Diff: Sensor_Shield/lsm6ds0.c

Revision:

1:bdbf36f8408d

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Sensor_Shield/lsm6ds0.c	Tue May 19 16:53:44 2015 +0000
@@ -0,0 +1,346 @@
+/**
+ ******************************************************************************
+ * @file    lsm6ds0.c
+ * @author  MEMS Application Team
+ * @version V1.0.0
+ * @date    30-July-2014
+ * @brief   This file provides a set of functions needed to manage the lsm6ds0.
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>&copy; 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.
+ *
+ ******************************************************************************
+ */
+/* Includes ------------------------------------------------------------------*/
+#include "lsm6ds0.h"
+#include <math.h>
+
+/** @addtogroup BSP
+ * @{
+ */
+
+/** @addtogroup MEMS_SHIELD
+ * @{
+ */
+
+/** @addtogroup LSM6DS0
+ * @{
+ */
+
+/** @defgroup LSM6DS0_Private_TypesDefinitions
+ * @{
+ */
+
+/**
+ * @}
+ */
+
+/** @defgroup LSM6DS0_Private_Defines
+ * @{
+ */
+
+/**
+ * @}
+ */
+
+/** @defgroup LSM6DS0_Private_Macros
+ * @{
+ */
+
+/**
+ * @}
+ */
+
+/** @defgroup LSM6DS0_Private_Variables
+ * @{
+ */
+
+IMU_6AXES_DrvTypeDef LSM6DS0Drv =
+{
+ LSM6DS0_Init,
+ LSM6DS0_Read_XG_ID,
+ LSM6DS0_X_GetAxes,
+ LSM6DS0_G_GetAxes
+};
+
+/**
+ * @}
+ */
+
+/** @defgroup LSM6DS0_Private_FunctionPrototypes
+ * @{
+ */
+
+void LSM6DS0_X_GetAxesRaw(int16_t *pData);
+void LSM6DS0_G_GetAxesRaw(int16_t *pData);
+
+/**
+ * @}
+ */
+
+/** @defgroup LSM6DS0_Private_Functions
+ * @{
+ */
+
+
+
+/**
+ * @brief  Set LSM6DS0 Initialization.
+ * @param  InitStruct: it contains the configuration setting for the LSM6DS0.
+ * @retval None
+ */
+void LSM6DS0_Init(IMU_6AXES_InitTypeDef *LSM6DS0_Init)
+{
+    uint8_t tmp1 = 0x00;
+
+    /* Configure the low level interface ---------------------------------------*/
+    IMU_6AXES_IO_Init();
+
+/******* Gyroscope init *******/
+
+    IMU_6AXES_IO_Read(&tmp1, LSM6DS0_XG_MEMS_ADDRESS, LSM6DS0_XG_CTRL_REG1_G, 1);
+
+    /* Output Data Rate selection */
+    tmp1 &= ~(LSM6DS0_G_ODR_MASK);
+    tmp1 |= LSM6DS0_Init->G_OutputDataRate;
+
+    /* Full scale selection */
+    tmp1 &= ~(LSM6DS0_G_FS_MASK);
+    tmp1 |= LSM6DS0_Init->G_FullScale;
+
+    IMU_6AXES_IO_Write(&tmp1, LSM6DS0_XG_MEMS_ADDRESS, LSM6DS0_XG_CTRL_REG1_G, 1);
+
+
+    IMU_6AXES_IO_Read(&tmp1, LSM6DS0_XG_MEMS_ADDRESS, LSM6DS0_XG_CTRL_REG4, 1);
+
+    /* Enable X axis selection */
+    tmp1 &= ~(LSM6DS0_G_XEN_MASK);
