Robotique FIP
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Dependencies: HC_SR04_Ultrasonic_Library Servo mbed
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FIP_REV1
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Robotique FIP
Sensor_Shield/lsm6ds0.h@1:bdbf36f8408d, 2015-05-19 (annotated)
- Committer:
- julientiron
- Date:
- Tue May 19 16:53:44 2015 +0000
- Revision:
- 1:bdbf36f8408d
ddd; ;
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| julientiron | 1:bdbf36f8408d | 1 | /** |
| julientiron | 1:bdbf36f8408d | 2 | ****************************************************************************** |
| julientiron | 1:bdbf36f8408d | 3 | * @file lsm6ds0.h |
| julientiron | 1:bdbf36f8408d | 4 | * @author MEMS Application Team |
| julientiron | 1:bdbf36f8408d | 5 | * @version V1.0.0 |
| julientiron | 1:bdbf36f8408d | 6 | * @date 30-July-2014 |
| julientiron | 1:bdbf36f8408d | 7 | * @brief This file contains definitions for the lsm6ds0.c |
| julientiron | 1:bdbf36f8408d | 8 | * firmware driver. |
| julientiron | 1:bdbf36f8408d | 9 | ****************************************************************************** |
| julientiron | 1:bdbf36f8408d | 10 | * @attention |
| julientiron | 1:bdbf36f8408d | 11 | * |
| julientiron | 1:bdbf36f8408d | 12 | * <h2><center>© COPYRIGHT(c) 2014 STMicroelectronics</center></h2> |
| julientiron | 1:bdbf36f8408d | 13 | * |
| julientiron | 1:bdbf36f8408d | 14 | * Redistribution and use in source and binary forms, with or without modification, |
| julientiron | 1:bdbf36f8408d | 15 | * are permitted provided that the following conditions are met: |
| julientiron | 1:bdbf36f8408d | 16 | * 1. Redistributions of source code must retain the above copyright notice, |
| julientiron | 1:bdbf36f8408d | 17 | * this list of conditions and the following disclaimer. |
| julientiron | 1:bdbf36f8408d | 18 | * 2. Redistributions in binary form must reproduce the above copyright notice, |
| julientiron | 1:bdbf36f8408d | 19 | * this list of conditions and the following disclaimer in the documentation |
| julientiron | 1:bdbf36f8408d | 20 | * and/or other materials provided with the distribution. |
| julientiron | 1:bdbf36f8408d | 21 | * 3. Neither the name of STMicroelectronics nor the names of its contributors |
| julientiron | 1:bdbf36f8408d | 22 | * may be used to endorse or promote products derived from this software |
| julientiron | 1:bdbf36f8408d | 23 | * without specific prior written permission. |
| julientiron | 1:bdbf36f8408d | 24 | * |
| julientiron | 1:bdbf36f8408d | 25 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| julientiron | 1:bdbf36f8408d | 26 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| julientiron | 1:bdbf36f8408d | 27 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE |
| julientiron | 1:bdbf36f8408d | 28 | * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE |
| julientiron | 1:bdbf36f8408d | 29 | * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL |
| julientiron | 1:bdbf36f8408d | 30 | * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR |
| julientiron | 1:bdbf36f8408d | 31 | * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
| julientiron | 1:bdbf36f8408d | 32 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, |
| julientiron | 1:bdbf36f8408d | 33 | * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
| julientiron | 1:bdbf36f8408d | 34 | * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
| julientiron | 1:bdbf36f8408d | 35 | * |
