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selfbalansingcar_V1
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Dependencies: ST_INTERFACES X_NUCLEO_COMMON
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Diff: Components/lsm6ds0/lsm6ds0_platform.h
- Revision:
- 4:566f2c41dc1d
- Parent:
- 3:088aa5839e0d
- Child:
- 5:8bab0f419849
--- a/Components/lsm6ds0/lsm6ds0_platform.h Mon Apr 13 14:44:02 2015 +0200
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,486 +0,0 @@
-/**
- ******************************************************************************
- * @file lsm6ds0.h
- * @author MEMS Application Team
- * @version V1.0.0
- * @date 30-July-2014
- * @brief This file contains definitions for the lsm6ds0.c
- * firmware driver.
- ******************************************************************************
- * @attention
- *
- * <h2><center>© COPYRIGHT(c) 2014 STMicroelectronics</center></h2>
- *
- * Redistribution and use in source and binary forms, with or without modification,
- * are permitted provided that the following conditions are met:
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- * 3. Neither the name of STMicroelectronics nor the names of its contributors
- * may be used to endorse or promote products derived from this software
- * without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
- * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
- * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
- * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- *
- ******************************************************************************
- */
-
-/* Define to prevent recursive inclusion -------------------------------------*/
-#ifndef __LSM6DS0_PLATFORM_H
-#define __LSM6DS0_PLATFORM_H
-
-
-/******************************************************************************/
-/*********** START ACCELEROMETER AND GYROSCOPE REGISTER MAPPING **************/
-/******************************************************************************/
-
-
-/***************************************** COMMON REGISTERS ********************************************/
-
-/**
- * @brief Interrupt config register
- * \code
- * Read/write
- * Default value: 0x00
- * [7] INT_IG_G: Gyroscope interrupt enable on INT pin
- * [6] INT_IG_XL: Accelerometer interrupt generator on INT pin
- * [5] INT_FSS5: FSS5 interrupt enable on INT pin
- * [4] INT_OVR: Overrun interrupt on INT pin
- * [3] INT_FTH: Gyroscope interrupt enable on INT pin
- * [2] INT_BOOT: Accelerometer interrupt generator on INT pin
- * [1] INT_DRDY_G: FSS5 interrupt enable on INT pin
- * [0] INT_DRDY_XL: Overrun interrupt on INT pin
- * \endcode
- */
-#define LSM6DS0_XG_INT_CTRL 0x0C
-
-
-/**
- * @brief Device identifier register.
- * \code
- * Read
- * Default value:
- * [7:0] This read-only register contains the device identifier
- * \endcode
-*/
-#define LSM6DS0_XG_WHO_AM_I_ADDR 0x0F
-
-
-/**
- * @brief Control Register 4
- * \code
- * Read/write
- * Default value: 0x38
- * [5] Zen_G: Gyroscopes Z-axis output enable
- * [4] Yen_G: Gyroscopes Y-axis output enable
- * [3] Xen_G: Gyroscopes X-axis output enable
- * \endcode
-*/
-#define LSM6DS0_XG_CTRL_REG4 0x1E
-
-
-/**
- * @brief Control Register 10
- * \code
- * Read/write
- * Default value: 0x00
- * [2] ST_G: Gyro selftest disable (0) / enable (1)
- * [0] ST_XL: Accel selftest disable (0) / enable (1)
