/*
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 <http://www.gnu.org/licenses/>.
*/
/**
* @file lsm6ds0.c
* @brief LSM6DS0 MEMS interface module code.
*
* @addtogroup LSM6DS0
* @ingroup EX_ST
* @{
*/
#include "hal.h"
#include "lsm6ds0.h"
/*===========================================================================*/
/* Driver local definitions. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver exported variables. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver local variables and types. */
/*===========================================================================*/
/*===========================================================================*/
/* 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
* @param[out] rxbuf pointer to an output buffer
* @param[in] n number of consecutive register to read
* @return the operation status.
* @notapi
*/
msg_t lsm6ds0I2CReadRegister(I2CDriver *i2cp, lsm6ds0_sad_t sad, uint8_t reg,
uint8_t* rxbuf, size_t n) {
return i2cMasterTransmitTimeout(i2cp, sad, ®, 1, rxbuf, n,
TIME_INFINITE);
}
/**
* @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] txbuf buffer containing sub-address value in first position
* and values to write
* @param[in] n size of txbuf less one (not considering the first
* element)
* @return the operation status.
* @notapi
*/
#define lsm6ds0I2CWriteRegister(i2cp, sad, txbuf, n) \
i2cMasterTransmitTimeout(i2cp, sad, txbuf, n + 1, NULL, 0, \
TIME_INFINITE)
#endif /* LSM6DS0_USE_I2C */
/**
* @brief Return the number of axes of the BaseAccelerometer.
*
* @param[in] ip pointer to @p BaseAccelerometer interface.
*
* @return the number of axes.
*/
static size_t acc_get_axes_number(void *ip) {
(void)ip;
return LSM6DS0_ACC_NUMBER_OF_AXES;
}
/**
* @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] ip pointer to @p BaseAccelerometer interface.
* @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.
*/
static msg_t acc_read_raw(void *ip, int32_t axes[]) {
LSM6DS0Driver* devp;
uint8_t buff [LSM6DS0_ACC_NUMBER_OF_AXES * 2], i;
int16_t tmp;
msg_t msg;
osalDbgCheck((ip != NULL) && (axes != NULL));
/* Getting parent instance pointer.*/
devp = objGetInstance(LSM6DS0Driver*, (BaseAccelerometer*)ip);
osalDbgAssert((devp->state == LSM6DS0_READY),
"acc_read_raw(), invalid state");
#if LSM6DS0_USE_I2C
osalDbgAssert((devp->config->i2cp->state == I2C_READY),
"acc_read_raw(), channel not ready");
#if LSM6DS0_SHARED_I2C
i2cAcquireBus(devp->config->i2cp);
i2cStart(devp->config->i2cp,
devp->config->i2ccfg);
#endif /* LSM6DS0_SHARED_I2C */
msg = lsm6ds0I2CReadRegister(devp->config->i2cp, devp->config->slaveaddress,
LSM6DS0_AD_OUT_X_L_XL, buff,
LSM6DS0_ACC_NUMBER_OF_AXES * 2);
#if LSM6DS0_SHARED_I2C
i2cReleaseBus(devp->config->i2cp);
#endif /* LSM6DS0_SHARED_I2C */
#endif /* LSM6DS0_USE_I2C */
if(msg == MSG_OK)
for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) {
tmp = buff[2 * i] + (buff[2 * i + 1] << 8);
axes[i] = (int32_t)tmp;
}
return msg;
}
/**
* @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] ip pointer to @p BaseAccelerometer interface.
* @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.
*/
static msg_t acc_read_cooked(void *ip, float axes[]) {
LSM6DS0Driver* devp;
uint32_t i;
int32_t raw[LSM6DS0_ACC_NUMBER_OF_AXES];
msg_t msg;
osalDbgCheck((ip != NULL) && (axes != NULL));
/* Getting parent instance pointer.*/
devp = objGetInstance(LSM6DS0Driver*, (BaseAccelerometer*)ip);
osalDbgAssert((devp->state == LSM6DS0_READY),
"acc_read_cooked(), invalid state");
msg = acc_read_raw(ip, raw);
for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) {
axes[i] = (raw[i] * devp->accsensitivity[i]) - devp->accbias[i];
}
return msg;
}
/**
* @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] ip pointer to @p BaseAccelerometer interface.
