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/*
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 <http://www.gnu.org/licenses/>.
*/
/**
* @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);
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));
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));
osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY),
"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 const struct LSM6DS0ACCVMT accvmt = {
acc_get_axes_number, acc_read_raw, acc_read_cooked
};
/*===========================================================================*/
/* Driver exported functions. */
/*===========================================================================*/
/**
* @brief Initializes an instance.
*
* @param[out] devp pointer to the @p LSM6DS0Driver object
*
* @init
*/
void lsm6ds0ObjectInit(LSM6DS0Driver *devp) {
devp->vmtac = &accvmt;
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;
}
/** @} */
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