File content as of revision 1:bdbf36f8408d:

/**
 ******************************************************************************
 * @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****/