* @param[in] bp a buffer which contains biases.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*/
static msg_t acc_set_bias(void *ip, float *bp) {
LSM6DS0Driver* devp;
uint32_t i;
msg_t msg = MSG_OK;
osalDbgCheck((ip != NULL) && (bp != NULL));
/* Getting parent instance pointer.*/
devp = objGetInstance(LSM6DS0Driver*, (BaseAccelerometer*)ip);
osalDbgAssert((devp->state == LSM6DS0_READY),
"acc_set_bias(), invalid state");
for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) {
devp->accbias[i] = bp[i];
}
return msg;
}
/**
* @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] ip pointer to @p BaseAccelerometer interface.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*/
static msg_t acc_reset_bias(void *ip) {
LSM6DS0Driver* devp;
uint32_t i;
msg_t msg = MSG_OK;
osalDbgCheck(ip != NULL);
/* Getting parent instance pointer.*/
devp = objGetInstance(LSM6DS0Driver*, (BaseAccelerometer*)ip);
osalDbgAssert((devp->state == LSM6DS0_READY),
"acc_reset_bias(), invalid state");
for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)
devp->accbias[i] = LSM6DS0_ACC_BIAS;
return msg;
}
/**
* @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] ip pointer to @p BaseAccelerometer interface.
* @param[in] sp a buffer which contains sensitivities.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*/
static msg_t acc_set_sensivity(void *ip, float *sp) {
LSM6DS0Driver* devp;
uint32_t i;
msg_t msg = MSG_OK;
/* Getting parent instance pointer.*/
devp = objGetInstance(LSM6DS0Driver*, (BaseAccelerometer*)ip);
osalDbgCheck((ip != NULL) && (sp != NULL));
osalDbgAssert((devp->state == LSM6DS0_READY),
"acc_set_sensivity(), invalid state");
for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) {
devp->accsensitivity[i] = sp[i];
}
return msg;
}
/**
* @brief Reset sensitivity values for the BaseAccelerometer.
* @note Default sensitivities value are obtained from device datasheet.
*
* @param[in] ip pointer to @p BaseAccelerometer interface.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
* @retval MSG_RESET otherwise.
*/
static msg_t acc_reset_sensivity(void *ip) {
LSM6DS0Driver* devp;
uint32_t i;
msg_t msg = MSG_OK;
osalDbgCheck(ip != NULL);
/* Getting parent instance pointer.*/
devp = objGetInstance(LSM6DS0Driver*, (BaseAccelerometer*)ip);
osalDbgAssert((devp->state == LSM6DS0_READY),
"acc_reset_sensivity(), invalid state");
if(devp->config->accfullscale == LSM6DS0_ACC_FS_2G)
for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)
devp->accsensitivity[i] = LSM6DS0_ACC_SENS_2G;
else if(devp->config->accfullscale == LSM6DS0_ACC_FS_4G)
for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)
devp->accsensitivity[i] = LSM6DS0_ACC_SENS_4G;
else if(devp->config->accfullscale == LSM6DS0_ACC_FS_8G)
for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)
devp->accsensitivity[i] = LSM6DS0_ACC_SENS_8G;
else if(devp->config->accfullscale == LSM6DS0_ACC_FS_16G)
for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)
devp->accsensitivity[i] = LSM6DS0_ACC_SENS_16G;
else {
osalDbgAssert(FALSE, "reset_sensivity(), accelerometer full scale issue");
msg = MSG_RESET;
}
return msg;
}
/**
* @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 interface.
* @param[in] fs new fullscale value.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
* @retval MSG_RESET otherwise.