| julientiron | 1:bdbf36f8408d | 36 | ****************************************************************************** |
| julientiron | 1:bdbf36f8408d | 37 | */ |
| julientiron | 1:bdbf36f8408d | 38 | |
| julientiron | 1:bdbf36f8408d | 39 | /* Define to prevent recursive inclusion -------------------------------------*/ |
| julientiron | 1:bdbf36f8408d | 40 | #ifndef __LSM6DS0_H |
| julientiron | 1:bdbf36f8408d | 41 | #define __LSM6DS0_H |
| julientiron | 1:bdbf36f8408d | 42 | |
| julientiron | 1:bdbf36f8408d | 43 | #ifdef __cplusplus |
| julientiron | 1:bdbf36f8408d | 44 | extern "C" { |
| julientiron | 1:bdbf36f8408d | 45 | #endif |
| julientiron | 1:bdbf36f8408d | 46 | |
| julientiron | 1:bdbf36f8408d | 47 | /* Includes ------------------------------------------------------------------*/ |
| julientiron | 1:bdbf36f8408d | 48 | #include "imu_6axes.h" |
| julientiron | 1:bdbf36f8408d | 49 | |
| julientiron | 1:bdbf36f8408d | 50 | /** @addtogroup BSP |
| julientiron | 1:bdbf36f8408d | 51 | * @{ |
| julientiron | 1:bdbf36f8408d | 52 | */ |
| julientiron | 1:bdbf36f8408d | 53 | |
| julientiron | 1:bdbf36f8408d | 54 | /** @addtogroup LSM6DS0 |
| julientiron | 1:bdbf36f8408d | 55 | * @{ |
| julientiron | 1:bdbf36f8408d | 56 | */ |
| julientiron | 1:bdbf36f8408d | 57 | |
| julientiron | 1:bdbf36f8408d | 58 | /** @defgroup LSM6DS0_Exported_Constants |
| julientiron | 1:bdbf36f8408d | 59 | * @{ |
| julientiron | 1:bdbf36f8408d | 60 | */ |
| julientiron | 1:bdbf36f8408d | 61 | |
| julientiron | 1:bdbf36f8408d | 62 | |
| julientiron | 1:bdbf36f8408d | 63 | |
| julientiron | 1:bdbf36f8408d | 64 | /******************************************************************************/ |
| julientiron | 1:bdbf36f8408d | 65 | /*********** START ACCELEROMETER AND GYROSCOPE REGISTER MAPPING **************/ |
| julientiron | 1:bdbf36f8408d | 66 | /******************************************************************************/ |
| julientiron | 1:bdbf36f8408d | 67 | |
| julientiron | 1:bdbf36f8408d | 68 | |
| julientiron | 1:bdbf36f8408d | 69 | /***************************************** COMMON REGISTERS ********************************************/ |
| julientiron | 1:bdbf36f8408d | 70 | |
| julientiron | 1:bdbf36f8408d | 71 | /** |
| julientiron | 1:bdbf36f8408d | 72 | * @brief Interrupt config register |
| julientiron | 1:bdbf36f8408d | 73 | * \code |
| julientiron | 1:bdbf36f8408d | 74 | * Read/write |
| julientiron | 1:bdbf36f8408d | 75 | * Default value: 0x00 |
| julientiron | 1:bdbf36f8408d | 76 | * [7] INT_IG_G: Gyroscope interrupt enable on INT pin |
| julientiron | 1:bdbf36f8408d | 77 | * [6] INT_IG_XL: Accelerometer interrupt generator on INT pin |
| julientiron | 1:bdbf36f8408d | 78 | * [5] INT_FSS5: FSS5 interrupt enable on INT pin |
| julientiron | 1:bdbf36f8408d | 79 | * [4] INT_OVR: Overrun interrupt on INT pin |
| julientiron | 1:bdbf36f8408d | 80 | * [3] INT_FTH: Gyroscope interrupt enable on INT pin |
| julientiron | 1:bdbf36f8408d | 81 | * [2] INT_BOOT: Accelerometer interrupt generator on INT pin |
| julientiron | 1:bdbf36f8408d | 82 | * [1] INT_DRDY_G: FSS5 interrupt enable on INT pin |
| julientiron | 1:bdbf36f8408d | 83 | * [0] INT_DRDY_XL: Overrun interrupt on INT pin |
| julientiron | 1:bdbf36f8408d | 84 | * \endcode |
| julientiron | 1:bdbf36f8408d | 85 | */ |
| julientiron | 1:bdbf36f8408d | 86 | #define LSM6DS0_XG_INT_CTRL 0x0C |
| julientiron | 1:bdbf36f8408d | 87 | |
| julientiron | 1:bdbf36f8408d | 88 | |
| julientiron | 1:bdbf36f8408d | 89 | /** |