+    tmp1 |= LSM6DS0_Init->G_X_Axis;
+
+    /* Enable Y axis selection */
+    tmp1 &= ~(LSM6DS0_G_YEN_MASK);
+    tmp1 |= LSM6DS0_Init->G_Y_Axis;
+
+    /* Enable Z axis selection */
+    tmp1 &= ~(LSM6DS0_G_ZEN_MASK);
+    tmp1 |= LSM6DS0_Init->G_Z_Axis;
+
+    IMU_6AXES_IO_Write(&tmp1, LSM6DS0_XG_MEMS_ADDRESS, LSM6DS0_XG_CTRL_REG4, 1);
+
+/******************************/
+
+/***** Accelerometer init *****/
+
+    IMU_6AXES_IO_Read(&tmp1, LSM6DS0_XG_MEMS_ADDRESS, LSM6DS0_XG_CTRL_REG6_XL, 1);
+
+    /* Output Data Rate selection */
+    tmp1 &= ~(LSM6DS0_XL_ODR_MASK);
+    tmp1 |= LSM6DS0_Init->X_OutputDataRate;
+
+    /* Full scale selection */
+    tmp1 &= ~(LSM6DS0_XL_FS_MASK);
+    tmp1 |= LSM6DS0_Init->X_FullScale;
+
+    IMU_6AXES_IO_Write(&tmp1, LSM6DS0_XG_MEMS_ADDRESS, LSM6DS0_XG_CTRL_REG6_XL, 1);
+
+
+    IMU_6AXES_IO_Read(&tmp1, LSM6DS0_XG_MEMS_ADDRESS, LSM6DS0_XG_CTRL_REG5_XL, 1);
+
+    /* Enable X axis selection */
+    tmp1 &= ~(LSM6DS0_XL_XEN_MASK);
+    tmp1 |= LSM6DS0_Init->X_X_Axis;
+
+    /* Enable Y axis selection */
+    tmp1 &= ~(LSM6DS0_XL_YEN_MASK);
+    tmp1 |= LSM6DS0_Init->X_Y_Axis;
+
+    /* Enable Z axis selection */
+    tmp1 &= ~(LSM6DS0_XL_ZEN_MASK);
+    tmp1 |= LSM6DS0_Init->X_Z_Axis;
+
+    IMU_6AXES_IO_Write(&tmp1, LSM6DS0_XG_MEMS_ADDRESS, LSM6DS0_XG_CTRL_REG5_XL, 1);
+
+/******************************/
+}
+
+
+/**
+ * @brief  Read ID of LSM6DS0 Accelerometer and Gyroscope
+ * @param  Device ID
+ * @retval ID name
+ */
+uint8_t LSM6DS0_Read_XG_ID(void)
+{
+    uint8_t tmp = 0x00;
+
+    /* Read WHO I AM register */
+    IMU_6AXES_IO_Read(&tmp, LSM6DS0_XG_MEMS_ADDRESS, LSM6DS0_XG_WHO_AM_I_ADDR, 1);
+
+    /* Return the ID */
+    return (uint8_t)tmp;
+}
+
+
+/**
+ * @brief Read raw data from LSM6DS0 Accelerometer output register.
+ * @param float *pfData
+ * @retval None.
+ */
+void LSM6DS0_X_GetAxesRaw(int16_t *pData)
+{
+    uint8_t tempReg[2] = {0,0};
+
+
+    IMU_6AXES_IO_Read(&tempReg[0], LSM6DS0_XG_MEMS_ADDRESS, LSM6DS0_XG_OUT_X_L_XL + 0x80, 2);
+
+    pData[0] = ((((int16_t)tempReg[1]) << 8)+(int16_t)tempReg[0]);
+
+    IMU_6AXES_IO_Read(&tempReg[0], LSM6DS0_XG_MEMS_ADDRESS, LSM6DS0_XG_OUT_Y_L_XL + 0x80, 2);
+
+    pData[1] = ((((int16_t)tempReg[1]) << 8)+(int16_t)tempReg[0]);
+
+    IMU_6AXES_IO_Read(&tempReg[0], LSM6DS0_XG_MEMS_ADDRESS, LSM6DS0_XG_OUT_Z_L_XL + 0x80, 2);
+
+    pData[2] = ((((int16_t)tempReg[1]) << 8)+(int16_t)tempReg[0]);
+}
+
+
+/**
+ * @brief Read data from LSM6DS0 Accelerometer and calculate linear acceleration in mg.