*/
static msg_t acc_set_full_scale(LSM6DS0Driver *devp, lsm6ds0_acc_fs_t fs) {
float newfs, scale;
uint8_t i, buff[2];
msg_t msg;
osalDbgCheck(devp != NULL);
osalDbgAssert((devp->state == LSM6DS0_READY),
"acc_set_full_scale(), invalid state");
osalDbgAssert((devp->config->i2cp->state == I2C_READY),
"acc_set_full_scale(), channel not ready");
/* Computing new fullscale value.*/
if(fs == LSM6DS0_ACC_FS_2G) {
newfs = LSM6DS0_ACC_2G;
}
else if(fs == LSM6DS0_ACC_FS_4G) {
newfs = LSM6DS0_ACC_4G;
}
else if(fs == LSM6DS0_ACC_FS_8G) {
newfs = LSM6DS0_ACC_8G;
}
else if(fs == LSM6DS0_ACC_FS_16G) {
newfs = LSM6DS0_ACC_16G;
}
else {
msg = MSG_RESET;
return msg;
}
if(newfs != devp->accfullscale) {
/* Computing scale value.*/
scale = newfs / devp->accfullscale;
devp->accfullscale = newfs;
#if LSM6DS0_SHARED_I2C
i2cAcquireBus(devp->config->i2cp);
i2cStart(devp->config->i2cp,
devp->config->i2ccfg);
#endif /* LSM6DS0_SHARED_I2C */
/* Updating register.*/
msg = lsm6ds0I2CReadRegister(devp->config->i2cp,
devp->config->slaveaddress,
LSM6DS0_AD_CTRL_REG6_XL, &buff[1], 1);
#if LSM6DS0_SHARED_I2C
i2cReleaseBus(devp->config->i2cp);
#endif /* LSM6DS0_SHARED_I2C */
if(msg != MSG_OK)
return msg;
buff[1] &= ~(LSM6DS0_CTRL_REG6_XL_FS_MASK);
buff[1] |= fs;
buff[0] = LSM6DS0_AD_CTRL_REG6_XL;
#if LSM6DS0_SHARED_I2C
i2cAcquireBus(devp->config->i2cp);
i2cStart(devp->config->i2cp, devp->config->i2ccfg);
#endif /* LSM6DS0_SHARED_I2C */
msg = lsm6ds0I2CWriteRegister(devp->config->i2cp,
devp->config->slaveaddress, buff, 1);
#if LSM6DS0_SHARED_I2C
i2cReleaseBus(devp->config->i2cp);
#endif /* LSM6DS0_SHARED_I2C */
if(msg != MSG_OK)
return msg;
/* Scaling sensitivity and bias. Re-calibration is suggested anyway.*/
for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) {
devp->accsensitivity[i] *= scale;
devp->accbias[i] *= scale;
}
}
return msg;
}
/**
* @brief Return the number of axes of the BaseGyroscope.
*
* @param[in] ip pointer to @p BaseGyroscope interface.
*
* @return the number of axes.
*/
static size_t gyro_get_axes_number(void *ip) {
(void)ip;
return LSM6DS0_GYRO_NUMBER_OF_AXES;
}
/**
* @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] ip pointer to @p BaseGyroscope interface.
* @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.
*/
static msg_t gyro_read_raw(void *ip, int32_t axes[LSM6DS0_GYRO_NUMBER_OF_AXES]) {
LSM6DS0Driver* devp;
int16_t tmp;
uint8_t i, buff [2 * LSM6DS0_GYRO_NUMBER_OF_AXES];
msg_t msg = MSG_OK;
osalDbgCheck((ip != NULL) && (axes != NULL));
/* Getting parent instance pointer.*/
devp = objGetInstance(LSM6DS0Driver*, (BaseGyroscope*)ip);
osalDbgAssert((devp->state == LSM6DS0_READY),
"gyro_read_raw(), invalid state");
#if LSM6DS0_USE_I2C
osalDbgAssert((devp->config->i2cp->state == I2C_READY),
"gyro_read_raw(), channel not ready");
#if LSM6DS0_SHARED_I2C
i2cAcquireBus(devp->config->i2cp);
i2cStart(devp->config->i2cp,
devp->config->i2ccfg);
#endif /* LSM6DS0_SHARED_I2C */
msg = lsm6ds0I2CReadRegister(devp->config->i2cp, devp->config->slaveaddress,
LSM6DS0_AD_OUT_X_L_G, buff,
LSM6DS0_GYRO_NUMBER_OF_AXES * 2);
#if LSM6DS0_SHARED_I2C
i2cReleaseBus(devp->config->i2cp);
#endif /* LSM6DS0_SHARED_I2C */
#endif /* LSM6DS0_USE_I2C */
for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++) {
tmp = buff[2 * i] + (buff[2 * i + 1] << 8);
axes[i] = (int32_t)tmp;
}
return msg;
}
/**
* @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] ip pointer to @p BaseGyroscope interface.