| julientiron | 1:bdbf36f8408d | 90 | * @brief Device identifier register. |
| julientiron | 1:bdbf36f8408d | 91 | * \code |
| julientiron | 1:bdbf36f8408d | 92 | * Read |
| julientiron | 1:bdbf36f8408d | 93 | * Default value: |
| julientiron | 1:bdbf36f8408d | 94 | * [7:0] This read-only register contains the device identifier |
| julientiron | 1:bdbf36f8408d | 95 | * \endcode |
| julientiron | 1:bdbf36f8408d | 96 | */ |
| julientiron | 1:bdbf36f8408d | 97 | #define LSM6DS0_XG_WHO_AM_I_ADDR 0x0F |
| julientiron | 1:bdbf36f8408d | 98 | |
| julientiron | 1:bdbf36f8408d | 99 | |
| julientiron | 1:bdbf36f8408d | 100 | /** |
| julientiron | 1:bdbf36f8408d | 101 | * @brief Control Register 4 |
| julientiron | 1:bdbf36f8408d | 102 | * \code |
| julientiron | 1:bdbf36f8408d | 103 | * Read/write |
| julientiron | 1:bdbf36f8408d | 104 | * Default value: 0x38 |
| julientiron | 1:bdbf36f8408d | 105 | * [5] Zen_G: Gyroscope�s Z-axis output enable |
| julientiron | 1:bdbf36f8408d | 106 | * [4] Yen_G: Gyroscope�s Y-axis output enable |
| julientiron | 1:bdbf36f8408d | 107 | * [3] Xen_G: Gyroscope�s X-axis output enable |
| julientiron | 1:bdbf36f8408d | 108 | * \endcode |
| julientiron | 1:bdbf36f8408d | 109 | */ |
| julientiron | 1:bdbf36f8408d | 110 | #define LSM6DS0_XG_CTRL_REG4 0x1E |
| julientiron | 1:bdbf36f8408d | 111 | |
| julientiron | 1:bdbf36f8408d | 112 | |
| julientiron | 1:bdbf36f8408d | 113 | /** |
| julientiron | 1:bdbf36f8408d | 114 | * @brief Control Register 10 |
| julientiron | 1:bdbf36f8408d | 115 | * \code |
| julientiron | 1:bdbf36f8408d | 116 | * Read/write |
| julientiron | 1:bdbf36f8408d | 117 | * Default value: 0x00 |
| julientiron | 1:bdbf36f8408d | 118 | * [2] ST_G: Gyro selftest disable (0) / enable (1) |
| julientiron | 1:bdbf36f8408d | 119 | * [0] ST_XL: Accel selftest disable (0) / enable (1) |
| julientiron | 1:bdbf36f8408d | 120 | * \endcode |
| julientiron | 1:bdbf36f8408d | 121 | */ |
| julientiron | 1:bdbf36f8408d | 122 | #define LSM6DS0_XG_CTRL_REG10 0x24 |
| julientiron | 1:bdbf36f8408d | 123 | |
| julientiron | 1:bdbf36f8408d | 124 | |
| julientiron | 1:bdbf36f8408d | 125 | /***************************************** GYROSCOPE REGISTERS ********************************************/ |
| julientiron | 1:bdbf36f8408d | 126 | |
| julientiron | 1:bdbf36f8408d | 127 | /** |
| julientiron | 1:bdbf36f8408d | 128 | * @brief Angular rate sensor Control Register 1 |
| julientiron | 1:bdbf36f8408d | 129 | * \code |
| julientiron | 1:bdbf36f8408d | 130 | * Read/write |
| julientiron | 1:bdbf36f8408d | 131 | * Default value: 0x00 |
| julientiron | 1:bdbf36f8408d | 132 | * [7:5] ODR_G2-0: Gyroscope output data rate selection |
| julientiron | 1:bdbf36f8408d | 133 | * [4:3] FS_G1-0: Gyroscope full-scale selection |
| julientiron | 1:bdbf36f8408d | 134 | * [2] This bit must be set to �0� for the correct operation of the device |
| julientiron | 1:bdbf36f8408d | 135 | * [1:0] BW_G1-0: Gyroscope bandwidth selection |
| julientiron | 1:bdbf36f8408d | 136 | * \endcode |
| julientiron | 1:bdbf36f8408d | 137 | */ |
| julientiron | 1:bdbf36f8408d | 138 | #define LSM6DS0_XG_CTRL_REG1_G 0x10 |
| julientiron | 1:bdbf36f8408d | 139 | |
| julientiron | 1:bdbf36f8408d | 140 | |
| julientiron | 1:bdbf36f8408d | 141 | /** |
| julientiron | 1:bdbf36f8408d | 142 | * @brief Gyroscope data (LSB) |
| julientiron | 1:bdbf36f8408d | 143 | * \code |
| julientiron | 1:bdbf36f8408d | 144 | * Read |
| julientiron | 1:bdbf36f8408d | 145 | * \endcode |
| julientiron | 1:bdbf36f8408d | 146 | */ |
