1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
|
/*
Pretty LAYer for ChibiOS/RT - Copyright (C) 2015 Rocco Marco Guglielmi
This file is part of PLAY for ChibiOS/RT.
PLAY 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.
PLAY 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/>.
*/
/*
Special thanks to Giovanni Di Sirio for teachings, his moral support and
friendship. Note that some or every piece of this file could be part of
the ChibiOS project that is intellectual property of Giovanni Di Sirio.
Please refer to ChibiOS/RT license before use this file.
For suggestion or Bug report - roccomarco.guglielmi@playembedded.org
*/
/**
* @file lsm6ds0.h
* @brief LSM6DS0 MEMS interface module header.
*
* @{
*/
#ifndef _LSM6DS0_H_
#define _LSM6DS0_H_
/*===========================================================================*/
/* Driver constants. */
/*===========================================================================*/
#define LSM6DS0_ACC_SENS_2G ((float)1671.095f) /*!< Accelerometer sensitivity with 2 G full scale [LSB * s^2 / m] */
#define LSM6DS0_ACC_SENS_4G ((float)835.547f) /*!< Accelerometer sensitivity with 4 G full scale [LSB * s^2 / m] */
#define LSM6DS0_ACC_SENS_8G ((float)417.774) /*!< Accelerometer sensitivity with 8 G full scale [LSB * s^2 / m] */
#define LSM6DS0_ACC_SENS_16G ((float)139.258f) /*!< Accelerometer sensitivity with 16 G full scale [LSB * s^2 / m] */
#define LSM6DS0_GYRO_SENS_245DPS ((float)114.286f) /*!< Gyroscope sensitivity with 245 dps full scale [LSB * s / °] */
#define LSM6DS0_GYRO_SENS_500DPS ((float)57.143f) /*!< Gyroscope sensitivity with 500 dps full scale [LSB * s / °] */
#define LSM6DS0_GYRO_SENS_2000DPS ((float)14.286f) /*!< Gyroscope sensitivity with 2000 dps full scale [LSB * s / °] */
/**
* @name LSM6DS0 register names
* @{
*/
/******************************************************************************/
/* */
/* LSM6DS0 on board MEMS */
/* */
/******************************************************************************/
/***************** Bit definition for I2C/SPI communication *****************/
#define LSM6DS0_SUB ((uint8_t)0x7F) /*!< SUB[6:0] Sub-registers address Mask */
#define LSM6DS0_SUB_0 ((uint8_t)0x01) /*!< bit 0 */
#define LSM6DS0_SUB_1 ((uint8_t)0x02) /*!< bit 1 */
#define LSM6DS0_SUB_2 ((uint8_t)0x08) /*!< bit 3 */
#define LSM6DS0_SUB_4 ((uint8_t)0x10) /*!< bit 4 */
#define LSM6DS0_SUB_5 ((uint8_t)0x20) /*!< bit 5 */
#define LSM6DS0_SUB_6 ((uint8_t)0x40) /*!< bit 6 */
#define LSM6DS0_SUB_MSB ((uint8_t)0x80) /*!< Multiple data read\write bit */
/***************** Bit definition for Registers Addresses *******************/
#define LSM6DS0_SUB_ACT_THS ((uint8_t)0x04) /*!< Activity threshold register */
#define LSM6DS0_SUB_ACT_DUR ((uint8_t)0x05) /*!< Inactivity duration register */
#define LSM6DS0_SUB_INT_GEN_CFG_XL ((uint8_t)0x06) /*!< Accelerometer interrupt generator configuration register */
