 LSM6DSLDriver. * @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 lsm6dslGyroscopeReadCooked(devp, axes) \ gyroscopeReadCooked(&((devp)->gyro_if), axes) /** * @brief Samples bias values for the BaseGyroscope. * @note The LSM6DSL shall not be moved during the whole procedure. * @note After this function internal bias is automatically updated. * @note The behavior of this function depends on @p LSM6DSL_BIAS_ACQ_TIMES * and @p LSM6DSL_BIAS_SETTLING_US. * * @param[in] devp pointer to @p LSM6DSLDriver. * * @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 lsm6dslGyroscopeSampleBias(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 LSM6DSLDriver. * @param[in] bp a buffer which contains biases. * * @return The operation status. * @retval MSG_OK if the function succeeded. * * @api */ #define lsm6dslGyroscopeSetBias(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 LSM6DSLDriver. * * @return The operation status. * @retval MSG_OK if the function succeeded. * * @api */ #define lsm6dslGyroscopeResetBias(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 LSM6DSLDriver. * @param[in] sp a buffer which contains sensitivities. * * @return The operation status. * @retval MSG_OK if the function succeeded. * * @api */ #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 LSM6DSLDriver. * * @return The operation status. * @retval MSG_OK if the function succeeded. * @retval MSG_RESET otherwise. * * @api */ #define lsm6dslGyroscopeResetSensitivity(devp) \ gyroscopeResetSensitivity(&((devp)->gyro_if)) /** * @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 LSM6DSLDriver. * @param[in] fs new fullscale value. * * @return The operation status. * @retval MSG_OK if the function succeeded. * @retval MSG_RESET otherwise. * * @api */ #define lsm6dslGyroscopeSetFullScale(devp, fs) \ (devp)->vmt->acc_set_full_scale(devp, fs) /*===========================================================================*/ /* External declarations. */ /*===========================================================================*/ #ifdef __cplusplus extern "C" { #endif void lsm6dslObjectInit(LSM6DSLDriver *devp); void lsm6dslStart(LSM6DSLDriver *devp, const LSM6DSLConfig *config); void lsm6dslStop(LSM6DSLDriver *devp); #ifdef __cplusplus } #endif #endif /* _LSM6DSL_H_ */ /** @} */