| julientiron | 1:bdbf36f8408d | 147 | #define LSM6DS0_XG_OUT_X_L_G 0x18 |
| julientiron | 1:bdbf36f8408d | 148 | |
| julientiron | 1:bdbf36f8408d | 149 | |
| julientiron | 1:bdbf36f8408d | 150 | /** |
| julientiron | 1:bdbf36f8408d | 151 | * @brief Gyroscope data (MSB) |
| julientiron | 1:bdbf36f8408d | 152 | * \code |
| julientiron | 1:bdbf36f8408d | 153 | * Read |
| julientiron | 1:bdbf36f8408d | 154 | * \endcode |
| julientiron | 1:bdbf36f8408d | 155 | */ |
| julientiron | 1:bdbf36f8408d | 156 | #define LSM6DS0_XG_OUT_X_H_G 0x19 |
| julientiron | 1:bdbf36f8408d | 157 | |
| julientiron | 1:bdbf36f8408d | 158 | |
| julientiron | 1:bdbf36f8408d | 159 | /** |
| julientiron | 1:bdbf36f8408d | 160 | * @brief Gyroscope data (LSB) |
| julientiron | 1:bdbf36f8408d | 161 | * \code |
| julientiron | 1:bdbf36f8408d | 162 | * Read |
| julientiron | 1:bdbf36f8408d | 163 | * \endcode |
| julientiron | 1:bdbf36f8408d | 164 | */ |
| julientiron | 1:bdbf36f8408d | 165 | #define LSM6DS0_XG_OUT_Y_L_G 0x1A |
| julientiron | 1:bdbf36f8408d | 166 | |
| julientiron | 1:bdbf36f8408d | 167 | |
| julientiron | 1:bdbf36f8408d | 168 | /** |
| julientiron | 1:bdbf36f8408d | 169 | * @brief Gyroscope data (MSB) |
| julientiron | 1:bdbf36f8408d | 170 | * \code |
| julientiron | 1:bdbf36f8408d | 171 | * Read |
| julientiron | 1:bdbf36f8408d | 172 | * \endcode |
| julientiron | 1:bdbf36f8408d | 173 | */ |
| julientiron | 1:bdbf36f8408d | 174 | #define LSM6DS0_XG_OUT_Y_H_G 0x1B |
| julientiron | 1:bdbf36f8408d | 175 | |
| julientiron | 1:bdbf36f8408d | 176 | |
| julientiron | 1:bdbf36f8408d | 177 | /** |
| julientiron | 1:bdbf36f8408d | 178 | * @brief Gyroscope data (LSB) |
| julientiron | 1:bdbf36f8408d | 179 | * \code |
| julientiron | 1:bdbf36f8408d | 180 | * Read |
| julientiron | 1:bdbf36f8408d | 181 | * \endcode |
| julientiron | 1:bdbf36f8408d | 182 | */ |
| julientiron | 1:bdbf36f8408d | 183 | #define LSM6DS0_XG_OUT_Z_L_G 0x1C |
| julientiron | 1:bdbf36f8408d | 184 | |
| julientiron | 1:bdbf36f8408d | 185 | |
| julientiron | 1:bdbf36f8408d | 186 | /** |
| julientiron | 1:bdbf36f8408d | 187 | * @brief Gyroscope data (MSB) |
| julientiron | 1:bdbf36f8408d | 188 | * \code |
| julientiron | 1:bdbf36f8408d | 189 | * Read |
| julientiron | 1:bdbf36f8408d | 190 | * \endcode |
| julientiron | 1:bdbf36f8408d | 191 | */ |
| julientiron | 1:bdbf36f8408d | 192 | #define LSM6DS0_XG_OUT_Z_H_G 0x1D |
| julientiron | 1:bdbf36f8408d | 193 | |
| julientiron | 1:bdbf36f8408d | 194 | |
| julientiron | 1:bdbf36f8408d | 195 | |
| julientiron | 1:bdbf36f8408d | 196 | /*************************************** ACCELEROMETER REGISTERS *******************************************/ |
| julientiron | 1:bdbf36f8408d | 197 | |
| julientiron | 1:bdbf36f8408d | 198 | /** |
| julientiron | 1:bdbf36f8408d | 199 | * @brief Linear acceleration sensor Control Register 6 |
| julientiron | 1:bdbf36f8408d | 200 | * \code |
| julientiron | 1:bdbf36f8408d | 201 | * Read/write |
| julientiron | 1:bdbf36f8408d | 202 | * Default value: 0x00 |
| julientiron | 1:bdbf36f8408d | 203 | * [7:5] ODR_XL2-0: Accelerometer Output data rate and power mode selection |
| julientiron | 1:bdbf36f8408d | 204 | * [4:3] FS1_XL-FS0_XL: Accelerometer full-scale selection |
| julientiron | 1:bdbf36f8408d | 205 | * [2] BW_SCAL_ODR: Bandwidth selection |
| julientiron | 1:bdbf36f8408d | 206 | * [1:0] BW_XL1-0: Anti-aliasing filter bandwidth selection |
| julientiron | 1:bdbf36f8408d | 207 | * \endcode |
| julientiron | 1:bdbf36f8408d | 208 | */ |