#define LSM6DS0_SUB_INT_GEN_THS_X_XL ((uint8_t)0x07) /*!< Accelerometer X-axis interrupt threshold register */
#define LSM6DS0_SUB_INT_GEN_THS_Y_XL ((uint8_t)0x08) /*!< Accelerometer Y-axis interrupt threshold register */
#define LSM6DS0_SUB_INT_GEN_THS_Z_XL ((uint8_t)0x09) /*!< Accelerometer Z-axis interrupt threshold register */
#define LSM6DS0_SUB_INT_GEN_DUR_XL ((uint8_t)0x0A) /*!< Accelerometer interrupt duration register */
#define LSM6DS0_SUB_REFERENCE_G ((uint8_t)0x0B) /*!< Gyroscope reference value register for digital high-pass filter */
#define LSM6DS0_SUB_INT_CTRL ((uint8_t)0x0C) /*!< INT pin control register */
#define LSM6DS0_SUB_WHO_AM_I ((uint8_t)0x0F) /*!< Who_AM_I register */
#define LSM6DS0_SUB_CTRL_REG1_G ((uint8_t)0x10) /*!< Gyroscope control register 1 */
#define LSM6DS0_SUB_CTRL_REG2_G ((uint8_t)0x11) /*!< Gyroscope control register 2 */
#define LSM6DS0_SUB_CTRL_REG3_G ((uint8_t)0x12) /*!< Gyroscope control register 3 */
#define LSM6DS0_SUB_ORIENT_CFG_G ((uint8_t)0x13) /*!< Gyroscope sign and orientation register */
#define LSM6DS0_SUB_INT_GEN_SRC_G ((uint8_t)0x14) /*!< Gyroscope interrupt source register */
#define LSM6DS0_SUB_OUT_TEMP_L ((uint8_t)0x15) /*!< Temperature data output low register */
#define LSM6DS0_SUB_OUT_TEMP_H ((uint8_t)0x16) /*!< Temperature data output high register */
#define LSM6DS0_SUB_STATUS_REG1 ((uint8_t)0x17) /*!< Status register 1 */
#define LSM6DS0_SUB_OUT_X_L_G ((uint8_t)0x18) /*!< Gyroscope X-axis low output register */
#define LSM6DS0_SUB_OUT_X_H_G ((uint8_t)0x19) /*!< Gyroscope X-axis high output register */
#define LSM6DS0_SUB_OUT_Y_L_G ((uint8_t)0x1A) /*!< Gyroscope Y-axis low output register */
#define LSM6DS0_SUB_OUT_Y_H_G ((uint8_t)0x1B) /*!< Gyroscope Y-axis high output register */
#define LSM6DS0_SUB_OUT_Z_L_G ((uint8_t)0x1C) /*!< Gyroscope Z-axis low output register */
#define LSM6DS0_SUB_OUT_Z_H_G ((uint8_t)0x1D) /*!< Gyroscope Z-axis high output register */
#define LSM6DS0_SUB_CTRL_REG4 ((uint8_t)0x1E) /*!< Control register 4 */
#define LSM6DS0_SUB_CTRL_REG5_XL ((uint8_t)0x1F) /*!< Accelerometer Control Register 5 */
#define LSM6DS0_SUB_CTRL_REG6_XL ((uint8_t)0x20) /*!< Accelerometer Control Register 6 */
#define LSM6DS0_SUB_CTRL_REG7_XL ((uint8_t)0x21) /*!< Accelerometer Control Register 7 */
#define LSM6DS0_SUB_CTRL_REG8 ((uint8_t)0x22) /*!< Control register 8 */
#define LSM6DS0_SUB_CTRL_REG9 ((uint8_t)0x23) /*!< Control register 9 */
#define LSM6DS0_SUB_CTRL_REG10 ((uint8_t)0x24) /*!< Control register 10 */
#define LSM6DS0_SUB_INT_GEN_SRC_XL ((uint8_t)0x26) /*!< Accelerometer interrupt source register */
#define LSM6DS0_SUB_STATUS_REG2 ((uint8_t)0x27) /*!< Status register */
#define LSM6DS0_SUB_OUT_X_L_XL ((uint8_t)0x28) /*!< Accelerometer X-axis low output register */
#define LSM6DS0_SUB_OUT_X_H_XL ((uint8_t)0x29) /*!< Accelerometer X-axis high output register */
#define LSM6DS0_SUB_OUT_Y_L_XL ((uint8_t)0x2A) /*!< Accelerometer Y-axis low output register */
