From 48026bb824fd2d9cfb00ecd040db6ef3a416bae9 Mon Sep 17 00:00:00 2001 From: Clyne Sullivan Date: Fri, 22 Jan 2021 21:43:36 -0500 Subject: upload initial port --- ChibiOS_20.3.2/os/ex/devices/ST/lsm6dsl.h | 1055 +++++++++++++++++++++++++++++ 1 file changed, 1055 insertions(+) create mode 100644 ChibiOS_20.3.2/os/ex/devices/ST/lsm6dsl.h (limited to 'ChibiOS_20.3.2/os/ex/devices/ST/lsm6dsl.h') 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 . + +*/ + +/** + * @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_ */ + +/** @} */ -- cgit v1.2.3