| julientiron | 1:bdbf36f8408d | 209 | #define LSM6DS0_XG_CTRL_REG6_XL 0x20 |
| julientiron | 1:bdbf36f8408d | 210 | |
| julientiron | 1:bdbf36f8408d | 211 | |
| julientiron | 1:bdbf36f8408d | 212 | /** |
| julientiron | 1:bdbf36f8408d | 213 | * @brief Linear acceleration sensor Control Register 5 |
| julientiron | 1:bdbf36f8408d | 214 | * \code |
| julientiron | 1:bdbf36f8408d | 215 | * Read/write |
| julientiron | 1:bdbf36f8408d | 216 | * Default value: 0x38 |
| julientiron | 1:bdbf36f8408d | 217 | * [7:6] DEC1-0: Decimation of acceleration data on OUT REG and FIFO |
| julientiron | 1:bdbf36f8408d | 218 | * [5] Zen_XL: Accelerometer�s Z-axis output enable |
| julientiron | 1:bdbf36f8408d | 219 | * [4] Yen_XL: Accelerometer�s Y-axis output enable |
| julientiron | 1:bdbf36f8408d | 220 | * [3] Xen_XL: Accelerometer�s X-axis output enable |
| julientiron | 1:bdbf36f8408d | 221 | * [2:0] These bits must be set to �0� for the correct operation of the device |
| julientiron | 1:bdbf36f8408d | 222 | * \endcode |
| julientiron | 1:bdbf36f8408d | 223 | */ |
| julientiron | 1:bdbf36f8408d | 224 | #define LSM6DS0_XG_CTRL_REG5_XL 0x1F |
| julientiron | 1:bdbf36f8408d | 225 | |
| julientiron | 1:bdbf36f8408d | 226 | |
| julientiron | 1:bdbf36f8408d | 227 | /** |
| julientiron | 1:bdbf36f8408d | 228 | * @brief Accelerometer data (LSB) |
| julientiron | 1:bdbf36f8408d | 229 | * \code |
| julientiron | 1:bdbf36f8408d | 230 | * Read |
| julientiron | 1:bdbf36f8408d | 231 | * \endcode |
| julientiron | 1:bdbf36f8408d | 232 | */ |
| julientiron | 1:bdbf36f8408d | 233 | #define LSM6DS0_XG_OUT_X_L_XL 0x28 |
| julientiron | 1:bdbf36f8408d | 234 | |
| julientiron | 1:bdbf36f8408d | 235 | |
| julientiron | 1:bdbf36f8408d | 236 | /** |
| julientiron | 1:bdbf36f8408d | 237 | * @brief Accelerometer data (MSB) |
| julientiron | 1:bdbf36f8408d | 238 | * \code |
| julientiron | 1:bdbf36f8408d | 239 | * Read |
| julientiron | 1:bdbf36f8408d | 240 | * \endcode |
| julientiron | 1:bdbf36f8408d | 241 | */ |
| julientiron | 1:bdbf36f8408d | 242 | #define LSM6DS0_XG_OUT_X_H_XL 0x29 |
| julientiron | 1:bdbf36f8408d | 243 | |
| julientiron | 1:bdbf36f8408d | 244 | |
| julientiron | 1:bdbf36f8408d | 245 | /** |
| julientiron | 1:bdbf36f8408d | 246 | * @brief Accelerometer data (LSB) |
| julientiron | 1:bdbf36f8408d | 247 | * \code |
| julientiron | 1:bdbf36f8408d | 248 | * Read |
| julientiron | 1:bdbf36f8408d | 249 | * \endcode |
| julientiron | 1:bdbf36f8408d | 250 | */ |
| julientiron | 1:bdbf36f8408d | 251 | #define LSM6DS0_XG_OUT_Y_L_XL 0x2A |
| julientiron | 1:bdbf36f8408d | 252 | |
| julientiron | 1:bdbf36f8408d | 253 | |
| julientiron | 1:bdbf36f8408d | 254 | /** |
| julientiron | 1:bdbf36f8408d | 255 | * @brief Accelerometer data (MSB) |
| julientiron | 1:bdbf36f8408d | 256 | * \code |
| julientiron | 1:bdbf36f8408d | 257 | * Read |
| julientiron | 1:bdbf36f8408d | 258 | * \endcode |
| julientiron | 1:bdbf36f8408d | 259 | */ |
| julientiron | 1:bdbf36f8408d | 260 | #define LSM6DS0_XG_OUT_Y_H_XL 0x2B |
| julientiron | 1:bdbf36f8408d | 261 | |
| julientiron | 1:bdbf36f8408d | 262 | |
| julientiron | 1:bdbf36f8408d | 263 | /** |
| julientiron | 1:bdbf36f8408d | 264 | * @brief Accelerometer data (LSB) |
| julientiron | 1:bdbf36f8408d | 265 | * \code |
| julientiron | 1:bdbf36f8408d | 266 | * Read |
| julientiron | 1:bdbf36f8408d | 267 | * \endcode |
| julientiron | 1:bdbf36f8408d | 268 | */ |
| julientiron | 1:bdbf36f8408d | 269 | #define LSM6DS0_XG_OUT_Z_L_XL 0x2C |