+ * @param float *pfData
+ * @retval None.
+ */
+void LSM6DS0_X_GetAxes(int32_t *pData)
+{
+
+  uint8_t tempReg = 0x00;
+  int16_t pDataRaw[3];
+  float sensitivity = 0;
+
+  LSM6DS0_X_GetAxesRaw(pDataRaw);
+
+  IMU_6AXES_IO_Read(&tempReg, LSM6DS0_XG_MEMS_ADDRESS, LSM6DS0_XG_CTRL_REG6_XL, 1);
+
+  tempReg &= LSM6DS0_XL_FS_MASK;
+
+  switch(tempReg)
+  {
+    case LSM6DS0_XL_FS_2G:
+      sensitivity = 0.061;
+      break;
+    case LSM6DS0_XL_FS_4G:
+      sensitivity = 0.122;
+      break;
+    case LSM6DS0_XL_FS_8G:
+      sensitivity = 0.244;
+      break;
+  }
+
+  pData[0] = (int32_t)(pDataRaw[0] * sensitivity);
+  pData[1] = (int32_t)(pDataRaw[1] * sensitivity);
+  pData[2] = (int32_t)(pDataRaw[2] * sensitivity);
+}
+
+
+/**
+ * @brief Read raw data from LSM6DS0 Gyroscope output register.
+ * @param float *pfData
+ * @retval None.
+ */
+void LSM6DS0_G_GetAxesRaw(int16_t *pData)
+{
+    uint8_t tempReg[2] = {0,0};
+
+
+    IMU_6AXES_IO_Read(&tempReg[0], LSM6DS0_XG_MEMS_ADDRESS, LSM6DS0_XG_OUT_X_L_G + 0x80, 2);
+
+    pData[0] = ((((int16_t)tempReg[1]) << 8)+(int16_t)tempReg[0]);
+
+    IMU_6AXES_IO_Read(&tempReg[0], LSM6DS0_XG_MEMS_ADDRESS, LSM6DS0_XG_OUT_Y_L_G + 0x80, 2);
+
+    pData[1] = ((((int16_t)tempReg[1]) << 8)+(int16_t)tempReg[0]);
+
+    IMU_6AXES_IO_Read(&tempReg[0], LSM6DS0_XG_MEMS_ADDRESS, LSM6DS0_XG_OUT_Z_L_G + 0x80, 2);
+
+    pData[2] = ((((int16_t)tempReg[1]) << 8)+(int16_t)tempReg[0]);
+}
+
+
+/**
+ * @brief Read data from LSM6DS0 Gyroscope and calculate angular rate in mdps.
+ * @param float *pfData
+ * @retval None.
+ */
+void LSM6DS0_G_GetAxes(int32_t *pData)
+{
+
+  uint8_t tempReg = 0x00;
+  int16_t pDataRaw[3];
+  float sensitivity = 0;
+
+  LSM6DS0_G_GetAxesRaw(pDataRaw);
+
+  IMU_6AXES_IO_Read(&tempReg, LSM6DS0_XG_MEMS_ADDRESS, LSM6DS0_XG_CTRL_REG1_G, 1);
+
+  tempReg &= LSM6DS0_G_FS_MASK;
+
+  switch(tempReg)
+  {
+    case LSM6DS0_G_FS_245:
+      sensitivity = 8.75;
+      break;
+    case LSM6DS0_G_FS_500:
+      sensitivity = 17.50;
+      break;
+    case LSM6DS0_G_FS_2000:
+      sensitivity = 70;
+      break;
+  }
+
+  pData[0] = (int32_t)(pDataRaw[0] * sensitivity);
+  pData[1] = (int32_t)(pDataRaw[1] * sensitivity);
+  pData[2] = (int32_t)(pDataRaw[2] * sensitivity);
+}
+
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
+