- * \endcode
-*/
-#define LSM6DS0_XG_CTRL_REG10 0x24
-
-
-/***************************************** GYROSCOPE REGISTERS ********************************************/
-
-/**
- * @brief Angular rate sensor Control Register 1
- * \code
- * Read/write
- * Default value: 0x00
- * [7:5] ODR_G2-0: Gyroscope output data rate selection
- * [4:3] FS_G1-0: Gyroscope full-scale selection
- * [2] This bit must be set to 0 for the correct operation of the device
- * [1:0] BW_G1-0: Gyroscope bandwidth selection
- * \endcode
- */
-#define LSM6DS0_XG_CTRL_REG1_G 0x10
-
-
-/**
- * @brief Gyroscope data (LSB)
- * \code
- * Read
- * \endcode
- */
-#define LSM6DS0_XG_OUT_X_L_G 0x18
-
-
-/**
- * @brief Gyroscope data (MSB)
- * \code
- * Read
- * \endcode
- */
-#define LSM6DS0_XG_OUT_X_H_G 0x19
-
-
-/**
- * @brief Gyroscope data (LSB)
- * \code
- * Read
- * \endcode
- */
-#define LSM6DS0_XG_OUT_Y_L_G 0x1A
-
-
-/**
- * @brief Gyroscope data (MSB)
- * \code
- * Read
- * \endcode
- */
-#define LSM6DS0_XG_OUT_Y_H_G 0x1B
-
-
-/**
- * @brief Gyroscope data (LSB)
- * \code
- * Read
- * \endcode
- */
-#define LSM6DS0_XG_OUT_Z_L_G 0x1C
-
-
-/**
- * @brief Gyroscope data (MSB)
- * \code
- * Read
- * \endcode
- */
-#define LSM6DS0_XG_OUT_Z_H_G 0x1D
-
-
-
-/*************************************** ACCELEROMETER REGISTERS *******************************************/
-
-/**
- * @brief Linear acceleration sensor Control Register 6
- * \code
- * Read/write
- * Default value: 0x00
- * [7:5] ODR_XL2-0: Accelerometer Output data rate and power mode selection
- * [4:3] FS1_XL-FS0_XL: Accelerometer full-scale selection
- * [2] BW_SCAL_ODR: Bandwidth selection
- * [1:0] BW_XL1-0: Anti-aliasing filter bandwidth selection
- * \endcode
- */
-#define LSM6DS0_XG_CTRL_REG6_XL 0x20
-
-
-/**
- * @brief Linear acceleration sensor Control Register 5
- * \code
- * Read/write
- * Default value: 0x38
- * [7:6] DEC1-0: Decimation of acceleration data on OUT REG and FIFO
- * [5] Zen_XL: Accelerometers Z-axis output enable
- * [4] Yen_XL: Accelerometers Y-axis output enable
- * [3] Xen_XL: Accelerometers X-axis output enable
- * [2:0] These bits must be set to 0 for the correct operation of the device
- * \endcode
- */
-#define LSM6DS0_XG_CTRL_REG5_XL 0x1F
-
-
-/**
- * @brief Accelerometer data (LSB)
- * \code
- * Read
- * \endcode
- */
-#define LSM6DS0_XG_OUT_X_L_XL 0x28
-
-
-/**
- * @brief Accelerometer data (MSB)
- * \code
- * Read
- * \endcode
- */
-#define LSM6DS0_XG_OUT_X_H_XL 0x29
-
-
-/**
- * @brief Accelerometer data (LSB)
- * \code
- * Read
- * \endcode
- */
-#define LSM6DS0_XG_OUT_Y_L_XL 0x2A
-
-
-/**
- * @brief Accelerometer data (MSB)
- * \code
- * Read
- * \endcode
- */
-#define LSM6DS0_XG_OUT_Y_H_XL 0x2B
-
-
-/**
- * @brief Accelerometer data (LSB)
- * \code
- * Read
- * \endcode
- */
-#define LSM6DS0_XG_OUT_Z_L_XL 0x2C
-
-
-/**
- * @brief Accelerometer data (MSB)
- * \code
- * Read
- * \endcode
- */
-#define LSM6DS0_XG_OUT_Z_H_XL 0x2D
-
-/******************************************************************************/
-/************* END ACCELEROMETER AND GYROSCOPE REGISTER MAPPING **************/
-/******************************************************************************/
-
-
-
-/**
- * @brief Device Address
- */
-
-#define LSM6DS0_XG_MEMS_ADDRESS 0xD6 // SAD[0] = 1
-
-/**
- * @brief Device Identifier. Default value of the WHO_AM_I register.