#define LSM6DS0_SUB_OUT_Y_H_XL ((uint8_t)0x2B) /*!< Accelerometer Y-axis high output register */
#define LSM6DS0_SUB_OUT_Z_L_XL ((uint8_t)0x2C) /*!< Accelerometer Z-axis low output register */
#define LSM6DS0_SUB_OUT_Z_H_XL ((uint8_t)0x2D) /*!< Accelerometer Z-axis high output register */
#define LSM6DS0_SUB_FIFO_CTRL ((uint8_t)0x2E) /*!< FIFO control register */
#define LSM6DS0_SUB_FIFO_SRC ((uint8_t)0x2F) /*!< FIFO status control register */
#define LSM6DS0_SUB_INT_GEN_CFG_G ((uint8_t)0x30) /*!< Gyroscope interrupt generator configuration register */
#define LSM6DS0_SUB_INT_GEN_THS_XH_G ((uint8_t)0x31) /*!< Gyroscope X-axis low interrupt generator threshold registers */
#define LSM6DS0_SUB_INT_GEN_THS_XL_G ((uint8_t)0x32) /*!< Gyroscope X-axis high interrupt generator threshold registers */
#define LSM6DS0_SUB_INT_GEN_THS_YH_G ((uint8_t)0x33) /*!< Gyroscope Y-axis low interrupt generator threshold registers */
#define LSM6DS0_SUB_INT_GEN_THS_YL_G ((uint8_t)0x34) /*!< Gyroscope Y-axis high interrupt generator threshold registers */
#define LSM6DS0_SUB_INT_GEN_THS_ZH_G ((uint8_t)0x35) /*!< Gyroscope Z-axis low interrupt generator threshold registers */
#define LSM6DS0_SUB_INT_GEN_THS_ZL_G ((uint8_t)0x36) /*!< Gyroscope Z-axis high interrupt generator threshold registers */
#define LSM6DS0_SUB_INT_GEN_DUR_G ((uint8_t)0x37) /*!< Gyroscope interrupt generator duration register */
/** @} */
/*===========================================================================*/
/* Driver pre-compile time settings. */
/*===========================================================================*/
/*===========================================================================*/
/* Derived constants and error checks. */
/*===========================================================================*/
/*===========================================================================*/
/* Driver data structures and types. */
/*===========================================================================*/
/**
* @name Generic LSM6DS0 data structures and types
* @{
*/
/**
* @brief Accelerometer and Gyroscope Slave Address
*/
typedef enum {
LSM6DS0_SAD_GND = 0x6A, /*!< LSM6DS0 Slave Address when SA1 is to GND */
LSM6DS0_SAD_VCC = 0x6B /*!< LSM6DS0 Slave Address when SA1 is to VCC */
}LSM6DS0_SAD_t;
/**
* @brief Accelerometer and Gyroscope Block Data Update
*/
typedef enum
{
LSM6DS0_BDU_CONTINOUS = 0x00, /*!< Continuos Update */
LSM6DS0_BDU_BLOCKED = 0x40 /*!< Single Update: output registers not updated until MSB and LSB reading */
}LSM6DS0_BDU_t;
/**
* @brief Accelerometer and Gyroscope Endianness
*/
typedef enum
{
LSM6DS0_END_LITTLE = 0x00, /*!< Little Endian: data LSB @ lower address */
LSM6DS0_END_BIG = 0x20 /*!< Big Endian: data MSB @ lower address */
}LSM6DS0_END_t;
/** @} */
/**
* @name Accelerometer data structures and types
* @{
*/
/**
* @brief Accelerometer Decimation Mode
