
Example for Bluetooth low energy interface
Dependencies: mbed HC_SR04_Ultrasonic_Library
Sensor_Shield/lsm6ds0.c
- Committer:
- julientiron
- Date:
- 2015-05-19
- Revision:
- 1:bdbf36f8408d
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>© 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****/