| julientiron | 1:bdbf36f8408d | 270 | |
| julientiron | 1:bdbf36f8408d | 271 | |
| julientiron | 1:bdbf36f8408d | 272 | /** |
| julientiron | 1:bdbf36f8408d | 273 | * @brief Accelerometer data (MSB) |
| julientiron | 1:bdbf36f8408d | 274 | * \code |
| julientiron | 1:bdbf36f8408d | 275 | * Read |
| julientiron | 1:bdbf36f8408d | 276 | * \endcode |
| julientiron | 1:bdbf36f8408d | 277 | */ |
| julientiron | 1:bdbf36f8408d | 278 | #define LSM6DS0_XG_OUT_Z_H_XL 0x2D |
| julientiron | 1:bdbf36f8408d | 279 | |
| julientiron | 1:bdbf36f8408d | 280 | /******************************************************************************/ |
| julientiron | 1:bdbf36f8408d | 281 | /************* END ACCELEROMETER AND GYROSCOPE REGISTER MAPPING **************/ |
| julientiron | 1:bdbf36f8408d | 282 | /******************************************************************************/ |
| julientiron | 1:bdbf36f8408d | 283 | |
| julientiron | 1:bdbf36f8408d | 284 | |
| julientiron | 1:bdbf36f8408d | 285 | |
| julientiron | 1:bdbf36f8408d | 286 | /** |
| julientiron | 1:bdbf36f8408d | 287 | * @brief Device Address |
| julientiron | 1:bdbf36f8408d | 288 | */ |
| julientiron | 1:bdbf36f8408d | 289 | #define LSM6DS0_XG_MEMS_ADDRESS 0xD4 // SAD[0] = 0 |
| julientiron | 1:bdbf36f8408d | 290 | //#define LSM6DS0_XG_MEMS_ADDRESS 0xD6 // SAD[0] = 1 |
| julientiron | 1:bdbf36f8408d | 291 | |
| julientiron | 1:bdbf36f8408d | 292 | /** |
| julientiron | 1:bdbf36f8408d | 293 | * @brief Device Identifier. Default value of the WHO_AM_I register. |
| julientiron | 1:bdbf36f8408d | 294 | */ |
| julientiron | 1:bdbf36f8408d | 295 | #define I_AM_LSM6DS0_XG ((uint8_t)0x68) |
| julientiron | 1:bdbf36f8408d | 296 | |
| julientiron | 1:bdbf36f8408d | 297 | |
| julientiron | 1:bdbf36f8408d | 298 | |
| julientiron | 1:bdbf36f8408d | 299 | /************************************** GYROSCOPE REGISTERS VALUE *******************************************/ |
| julientiron | 1:bdbf36f8408d | 300 | |
| julientiron | 1:bdbf36f8408d | 301 | |
| julientiron | 1:bdbf36f8408d | 302 | /** @defgroup LSM6DS0_XG Gyroscope Output Data Rate selection CTRL_REG1_G |
| julientiron | 1:bdbf36f8408d | 303 | * @{ |
| julientiron | 1:bdbf36f8408d | 304 | */ |
| julientiron | 1:bdbf36f8408d | 305 | #define LSM6DS0_G_ODR_PD ((uint8_t)0x00) /*!< Output Data Rate: Power-down*/ |
| julientiron | 1:bdbf36f8408d | 306 | #define LSM6DS0_G_ODR_14_9HZ ((uint8_t)0x20) /*!< Output Data Rate: 14.9 Hz, cutoff 5Hz */ |
| julientiron | 1:bdbf36f8408d | 307 | #define LSM6DS0_G_ODR_59_5HZ ((uint8_t)0x40) /*!< Output Data Rate: 59.5 Hz, cutoff 19Hz */ |
| julientiron | 1:bdbf36f8408d | 308 | #define LSM6DS0_G_ODR_119HZ ((uint8_t)0x60) /*!< Output Data Rate: 119 Hz, cutoff 38Hz*/ |
| julientiron | 1:bdbf36f8408d | 309 | #define LSM6DS0_G_ODR_238HZ ((uint8_t)0x80) /*!< Output Data Rate: 238 Hz, cutoff 76Hz*/ |
| julientiron | 1:bdbf36f8408d | 310 | #define LSM6DS0_G_ODR_476HZ ((uint8_t)0xA0) /*!< Output Data Rate: 476 Hz, cutoff 100Hz*/ |
| julientiron | 1:bdbf36f8408d | 311 | #define LSM6DS0_G_ODR_952HZ ((uint8_t)0xC0) /*!< Output Data Rate: 952 Hz, cutoff 100Hz*/ |
| julientiron | 1:bdbf36f8408d | 312 | |
| julientiron | 1:bdbf36f8408d | 313 | #define LSM6DS0_G_ODR_MASK ((uint8_t)0xE0) |
| julientiron | 1:bdbf36f8408d | 314 | |
| julientiron | 1:bdbf36f8408d | 315 | |
| julientiron | 1:bdbf36f8408d | 316 | |
| julientiron | 1:bdbf36f8408d | 317 | /** @defgroup LSM6DS0_XG Gyroscope Bandwidth selection CTRL_REG1_G |
| julientiron | 1:bdbf36f8408d | 318 | * @{ |