* @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.
*/
static msg_t gyro_read_cooked(void *ip, float axes[]) {
LSM6DS0Driver* devp;
uint32_t i;
int32_t raw[LSM6DS0_GYRO_NUMBER_OF_AXES];
msg_t msg;
osalDbgCheck((ip != NULL) && (axes != NULL));
/* Getting parent instance pointer.*/
devp = objGetInstance(LSM6DS0Driver*, (BaseGyroscope*)ip);
osalDbgAssert((devp->state == LSM6DS0_READY),
"gyro_read_cooked(), invalid state");
msg = gyro_read_raw(ip, raw);
for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++){
axes[i] = (raw[i] * devp->gyrosensitivity[i]) - devp->gyrobias[i];
}
return msg;
}
/**
* @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] ip pointer to @p BaseGyroscope interface.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*/
static msg_t gyro_sample_bias(void *ip) {
LSM6DS0Driver* devp;
uint32_t i, j;
int32_t raw[LSM6DS0_GYRO_NUMBER_OF_AXES];
int32_t buff[LSM6DS0_GYRO_NUMBER_OF_AXES] = {0, 0, 0};
msg_t msg;
osalDbgCheck(ip != NULL);
/* Getting parent instance pointer.*/
devp = objGetInstance(LSM6DS0Driver*, (BaseGyroscope*)ip);
osalDbgAssert((devp->state == LSM6DS0_READY),
"gyro_sample_bias(), invalid state");
#if LSM6DS0_USE_I2C
osalDbgAssert((devp->config->i2cp->state == I2C_READY),
"gyro_sample_bias(), channel not ready");
#endif
for(i = 0; i < LSM6DS0_GYRO_BIAS_ACQ_TIMES; i++){
msg = gyro_read_raw(ip, raw);
if(msg != MSG_OK)
return msg;
for(j = 0; j < LSM6DS0_GYRO_NUMBER_OF_AXES; j++){
buff[j] += raw[j];
}
osalThreadSleepMicroseconds(LSM6DS0_GYRO_BIAS_SETTLING_US);
}
for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++){
devp->gyrobias[i] = (buff[i] / LSM6DS0_GYRO_BIAS_ACQ_TIMES);
devp->gyrobias[i] *= devp->gyrosensitivity[i];
}
return msg;
}
/**
* @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] ip pointer to @p BaseGyroscope interface.
* @param[in] bp a buffer which contains biases.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*/
static msg_t gyro_set_bias(void *ip, float *bp) {
LSM6DS0Driver* devp;
uint32_t i;
msg_t msg = MSG_OK;
osalDbgCheck((ip != NULL) && (bp != NULL));
/* Getting parent instance pointer.*/
devp = objGetInstance(LSM6DS0Driver*, (BaseGyroscope*)ip);
osalDbgAssert((devp->state == LSM6DS0_READY),
"gyro_set_bias(), invalid state");
for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++) {
devp->gyrobias[i] = bp[i];
}
return msg;
}
/**
* @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] ip pointer to @p BaseGyroscope interface.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*/
static msg_t gyro_reset_bias(void *ip) {
LSM6DS0Driver* devp;
uint32_t i;
msg_t msg = MSG_OK;
osalDbgCheck(ip != NULL);
/* Getting parent instance pointer.*/
devp = objGetInstance(LSM6DS0Driver*, (BaseGyroscope*)ip);
osalDbgAssert((devp->state == LSM6DS0_READY),
"gyro_reset_bias(), invalid state");
for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++)
devp->gyrobias[i] = LSM6DS0_GYRO_BIAS;
return msg;
}
/**
* @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] ip pointer to @p BaseGyroscope interface.