*/
typedef enum {
LSM6DS0_ACC_DEC_DISABLED = 0x00, /*!< NO decimation */
LSM6DS0_ACC_DEC_X2 = 0x40, /*!< Decimation update every 2 sample */
LSM6DS0_ACC_DEC_X4 = 0x80, /*!< Decimation update every 4 sample */
LSM6DS0_ACC_DEC_X8 = 0xC0 /*!< Decimation update every 8 sample */
}LSM6DS0_ACC_DEC_t;
/**
* @brief Accelerometer Axes Enabling
*/
typedef enum{
LSM6DS0_ACC_AE_DISABLED = 0x00, /*!< Axes all disabled */
LSM6DS0_ACC_AE_X = 0x08, /*!< Only X-axis enabled */
LSM6DS0_ACC_AE_Y = 0x10, /*!< Only Y-axis enabled */
LSM6DS0_ACC_AE_XY = 0x18, /*!< X & Y axes enabled */
LSM6DS0_ACC_AE_Z = 0x20, /*!< Only Z-axis enabled */
LSM6DS0_ACC_AE_XZ = 0x28, /*!< X & Z axes enabled */
LSM6DS0_ACC_AE_YZ = 0x30, /*!< Y & Z axes enabled */
LSM6DS0_ACC_AE_XYZ = 0x38 /*!< All axes enabled */
}LSM6DS0_ACC_AE_t;
/**
* @brief Accelerometer Output Data Rate
*/
typedef enum {
LSM6DS0_ACC_ODR_PD = 0x00, /*!< Power down */
LSM6DS0_ACC_ODR_10Hz = 0x20, /*!< Output Data Rate = 10 Hz */
LSM6DS0_ACC_ODR_50Hz = 0x40, /*!< Output Data Rate = 50 Hz */
LSM6DS0_ACC_ODR_119Hz = 0x60, /*!< Output Data Rate = 119 Hz */
LSM6DS0_ACC_ODR_238Hz = 0x80, /*!< Output Data Rate = 238 Hz */
LSM6DS0_ACC_ODR_476Hz = 0xA0, /*!< Output Data Rate = 476 Hz */
LSM6DS0_ACC_ODR_952Hz = 0xC0 /*!< Output Data Rate = 952 Hz */
}LSM6DS0_ACC_ODR_t;
/**
* @brief Accelerometer Full Scale
*/
typedef enum {
LSM6DS0_ACC_FS_2G = 0x00, /*!< ±2 g m/s^2 */
LSM6DS0_ACC_FS_4G = 0x10, /*!< ±4 g m/s^2 */
LSM6DS0_ACC_FS_8G = 0x18, /*!< ±8 g m/s^2 */
LSM6DS0_ACC_FS_16G = 0x08 /*!< ±16 g m/s^2 */
}LSM6DS0_ACC_FS_t;
/**
* @brief Accelerometer Antialiasing filter Bandwidth Selection
*/
typedef enum {
LSM6DS0_ACC_BW_408Hz = 0x00, /*!< AA filter bandwidth = 408 Hz */
LSM6DS0_ACC_BW_211Hz = 0x01, /*!< AA filter bandwidth = 211 Hz */
LSM6DS0_ACC_BW_105Hz = 0x02, /*!< AA filter bandwidth = 105 Hz */
LSM6DS0_ACC_BW_50Hz = 0x03, /*!< AA filter bandwidth = 50 Hz */
LSM6DS0_ACC_BW_ACCORDED = 0x04, /*!< AA filter bandwidth chosen by ODR selection */
}LSM6DS0_ACC_BW_t;
/**
* @brief Accelerometer High Resolution mode
*/
typedef enum
{
LSM6DS0_ACC_HR_Disabled = 0x00, /*!< High resolution output mode disabled, FDS bypassed */
LSM6DS0_ACC_HR_EN_9 = 0xC4, /*!< High resolution output mode enabled, LP cutoff = ODR/9, FDS enabled */
LSM6DS0_ACC_HR_EN_50 = 0x84, /*!< High resolution output mode enabled, LP cutoff = ODR/50, FDS enabled */
LSM6DS0_ACC_HR_EN_100 = 0xA4, /*!< High resolution output mode enabled, LP cutoff = ODR/100, FDS enabled */
LSM6DS0_ACC_HR_EN_400 = 0xE4, /*!< High resolution output mode enabled, LP cutoff = ODR/400, FDS enabled */
}LSM6DS0_ACC_HR_t;
/**
* @brief HP filter for interrupt
*/
typedef enum
{
LSM6DS0_ACC_HPIS1_BYPASSED = 0x00, /*!< High-pass filter bypassed */
LSM6DS0_ACC_HPIS1_ENABLED = 0x01 /*!< High-pass filter enabled for accelerometer interrupt function on interrupt */
}LSM6DS0_ACC_HPIS1_t;
/**
* @brief Accelerometer configuration structure.