| julientiron | 1:bdbf36f8408d | 319 | */ |
| julientiron | 1:bdbf36f8408d | 320 | #define LSM6DS0_G_BW_00 ((uint8_t)0x00) /*!< Bandwidth selection: - cutoff = n.a. when ODR = Power-down |
| julientiron | 1:bdbf36f8408d | 321 | - cutoff = n.a. when ODR = 14.9 |
| julientiron | 1:bdbf36f8408d | 322 | - cutoff = 16 when ODR = 59.5 |
| julientiron | 1:bdbf36f8408d | 323 | - cutoff = 14 when ODR = 119 |
| julientiron | 1:bdbf36f8408d | 324 | - cutoff = 14 when ODR = 238 |
| julientiron | 1:bdbf36f8408d | 325 | - cutoff = 21 when ODR = 476 |
| julientiron | 1:bdbf36f8408d | 326 | - cutoff = 33 when ODR = 952 */ |
| julientiron | 1:bdbf36f8408d | 327 | #define LSM6DS0_G_BW_01 ((uint8_t)0x01) /*!< Bandwidth selection: - cutoff = n.a. when ODR = Power-down |
| julientiron | 1:bdbf36f8408d | 328 | - cutoff = n.a. when ODR = 14.9 |
| julientiron | 1:bdbf36f8408d | 329 | - cutoff = 16 when ODR = 59.5 |
| julientiron | 1:bdbf36f8408d | 330 | - cutoff = 31 when ODR = 119 |
| julientiron | 1:bdbf36f8408d | 331 | - cutoff = 29 when ODR = 238 |
| julientiron | 1:bdbf36f8408d | 332 | - cutoff = 28 when ODR = 476 |
| julientiron | 1:bdbf36f8408d | 333 | - cutoff = 40 when ODR = 952 */ |
| julientiron | 1:bdbf36f8408d | 334 | #define LSM6DS0_G_BW_10 ((uint8_t)0x02) /*!< Bandwidth selection: - cutoff = n.a. when ODR = Power-down |
| julientiron | 1:bdbf36f8408d | 335 | - cutoff = n.a. when ODR = 14.9 |
| julientiron | 1:bdbf36f8408d | 336 | - cutoff = 16 when ODR = 59.5 |
| julientiron | 1:bdbf36f8408d | 337 | - cutoff = 31 when ODR = 119 |
| julientiron | 1:bdbf36f8408d | 338 | - cutoff = 63 when ODR = 238 |
| julientiron | 1:bdbf36f8408d | 339 | - cutoff = 57 when ODR = 476 |
| julientiron | 1:bdbf36f8408d | 340 | - cutoff = 58 when ODR = 952 */ |
| julientiron | 1:bdbf36f8408d | 341 | #define LSM6DS0_G_BW_11 ((uint8_t)0x03) /*!< Bandwidth selection: - cutoff = n.a. when ODR = Power-down |
| julientiron | 1:bdbf36f8408d | 342 | - cutoff = n.a. when ODR = 14.9 |
| julientiron | 1:bdbf36f8408d | 343 | - cutoff = 16 when ODR = 59.5 |
| julientiron | 1:bdbf36f8408d | 344 | - cutoff = 31 when ODR = 119 |
| julientiron | 1:bdbf36f8408d | 345 | - cutoff = 78 when ODR = 238 |
| julientiron | 1:bdbf36f8408d | 346 | - cutoff = 100 when ODR = 476 |
| julientiron | 1:bdbf36f8408d | 347 | - cutoff = 100 when ODR = 952 */ |
| julientiron | 1:bdbf36f8408d | 348 | |
| julientiron | 1:bdbf36f8408d | 349 | #define LSM6DS0_G_BW_MASK ((uint8_t)0x03) |
| julientiron | 1:bdbf36f8408d | 350 | |
| julientiron | 1:bdbf36f8408d | 351 | |
| julientiron | 1:bdbf36f8408d | 352 | /** @defgroup LSM6DS0_XG Gyroscope Full scale selection CTRL_REG1_G |
| julientiron | 1:bdbf36f8408d | 353 | * @{ |
| julientiron | 1:bdbf36f8408d | 354 | */ |
| julientiron | 1:bdbf36f8408d | 355 | #define LSM6DS0_G_FS_245 ((uint8_t)0x00) /*!< Full scale: 245 dps*/ |
| julientiron | 1:bdbf36f8408d | 356 | #define LSM6DS0_G_FS_500 ((uint8_t)0x08) /*!< Full scale: 500 dps */ |
| julientiron | 1:bdbf36f8408d | 357 | #define LSM6DS0_G_FS_2000 ((uint8_t)0x18) /*!< Full scale: 2000 dps */ |
| julientiron | 1:bdbf36f8408d | 358 | |
| julientiron | 1:bdbf36f8408d | 359 | #define LSM6DS0_G_FS_MASK ((uint8_t)0x18) |
| julientiron | 1:bdbf36f8408d | 360 | |
| julientiron | 1:bdbf36f8408d | 361 | |
| julientiron | 1:bdbf36f8408d | 362 | /** @defgroup LSM6DS0_XG Gyroscope�s Z-axis output enable selection CTRL_REG4 |
| julientiron | 1:bdbf36f8408d | 363 | * @{ |
| julientiron | 1:bdbf36f8408d | 364 | */ |