* @param[in] sp a buffer which contains sensitivities.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*/
static msg_t gyro_set_sensivity(void *ip, float *sp) {
LSM6DS0Driver* devp;
uint32_t i;
msg_t msg = MSG_OK;
osalDbgCheck((ip != NULL) && (sp !=NULL));
/* Getting parent instance pointer.*/
devp = objGetInstance(LSM6DS0Driver*, (BaseGyroscope*)ip);
osalDbgAssert((devp->state == LSM6DS0_READY),
"gyro_set_sensivity(), invalid state");
for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++) {
devp->gyrosensitivity[i] = sp[i];
}
return msg;
}
/**
* @brief Reset sensitivity values for the BaseGyroscope.
* @note Default sensitivities value are obtained from device datasheet.
*
* @param[in] ip pointer to @p BaseGyroscope interface.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
* @retval MSG_RESET otherwise.
*/
static msg_t gyro_reset_sensivity(void *ip) {
LSM6DS0Driver* devp;
uint32_t i;
msg_t msg = MSG_OK;
osalDbgCheck(ip != NULL);
/* Getting parent instance pointer.*/
devp = objGetInstance(LSM6DS0Driver*, (BaseGyroscope*)ip);
osalDbgAssert((devp->state == LSM6DS0_READY),
"gyro_reset_sensivity(), invalid state");
if(devp->config->gyrofullscale == LSM6DS0_GYRO_FS_245DPS)
for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++)
devp->gyrosensitivity[i] = LSM6DS0_GYRO_SENS_245DPS;
else if(devp->config->gyrofullscale == LSM6DS0_GYRO_FS_500DPS)
for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++)
devp->gyrosensitivity[i] = LSM6DS0_GYRO_SENS_500DPS;
else if(devp->config->gyrofullscale == LSM6DS0_GYRO_FS_2000DPS)
for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++)
devp->gyrosensitivity[i] = LSM6DS0_GYRO_SENS_2000DPS;
else {
osalDbgAssert(FALSE, "gyro_reset_sensivity(), full scale issue");
return MSG_RESET;
}
return msg;
}
/**
* @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 BaseGyroscope interface.
* @param[in] fs new fullscale value.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
* @retval MSG_RESET otherwise.
*/
static msg_t gyro_set_full_scale(LSM6DS0Driver *devp, lsm6ds0_gyro_fs_t fs) {
float newfs, scale;
uint8_t i, buff[2];
msg_t msg = MSG_OK;
osalDbgCheck(devp != NULL);
osalDbgAssert((devp->state == LSM6DS0_READY),
"gyro_set_full_scale(), invalid state");
#if LSM6DS0_USE_I2C
osalDbgAssert((devp->config->i2cp->state == I2C_READY),
"gyro_set_full_scale(), channel not ready");
#endif
if(fs == LSM6DS0_GYRO_FS_245DPS) {
newfs = LSM6DS0_GYRO_245DPS;
}
else if(fs == LSM6DS0_GYRO_FS_500DPS) {
newfs = LSM6DS0_GYRO_500DPS;
}
else if(fs == LSM6DS0_GYRO_FS_2000DPS) {
newfs = LSM6DS0_GYRO_2000DPS;
}
else {
return MSG_RESET;
}
if(newfs != devp->gyrofullscale) {
scale = newfs / devp->gyrofullscale;
devp->gyrofullscale = newfs;
#if LSM6DS0_USE_I2C
#if LSM6DS0_SHARED_I2C
i2cAcquireBus(devp->config->i2cp);
i2cStart(devp->config->i2cp,
devp->config->i2ccfg);
#endif /* LSM6DS0_SHARED_I2C */
/* Updating register.*/
msg = lsm6ds0I2CReadRegister(devp->config->i2cp,
devp->config->slaveaddress,
LSM6DS0_AD_CTRL_REG1_G, &buff[1], 1);
#if LSM6DS0_SHARED_I2C
