diff options
Diffstat (limited to 'ChibiOS_20.3.2/os/ex/devices/ST/lsm6dsl.h')
| -rw-r--r-- | ChibiOS_20.3.2/os/ex/devices/ST/lsm6dsl.h | 1055 |
1 files changed, 1055 insertions, 0 deletions
diff --git a/ChibiOS_20.3.2/os/ex/devices/ST/lsm6dsl.h b/ChibiOS_20.3.2/os/ex/devices/ST/lsm6dsl.h new file mode 100644 index 0000000..4cffd78 --- /dev/null +++ b/ChibiOS_20.3.2/os/ex/devices/ST/lsm6dsl.h @@ -0,0 +1,1055 @@ +/*
+ ChibiOS - Copyright (C) 2016..2019 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 "ex_accelerometer.h"
+#include "ex_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
+
+/*
+ * CHTODO: 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_ */
+
+/** @} */
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