/*
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 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 "1.0.1"
/**
* @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 1
/** @} */
/**
* @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 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_USE_ADVANCED || defined(__DOXYGEN__)
/**
* @brief LSM6DSL accelerometer subsystem low power mode.
*/
lsm6dsl_acc_lp_t acclpmode;
#endif /* LSM6DSL_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_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;
/**
* @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_ */
/** @} */