i2cReleaseBus(devp->config->i2cp);
#endif /* LSM6DS0_SHARED_I2C */
#endif /* LSM6DS0_USE_I2C */
buff[1] &= ~(LSM6DS0_CTRL_REG1_G_FS_MASK);
buff[1] |= fs;
buff[0] = LSM6DS0_AD_CTRL_REG1_G;
#if LSM6DS0_USE_I2C
#if LSM6DS0_SHARED_I2C
i2cAcquireBus(devp->config->i2cp);
i2cStart(devp->config->i2cp,
devp->config->i2ccfg);
#endif /* LSM6DS0_SHARED_I2C */
lsm6ds0I2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
buff, 1);
#if LSM6DS0_SHARED_I2C
i2cReleaseBus(devp->config->i2cp);
#endif /* LSM6DS0_SHARED_I2C */
#endif /* LSM6DS0_USE_I2C */
/* Scaling sensitivity and bias. Re-calibration is suggested anyway. */
for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++) {
devp->gyrosensitivity[i] *= scale;
devp->gyrobias[i] *= scale;
}
}
return msg;
}
static const struct LSM6DS0VMT vmt_device = {
(size_t)0,
acc_set_full_scale, gyro_set_full_scale
};
static const struct BaseAccelerometerVMT vmt_accelerometer = {
sizeof(struct LSM6DS0VMT*),
acc_get_axes_number, acc_read_raw, acc_read_cooked,
acc_set_bias, acc_reset_bias, acc_set_sensivity, acc_reset_sensivity
};
static const struct BaseGyroscopeVMT vmt_gyroscope = {
sizeof(struct LSM6DS0VMT*) + sizeof(BaseAccelerometer),
gyro_get_axes_number, gyro_read_raw, gyro_read_cooked,
gyro_sample_bias, gyro_set_bias, gyro_reset_bias,
gyro_set_sensivity, gyro_reset_sensivity
};
/*===========================================================================*/
/* Driver exported functions. */
/*===========================================================================*/
/**
* @brief Initializes an instance.
*
* @param[out] devp pointer to the @p LSM6DS0Driver object
*
* @init
*/
void lsm6ds0ObjectInit(LSM6DS0Driver *devp) {
devp->vmt = &vmt_device;
devp->acc_if.vmt = &vmt_accelerometer;
devp->gyro_if.vmt = &vmt_gyroscope;
devp->config = NULL;
devp->accaxes = LSM6DS0_ACC_NUMBER_OF_AXES;
devp->gyroaxes = LSM6DS0_GYRO_NUMBER_OF_AXES;
devp->state = LSM6DS0_STOP;
}
/**
* @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) {
uint32_t i;
uint8_t cr[5];
osalDbgCheck((devp != NULL) && (config != NULL));
osalDbgAssert((devp->state == LSM6DS0_STOP) ||
(devp->state == LSM6DS0_READY),
"lsm6ds0Start(), invalid state");
devp->config = config;
/* Configuring common registers.*/
/* Control register 8 configuration block.*/
{
cr[0] = LSM6DS0_AD_CTRL_REG8;
cr[1] = LSM6DS0_CTRL_REG8_IF_ADD_INC;
#if LSM6DS0_USE_ADVANCED || defined(__DOXYGEN__)
cr[1] |= devp->config->endianness | devp->config->blockdataupdate;
#endif
}
#if LSM6DS0_USE_I2C
#if LSM6DS0_SHARED_I2C
i2cAcquireBus(devp->config->i2cp);
#endif /* LSM6DS0_SHARED_I2C */
i2cStart(devp->config->i2cp, devp->config->i2ccfg);
lsm6ds0I2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
cr, 1);
#if LSM6DS0_SHARED_I2C
i2cReleaseBus(devp->config->i2cp);
#endif /* LSM6DS0_SHARED_I2C */
#endif /* LSM6DS0_USE_I2C */
/* Configuring Accelerometer subsystem.*/
/* Multiple write starting address.*/
cr[0] = LSM6DS0_AD_CTRL_REG5_XL;
/* Control register 5 configuration block.*/
{
cr[1] = LSM6DS0_CTRL_REG5_XL_XEN_XL | LSM6DS0_CTRL_REG5_XL_YEN_XL |