- */
-#define I_AM_LSM6DS0_XG ((uint8_t)0x68)
-
-
-
-/************************************** GYROSCOPE REGISTERS VALUE *******************************************/
-
-
-/** @defgroup LSM6DS0_XG Gyroscope Output Data Rate selection CTRL_REG1_G
- * @{
- */
-#define LSM6DS0_G_ODR_PD ((uint8_t)0x00) /*!< Output Data Rate: Power-down*/
-#define LSM6DS0_G_ODR_14_9HZ ((uint8_t)0x20) /*!< Output Data Rate: 14.9 Hz, cutoff 5Hz */
-#define LSM6DS0_G_ODR_59_5HZ ((uint8_t)0x40) /*!< Output Data Rate: 59.5 Hz, cutoff 19Hz */
-#define LSM6DS0_G_ODR_119HZ ((uint8_t)0x60) /*!< Output Data Rate: 119 Hz, cutoff 38Hz*/
-#define LSM6DS0_G_ODR_238HZ ((uint8_t)0x80) /*!< Output Data Rate: 238 Hz, cutoff 76Hz*/
-#define LSM6DS0_G_ODR_476HZ ((uint8_t)0xA0) /*!< Output Data Rate: 476 Hz, cutoff 100Hz*/
-#define LSM6DS0_G_ODR_952HZ ((uint8_t)0xC0) /*!< Output Data Rate: 952 Hz, cutoff 100Hz*/
-
-#define LSM6DS0_G_ODR_MASK ((uint8_t)0xE0)
-
-
-
-/** @defgroup LSM6DS0_XG Gyroscope Bandwidth selection CTRL_REG1_G
- * @{
- */
-#define LSM6DS0_G_BW_00 ((uint8_t)0x00) /*!< Bandwidth selection: - cutoff = n.a. when ODR = Power-down
- - cutoff = n.a. when ODR = 14.9
- - cutoff = 16 when ODR = 59.5
- - cutoff = 14 when ODR = 119
- - cutoff = 14 when ODR = 238
- - cutoff = 21 when ODR = 476
- - cutoff = 33 when ODR = 952 */
-#define LSM6DS0_G_BW_01 ((uint8_t)0x01) /*!< Bandwidth selection: - cutoff = n.a. when ODR = Power-down
- - cutoff = n.a. when ODR = 14.9
- - cutoff = 16 when ODR = 59.5
- - cutoff = 31 when ODR = 119
- - cutoff = 29 when ODR = 238
- - cutoff = 28 when ODR = 476
- - cutoff = 40 when ODR = 952 */
-#define LSM6DS0_G_BW_10 ((uint8_t)0x02) /*!< Bandwidth selection: - cutoff = n.a. when ODR = Power-down
- - cutoff = n.a. when ODR = 14.9
- - cutoff = 16 when ODR = 59.5
- - cutoff = 31 when ODR = 119
- - cutoff = 63 when ODR = 238
- - cutoff = 57 when ODR = 476
- - cutoff = 58 when ODR = 952 */
-#define LSM6DS0_G_BW_11 ((uint8_t)0x03) /*!< Bandwidth selection: - cutoff = n.a. when ODR = Power-down
- - cutoff = n.a. when ODR = 14.9
- - cutoff = 16 when ODR = 59.5
- - cutoff = 31 when ODR = 119
- - cutoff = 78 when ODR = 238
- - cutoff = 100 when ODR = 476
- - cutoff = 100 when ODR = 952 */
-
-#define LSM6DS0_G_BW_MASK ((uint8_t)0x03)
-
-
-/** @defgroup LSM6DS0_XG Gyroscope Full scale selection CTRL_REG1_G
- * @{
- */
-#define LSM6DS0_G_FS_245 ((uint8_t)0x00) /*!< Full scale: 245 dps*/
-#define LSM6DS0_G_FS_500 ((uint8_t)0x08) /*!< Full scale: 500 dps */
-#define LSM6DS0_G_FS_2000 ((uint8_t)0x18) /*!< Full scale: 2000 dps */
-
-#define LSM6DS0_G_FS_MASK ((uint8_t)0x18)
-
-
-/** @defgroup LSM6DS0_XG Gyroscopes Z-axis output enable selection CTRL_REG4
- * @{
- */