*/
typedef struct {
/**
* @brief LSM6DS0 Slave Address
*/
LSM6DS0_SAD_t slaveaddress;
/**
* @brief Accelerometer Decimation Mode
*/
LSM6DS0_ACC_DEC_t decimation;
/**
* @brief Accelerometer Output Data Rate
*/
LSM6DS0_ACC_ODR_t outputdatarate;
/**
* @brief Accelerometer Antialiasing filter Bandwidth Selection
*/
LSM6DS0_ACC_BW_t bandwidth;
/**
* @brief Accelerometer Full Scale
*/
LSM6DS0_ACC_FS_t fullscale;
/**
* @brief Accelerometer Axes Enabling
*/
LSM6DS0_ACC_AE_t axesenabling;
/**
* @brief Accelerometer High Resolution mode
*/
LSM6DS0_ACC_HR_t highresmode;
/**
* @brief HP filter for interrupt
*/
LSM6DS0_ACC_HPIS1_t hpfirq;
/**
* @brief LSM6DS0 Endianness
*/
LSM6DS0_END_t endianess;
/**
* @brief LSM6DS0 Block Data Update
*/
LSM6DS0_BDU_t blockdataupdate;
} LSM6DS0_ACC_Config;
/** @} */
/**
* @name Gyroscope data structures and types
* @{
*/
/**
* @brief Gyroscope Output Data Rate
*/
typedef enum {
LSM6DS0_GYRO_ODR_PD = 0x00, /*!< Power down */
LSM6DS0_GYRO_ODR_14_9Hz_CO_5Hz = 0x20, /*!< Output Data Rate = 14.9 Hz, CutOff = 5Hz */
LSM6DS0_GYRO_ODR_59_5Hz_CO_16Hz = 0x40, /*!< Output Data Rate = 59.5 Hz, CutOff = 16Hz */
LSM6DS0_GYRO_ODR_119Hz_CO_14Hz = 0x60, /*!< Output Data Rate = 119 Hz, CutOff = 14Hz */
LSM6DS0_GYRO_ODR_119Hz_CO_31Hz = 0x61, /*!< Output Data Rate = 119 Hz, CutOff = 31Hz */
LSM6DS0_GYRO_ODR_238Hz_CO_14Hz = 0x80, /*!< Output Data Rate = 238 Hz, CutOff = 14Hz */
LSM6DS0_GYRO_ODR_238Hz_CO_29Hz = 0x81, /*!< Output Data Rate = 328 Hz, CutOff = 29Hz */
LSM6DS0_GYRO_ODR_238Hz_CO_63Hz = 0x82, /*!< Output Data Rate = 238 Hz, CutOff = 63Hz */
LSM6DS0_GYRO_ODR_238Hz_CO_78Hz = 0x83, /*!< Output Data Rate = 476 Hz, CutOff = 78Hz */
LSM6DS0_GYRO_ODR_476Hz_CO_21Hz = 0xA0, /*!< Output Data Rate = 476 Hz, CutOff = 21Hz */
LSM6DS0_GYRO_ODR_476Hz_CO_28Hz = 0xA1, /*!< Output Data Rate = 238 Hz, CutOff = 28Hz */
LSM6DS0_GYRO_ODR_476Hz_CO_57Hz = 0xA2, /*!< Output Data Rate = 476 Hz, CutOff = 57Hz */
LSM6DS0_GYRO_ODR_476Hz_CO_100Hz = 0xA3, /*!< Output Data Rate = 476 Hz, CutOff = 100Hz */
LSM6DS0_GYRO_ODR_952Hz_CO_33Hz = 0xC0, /*!< Output Data Rate = 952 Hz, CutOff = 33Hz */
LSM6DS0_GYRO_ODR_952Hz_CO_40Hz = 0xC1, /*!< Output Data Rate = 952 Hz, CutOff = 40Hz */
LSM6DS0_GYRO_ODR_952Hz_CO_58Hz = 0xC2, /*!< Output Data Rate = 952 Hz, CutOff = 58Hz */
LSM6DS0_GYRO_ODR_952Hz_CO_100Hz = 0xC3 /*!< Output Data Rate = 952 Hz, CutOff = 100Hz */