LSM6DS0_CTRL_REG5_XL_ZEN_XL;
#if LSM6DS0_USE_ADVANCED || defined(__DOXYGEN__)
cr[1] |= devp->config->accdecmode;
#endif
}
/* Control register 6 configuration block.*/
{
cr[2] = devp->config->accoutdatarate |
devp->config->accfullscale;
}
#if LSM6DS0_USE_I2C
#if LSM6DS0_SHARED_I2C
i2cAcquireBus(devp->config->i2cp);
i2cStart(devp->config->i2cp, devp->config->i2ccfg);
#endif /* LSM6DS0_SHARED_I2C */
lsm6ds0I2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
cr, 2);
#if LSM6DS0_SHARED_I2C
i2cReleaseBus(devp->config->i2cp);
#endif /* LSM6DS0_SHARED_I2C */
#endif /* LSM6DS0_USE_I2C */
/* Storing sensitivity according to user settings */
if(devp->config->accfullscale == LSM6DS0_ACC_FS_2G) {
for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) {
if(devp->config->accsensitivity == NULL)
devp->accsensitivity[i] = LSM6DS0_ACC_SENS_2G;
else
devp->accsensitivity[i] = devp->config->accsensitivity[i];
}
devp->accfullscale = LSM6DS0_ACC_2G;
}
else if(devp->config->accfullscale == LSM6DS0_ACC_FS_4G) {
for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) {
if(devp->config->accsensitivity == NULL)
devp->accsensitivity[i] = LSM6DS0_ACC_SENS_4G;
else
devp->accsensitivity[i] = devp->config->accsensitivity[i];
}
devp->accfullscale = LSM6DS0_ACC_4G;
}
else if(devp->config->accfullscale == LSM6DS0_ACC_FS_8G) {
for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) {
if(devp->config->accsensitivity == NULL)
devp->accsensitivity[i] = LSM6DS0_ACC_SENS_8G;
else
devp->accsensitivity[i] = devp->config->accsensitivity[i];
}
devp->accfullscale = LSM6DS0_ACC_8G;
}
else if(devp->config->accfullscale == LSM6DS0_ACC_FS_16G) {
for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) {
if(devp->config->accsensitivity == NULL)
devp->accsensitivity[i] = LSM6DS0_ACC_SENS_16G;
else
devp->accsensitivity[i] = devp->config->accsensitivity[i];
}
devp->accfullscale = LSM6DS0_ACC_16G;
}
else
osalDbgAssert(FALSE, "lsm6ds0Start(), accelerometer full scale issue");
/* Storing bias information */
if(devp->config->accbias != NULL)
for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)
devp->accbias[i] = devp->config->accbias[i];
else
for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)
devp->accbias[i] = LSM6DS0_ACC_BIAS;
/* Configuring Gyroscope subsystem.*/
/* Multiple write starting address.*/
cr[0] = LSM6DS0_AD_CTRL_REG1_G;
/* Control register 1 configuration block.*/
{
cr[1] = devp->config->gyrofullscale |
devp->config->gyrooutdatarate;
}
/* Control register 2 configuration block.*/
{
cr[2] = 0;
#if LSM6DS0_USE_ADVANCED || defined(__DOXYGEN__)
cr[2] |= devp->config->gyrooutsel;
#endif
}
/* Control register 3 configuration block.*/
{
cr[3] = 0;
#if LSM6DS0_USE_ADVANCED || defined(__DOXYGEN__)
cr[3] |= devp->config->gyrohpfenable |
devp->config->gyrolowmodecfg |
devp->config->gyrohpcfg;
#endif
}
/* Control register 4 configuration block.*/
{
cr[4] = LSM6DS0_CTRL_REG4_XEN_G | LSM6DS0_CTRL_REG4_YEN_G |
LSM6DS0_CTRL_REG4_ZEN_G;
}
#if LSM6DS0_USE_I2C
#if LSM6DS0_SHARED_I2C