-#define LSM6DS0_G_ZEN_DISABLE ((uint8_t)0x00) /*!< Gyroscopes Z-axis output enable: disable */
-#define LSM6DS0_G_ZEN_ENABLE ((uint8_t)0x20) /*!< Gyroscopes Z-axis output enable: enable */
-
-#define LSM6DS0_G_ZEN_MASK ((uint8_t)0x20)
-
-
-/** @defgroup LSM6DS0_XG Gyroscopes Y-axis output enable selection CTRL_REG4
- * @{
- */
-#define LSM6DS0_G_YEN_DISABLE ((uint8_t)0x00) /*!< Gyroscopes Y-axis output enable: disable */
-#define LSM6DS0_G_YEN_ENABLE ((uint8_t)0x10) /*!< Gyroscopes Y-axis output enable: enable */
-
-#define LSM6DS0_G_YEN_MASK ((uint8_t)0x10)
-
-
-/** @defgroup LSM6DS0_XG Gyroscopes X-axis output enable selection CTRL_REG4
- * @{
- */
-#define LSM6DS0_G_XEN_DISABLE ((uint8_t)0x00) /*!< Gyroscopes X-axis output enable: disable */
-#define LSM6DS0_G_XEN_ENABLE ((uint8_t)0x08) /*!< Gyroscopes X-axis output enable: enable */
-
-#define LSM6DS0_G_XEN_MASK ((uint8_t)0x08)
-
-
-/** @defgroup LSM6DS0 Gyro selftest en/dis - LSM6DS0_XG_CTRL_REG10
- * @{
- */
-#define LSM6DS0_G_ST_DISABLE ((uint8_t)0x00) /*!< Gyro selftest disable */
-#define LSM6DS0_G_ST_ENABLE ((uint8_t)0x04) /*!< Gyro selftest enable */
-
-#define LSM6DS0_G_ST_MASK ((uint8_t)0x04)
-
-/**
- * @}
- */
-
-
-/************************************ ACCELEROMETER REGISTERS VALUE *****************************************/
-
-/** @defgroup LSM6DS0_XG Accelerometer Output Data Rate selection CTRL_REG6_XL
- * @{
- */
-#define LSM6DS0_XL_ODR_PD ((uint8_t)0x00) /*!< Output Data Rate: Power-down*/
-#define LSM6DS0_XL_ODR_10HZ ((uint8_t)0x20) /*!< Output Data Rate: 10 Hz*/
-#define LSM6DS0_XL_ODR_50HZ ((uint8_t)0x40) /*!< Output Data Rate: 50 Hz */
-#define LSM6DS0_XL_ODR_119HZ ((uint8_t)0x60) /*!< Output Data Rate: 119 Hz */
-#define LSM6DS0_XL_ODR_238HZ ((uint8_t)0x80) /*!< Output Data Rate: 238 Hz */
-#define LSM6DS0_XL_ODR_476HZ ((uint8_t)0xA0) /*!< Output Data Rate: 476 Hz */
-#define LSM6DS0_XL_ODR_952HZ ((uint8_t)0xC0) /*!< Output Data Rate: 952 Hz */
-
-#define LSM6DS0_XL_ODR_MASK ((uint8_t)0xE0)
-
-
-/** @defgroup LSM6DS0_XG Accelerometer Full scale selection CTRL_REG6_XL
- * @{
- */
-#define LSM6DS0_XL_FS_2G ((uint8_t)0x00) /*!< Full scale: +- 2g */
-#define LSM6DS0_XL_FS_4G ((uint8_t)0x10) /*!< Full scale: +- 4g */
-#define LSM6DS0_XL_FS_8G ((uint8_t)0x18) /*!< Full scale: +- 8g */
-
-#define LSM6DS0_XL_FS_MASK ((uint8_t)0x18)
-
-
-/** @defgroup LSM6DS0_XG Accelerometer Bandwidth selection CTRL_REG6_XL
- * @{
- */
-#define LSM6DS0_XL_BW_SCAL_ODR ((uint8_t)0x00) /*!< Bandwidth selection: determined by ODR:
- - BW = 408Hz when ODR = 952Hz, 50Hz, 10Hz
- - BW = 211Hz when ODR = 476Hz
- - BW = 105Hz when ODR = 238Hz
- - BW = 50Hz when ODR = 119Hz */