}LSM6DS0_GYRO_ODR_t;
/**
* @brief Gyroscope Full Scale
*/
typedef enum {
LSM6DS0_GYRO_FS_245DSP = 0x00, /*!< ±245 degrees per second */
LSM6DS0_GYRO_FS_500DSP = 0x08, /*!< ±500 degrees per second */
LSM6DS0_GYRO_FS_2000DSP = 0x18 /*!< ±2000 degrees per second */
}LSM6DS0_GYRO_FS_t;
/**
* @brief Gyroscope Output Selection
*/
typedef enum {
LSM6DS0_GYRO_OUT_SEL_BYPASS = 0x00, /*!< Output not filtered */
LSM6DS0_GYRO_OUT_SEL_FILTERED = 0x01, /*!< Output filtered */
}LSM6DS0_GYRO_OUT_SEL_t;
/**
* @brief Gyroscope Interrupt Selection
*/
typedef enum {
LSM6DS0_GYRO_INT_SEL_BYPASS = 0x00, /*!< Interrupt generator signal not filtered */
LSM6DS0_GYRO_INT_SEL_FILTERED = 0x08, /*!< Interrupt generator signal filtered */
}LSM6DS0_GYRO_INT_SEL_t;
/**
* @brief Gyroscope Low Power Mode
*/
typedef enum {
LSM6DS0_GYRO_LP_MODE_HIGH_PERFORMANCE = 0x00, /*!< High performance */
LSM6DS0_GYRO_LP_MODE_LOW_POWER = 0x80, /*!< Low power */
}LSM6DS0_GYRO_LP_MODE_t;
/**
* @brief Gyroscope High Pass Filter Cutoff Selection
*/
typedef enum {
LSM6DS0_GYRO_HPCF_DISABLED = 0x00, /*!< HP filter disabled */
LSM6DS0_GYRO_HPCF_0 = 0x40, /*!< Config 0 refer to table 48 of DOcID025604 Rev 3 */
LSM6DS0_GYRO_HPCF_1 = 0x41, /*!< Config 1 refer to table 48 of DOcID025604 Rev 3 */
LSM6DS0_GYRO_HPCF_2 = 0x42, /*!< Config 2 refer to table 48 of DOcID025604 Rev 3 */
LSM6DS0_GYRO_HPCF_3 = 0x43, /*!< Config 3 refer to table 48 of DOcID025604 Rev 3 */
LSM6DS0_GYRO_HPCF_4 = 0x44, /*!< Config 4 refer to table 48 of DOcID025604 Rev 3 */
LSM6DS0_GYRO_HPCF_5 = 0x45, /*!< Config 5 refer to table 48 of DOcID025604 Rev 3 */
LSM6DS0_GYRO_HPCF_6 = 0x46, /*!< Config 6 refer to table 48 of DOcID025604 Rev 3 */
LSM6DS0_GYRO_HPCF_7 = 0x47, /*!< Config 7 refer to table 48 of DOcID025604 Rev 3 */
LSM6DS0_GYRO_HPCF_8 = 0x48, /*!< Config 8 refer to table 48 of DOcID025604 Rev 3 */
LSM6DS0_GYRO_HPCF_9 = 0x49, /*!< Config 9 refer to table 48 of DOcID025604 Rev 3 */
LSM6DS0_GYRO_HPCF_10 = 0x4A /*!< Config 10 refer to table 48 of DOcID025604 Rev 3 */
}LSM6DS0_GYRO_HPCF_t;
/**
* @brief Gyroscope Axes Enabling
*/
typedef enum{
LSM6DS0_GYRO_AE_DISABLED = 0x00, /*!< Axes all disabled */
LSM6DS0_GYRO_AE_X = 0x08, /*!< Only X-axis enabled */
LSM6DS0_GYRO_AE_Y = 0x10, /*!< Only Y-axis enabled */
LSM6DS0_GYRO_AE_XY = 0x18, /*!< X & Y axes enabled */