i2cAcquireBus(devp->config->i2cp);
i2cStart(devp->config->i2cp, devp->config->i2ccfg);
#endif /* LSM6DS0_SHARED_I2C */
lsm6ds0I2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
cr, 4);
#if LSM6DS0_SHARED_I2C
i2cReleaseBus(devp->config->i2cp);
#endif /* LSM6DS0_SHARED_I2C */
#endif /* LSM6DS0_USE_I2C */
cr[0] = LSM6DS0_AD_CTRL_REG9;
/* Control register 9 configuration block.*/
{
cr[1] = 0;
}
#if LSM6DS0_USE_I2C
#if LSM6DS0_SHARED_I2C
i2cAcquireBus(devp->config->i2cp);
i2cStart(devp->config->i2cp, devp->config->i2ccfg);
#endif /* LSM6DS0_SHARED_I2C */
lsm6ds0I2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
cr, 1);
#if LSM6DS0_SHARED_I2C
i2cReleaseBus(devp->config->i2cp);
#endif /* LSM6DS0_SHARED_I2C */
#endif /* LSM6DS0_USE_I2C */
if(devp->config->gyrofullscale == LSM6DS0_GYRO_FS_245DPS) {
for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++) {
if(devp->config->gyrosensitivity == NULL)
devp->gyrosensitivity[i] = LSM6DS0_GYRO_SENS_245DPS;
else
devp->gyrosensitivity[i] = devp->config->gyrosensitivity[i];
}
devp->gyrofullscale = LSM6DS0_GYRO_245DPS;
}
else if(devp->config->gyrofullscale == LSM6DS0_GYRO_FS_500DPS) {
for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++) {
if(devp->config->gyrosensitivity == NULL)
devp->gyrosensitivity[i] = LSM6DS0_GYRO_SENS_500DPS;
else
devp->gyrosensitivity[i] = devp->config->gyrosensitivity[i];
}
devp->gyrofullscale = LSM6DS0_GYRO_500DPS;
}
else if(devp->config->gyrofullscale == LSM6DS0_GYRO_FS_2000DPS) {
for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++) {
if(devp->config->gyrosensitivity == NULL)
devp->gyrosensitivity[i] = LSM6DS0_GYRO_SENS_2000DPS;
else
devp->gyrosensitivity[i] = devp->config->gyrosensitivity[i];
}
devp->gyrofullscale = LSM6DS0_GYRO_2000DPS;
}
else
osalDbgAssert(FALSE, "lsm6ds0Start(), gyroscope full scale issue");
/* Storing bias information */
if(devp->config->gyrobias != NULL)
for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++)
devp->gyrobias[i] = devp->config->gyrobias[i];
else
for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++)
devp->gyrobias[i] = LSM6DS0_GYRO_BIAS;
/* This is the MEMS 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) {
uint8_t cr[2];
osalDbgCheck(devp != NULL);
osalDbgAssert((devp->state == LSM6DS0_STOP) || (devp->state == LSM6DS0_READY),
"lsm6ds0Stop(), invalid state");
if (devp->state == LSM6DS0_READY) {
#if LSM6DS0_USE_I2C
#if LSM6DS0_SHARED_I2C
i2cAcquireBus(devp->config->i2cp);
i2cStart(devp->config->i2cp, devp->config->i2ccfg);
#endif /* LSM6DS0_SHARED_I2C */
/* Disabling accelerometer.*/
cr[0] = LSM6DS0_AD_CTRL_REG6_XL;
cr[1] = 0;
lsm6ds0I2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
cr, 1);
/* Disabling gyroscope.*/
cr[0] = LSM6DS0_AD_CTRL_REG9;
cr[1] = LSM6DS0_CTRL_REG9_SLEEP_G;
lsm6ds0I2CWriteRegister(devp->config->i2cp, devp->config->slaveaddress,
cr, 1);
i2cStop(devp->config->i2cp);
#if LSM6DS0_SHARED_I2C
i2cReleaseBus(devp->config->i2cp);
#endif /* LSM6DS0_SHARED_I2C */
#endif /* LSM6DS0_USE_I2C */
}
devp->state = LSM6DS0_STOP;
}
/** @} */