-#define LSM6DS0_XL_BW_SCAL_BW ((uint8_t)0x04) /*!< Bandwidth selection: selected according to Anti aliasing filter bandwidth */
-
-#define LSM6DS0_XL_BW_SCAL_MASK ((uint8_t)0x04)
-
-
-/** @defgroup LSM6DS0_XG Accelerometer Anti aliasing filter bandwidth selection CTRL_REG6_XL
- * @{
- */
-#define LSM6DS0_XL_BW_408HZ ((uint8_t)0x00) /*!< Anti-aliasing filter bandwidht: 408 Hz */
-#define LSM6DS0_XL_BW_211HZ ((uint8_t)0x01) /*!< Anti-aliasing filter bandwidht: 211 Hz */
-#define LSM6DS0_XL_BW_105HZ ((uint8_t)0x02) /*!< Anti-aliasing filter bandwidht: 105 Hz */
-#define LSM6DS0_XL_BW_50HZ ((uint8_t)0x03) /*!< Anti-aliasing filter bandwidht: 50 Hz */
-
-#define LSM6DS0_XL_BW_MASK ((uint8_t)0x03)
-
-
-/** @defgroup LSM6DS0_XG Accelerometer Decimation of acceleration data selection CTRL_REG5_XL
- * @{
- */
-#define LSM6DS0_XL_DEC_NO ((uint8_t)0x00) /*!< Decimation of acceleration data: no decimation */
-#define LSM6DS0_XL_DEC_EVERY_2S ((uint8_t)0x40) /*!< Decimation of acceleration data: update every 2 samples */
-#define LSM6DS0_XL_DEC_EVERY_4S ((uint8_t)0x80) /*!< Decimation of acceleration data: update every 4 samples */
-#define LSM6DS0_XL_DEC_EVERY_8S ((uint8_t)0xC0) /*!< Decimation of acceleration data: update every 8 samples */
-
-#define LSM6DS0_XL_DEC_MASK ((uint8_t)0xC0)
-
-
-/** @defgroup LSM6DS0_XG Accelerometers Z-axis output enable selection CTRL_REG5_XL
- * @{
- */
-#define LSM6DS0_XL_ZEN_DISABLE ((uint8_t)0x00) /*!< Accelerometers Z-axis output enable: disable */
-#define LSM6DS0_XL_ZEN_ENABLE ((uint8_t)0x20) /*!< Accelerometers Z-axis output enable: enable */
-
-#define LSM6DS0_XL_ZEN_MASK ((uint8_t)0x20)
-
-
-/** @defgroup LSM6DS0_XG Accelerometers Y-axis output enable selection CTRL_REG5_XL
- * @{
- */
-#define LSM6DS0_XL_YEN_DISABLE ((uint8_t)0x00) /*!< Accelerometers Y-axis output enable: disable */
-#define LSM6DS0_XL_YEN_ENABLE ((uint8_t)0x10) /*!< Accelerometers Y-axis output enable: enable */
-
-#define LSM6DS0_XL_YEN_MASK ((uint8_t)0x10)
-
-
-/** @defgroup LSM6DS0_XG Accelerometers X-axis output enable selection CTRL_REG5_XL
- * @{
- */
-#define LSM6DS0_XL_XEN_DISABLE ((uint8_t)0x00) /*!< Accelerometers X-axis output enable: disable */
-#define LSM6DS0_XL_XEN_ENABLE ((uint8_t)0x08) /*!< Accelerometers X-axis output enable: enable */
-
-#define LSM6DS0_XL_XEN_MASK ((uint8_t)0x08)
-
-/**
- * @}
- */
-
-
-/** @defgroup LSM6DS0 Accel selftest en/dis - LSM6DS0_XG_CTRL_REG10
- * @{
- */
-#define LSM6DS0_XL_ST_DISABLE ((uint8_t)0x00) /*!< Accel selftest disable */
-#define LSM6DS0_XL_ST_ENABLE ((uint8_t)0x01) /*!< Accel selftest enable */
-
-#define LSM6DS0_XL_ST_MASK ((uint8_t)0x01)
-
-
-#endif /* __LSM6DS0_PLATFORM_H */
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
-