LSM6DS0_GYRO_AE_Z = 0x20, /*!< Only Z-axis enabled */
LSM6DS0_GYRO_AE_XZ = 0x28, /*!< X & Z axes enabled */
LSM6DS0_GYRO_AE_YZ = 0x30, /*!< Y & Z axes enabled */
LSM6DS0_GYRO_AE_XYZ = 0x38 /*!< All axes enabled */
}LSM6DS0_GYRO_AE_t;
/**
* @brief Gyroscope Decimation Mode
*/
typedef enum {
LSM6DS0_GYRO_DEC_DISABLED = 0x00, /*!< NO decimation */
LSM6DS0_GYRO_DEC_X2 = 0x40, /*!< Decimation update every 2 sample */
LSM6DS0_GYRO_DEC_X4 = 0x80, /*!< Decimation update every 4 sample */
LSM6DS0_GYRO_DEC_X8 = 0xC0 /*!< Decimation update every 8 sample */
}LSM6DS0_GYRO_DEC_t;
/**
* @brief Gyroscope Sleep Mode
*/
typedef enum {
LSM6DS0_GYRO_SLP_DISABLED = 0x00, /*!< Gyroscope sleep mode disabled */
LSM6DS0_GYRO_SLP_ENABLED = 0x40 /*!< Gyroscope sleep mode enabled */
}LSM6DS0_GYRO_SLP_t;
/**
* @brief Gyroscope configuration structure.
*/
typedef struct {
/**
* @brief LSM6DS0 Slave Address
*/
LSM6DS0_SAD_t slaveaddress;
/**
* @brief Gyroscope Output Data Rate
*/
LSM6DS0_GYRO_ODR_t outputdatarate;
/**
* @brief Gyroscope Full Scale
*/
LSM6DS0_GYRO_FS_t fullscale;
/**
* @brief Gyroscope Output Selection
*/
LSM6DS0_GYRO_OUT_SEL_t outputselect;
/**
* @brief Gyroscope Interrupt Selection
*/
LSM6DS0_GYRO_INT_SEL_t irqselect;
/**
* @brief Gyroscope Low Power Mode
*/
LSM6DS0_GYRO_LP_MODE_t lowpowermode;
/**
* @brief Gyroscope High Pass Filter Cutoff Selection
*/
LSM6DS0_GYRO_HPCF_t HPCfrequency;
/**
* @brief Gyroscope Axes Enabling
*/
LSM6DS0_GYRO_AE_t axesenabling;
/**
* @brief Gyroscope Decimation Mode
*/
LSM6DS0_GYRO_DEC_t decimation;
/**
* @brief LSM6DS0 Endianness
*/
LSM6DS0_END_t endianess;
/**
* @brief LSM6DS0 Block Data Update
*/
LSM6DS0_BDU_t blockdataupdate;
} LSM6DS0_GYRO_Config;
/** @} */
/*===========================================================================*/
/* Driver macros. */
/*===========================================================================*/
/*===========================================================================*/
/* External declarations. */
/*===========================================================================*/
#ifdef __cplusplus
extern "C" {
#endif
uint8_t lsm6ds0ReadRegister(I2CDriver *i2cp, uint8_t sad, uint8_t sub,
msg_t* message);
void lsm6ds0WriteRegister(I2CDriver *i2cp, uint8_t sad, uint8_t sub,
uint8_t value, msg_t* message);
#ifdef __cplusplus
}
#endif
#endif /* _LSM6DS0_H_ */
/** @} */
|