| julientiron | 1:bdbf36f8408d | 365 | #define LSM6DS0_G_ZEN_DISABLE ((uint8_t)0x00) /*!< Gyroscope�s Z-axis output enable: disable */ |
| julientiron | 1:bdbf36f8408d | 366 | #define LSM6DS0_G_ZEN_ENABLE ((uint8_t)0x20) /*!< Gyroscope�s Z-axis output enable: enable */ |
| julientiron | 1:bdbf36f8408d | 367 | |
| julientiron | 1:bdbf36f8408d | 368 | #define LSM6DS0_G_ZEN_MASK ((uint8_t)0x20) |
| julientiron | 1:bdbf36f8408d | 369 | |
| julientiron | 1:bdbf36f8408d | 370 | |
| julientiron | 1:bdbf36f8408d | 371 | /** @defgroup LSM6DS0_XG Gyroscope�s Y-axis output enable selection CTRL_REG4 |
| julientiron | 1:bdbf36f8408d | 372 | * @{ |
| julientiron | 1:bdbf36f8408d | 373 | */ |
| julientiron | 1:bdbf36f8408d | 374 | #define LSM6DS0_G_YEN_DISABLE ((uint8_t)0x00) /*!< Gyroscope�s Y-axis output enable: disable */ |
| julientiron | 1:bdbf36f8408d | 375 | #define LSM6DS0_G_YEN_ENABLE ((uint8_t)0x10) /*!< Gyroscope�s Y-axis output enable: enable */ |
| julientiron | 1:bdbf36f8408d | 376 | |
| julientiron | 1:bdbf36f8408d | 377 | #define LSM6DS0_G_YEN_MASK ((uint8_t)0x10) |
| julientiron | 1:bdbf36f8408d | 378 | |
| julientiron | 1:bdbf36f8408d | 379 | |
| julientiron | 1:bdbf36f8408d | 380 | /** @defgroup LSM6DS0_XG Gyroscope�s X-axis output enable selection CTRL_REG4 |
| julientiron | 1:bdbf36f8408d | 381 | * @{ |
| julientiron | 1:bdbf36f8408d | 382 | */ |
| julientiron | 1:bdbf36f8408d | 383 | #define LSM6DS0_G_XEN_DISABLE ((uint8_t)0x00) /*!< Gyroscope�s X-axis output enable: disable */ |
| julientiron | 1:bdbf36f8408d | 384 | #define LSM6DS0_G_XEN_ENABLE ((uint8_t)0x08) /*!< Gyroscope�s X-axis output enable: enable */ |
| julientiron | 1:bdbf36f8408d | 385 | |
| julientiron | 1:bdbf36f8408d | 386 | #define LSM6DS0_G_XEN_MASK ((uint8_t)0x08) |
| julientiron | 1:bdbf36f8408d | 387 | |
| julientiron | 1:bdbf36f8408d | 388 | |
| julientiron | 1:bdbf36f8408d | 389 | /** @defgroup LSM6DS0 Gyro selftest en/dis - LSM6DS0_XG_CTRL_REG10 |
| julientiron | 1:bdbf36f8408d | 390 | * @{ |
| julientiron | 1:bdbf36f8408d | 391 | */ |
| julientiron | 1:bdbf36f8408d | 392 | #define LSM6DS0_G_ST_DISABLE ((uint8_t)0x00) /*!< Gyro selftest disable */ |
| julientiron | 1:bdbf36f8408d | 393 | #define LSM6DS0_G_ST_ENABLE ((uint8_t)0x04) /*!< Gyro selftest enable */ |
| julientiron | 1:bdbf36f8408d | 394 | |
| julientiron | 1:bdbf36f8408d | 395 | #define LSM6DS0_G_ST_MASK ((uint8_t)0x04) |
| julientiron | 1:bdbf36f8408d | 396 | |
| julientiron | 1:bdbf36f8408d | 397 | /** |
| julientiron | 1:bdbf36f8408d | 398 | * @} |
| julientiron | 1:bdbf36f8408d | 399 | */ |
| julientiron | 1:bdbf36f8408d | 400 | |
| julientiron | 1:bdbf36f8408d | 401 | |
| julientiron | 1:bdbf36f8408d | 402 | /************************************ ACCELEROMETER REGISTERS VALUE *****************************************/ |
| julientiron | 1:bdbf36f8408d | 403 | |
| julientiron | 1:bdbf36f8408d | 404 | /** @defgroup LSM6DS0_XG Accelerometer Output Data Rate selection CTRL_REG6_XL |
| julientiron | 1:bdbf36f8408d | 405 | * @{ |
| julientiron | 1:bdbf36f8408d | 406 | */ |
| julientiron | 1:bdbf36f8408d | 407 | #define LSM6DS0_XL_ODR_PD ((uint8_t)0x00) /*!< Output Data Rate: Power-down*/ |
| julientiron | 1:bdbf36f8408d | 408 | #define LSM6DS0_XL_ODR_10HZ ((uint8_t)0x20) /*!< Output Data Rate: 10 Hz*/ |
| julientiron | 1:bdbf36f8408d | 409 | #define LSM6DS0_XL_ODR_50HZ ((uint8_t)0x40) /*!< Output Data Rate: 50 Hz */ |
| julientiron | 1:bdbf36f8408d | 410 | #define LSM6DS0_XL_ODR_119HZ ((uint8_t)0x60) /*!< Output Data Rate: 119 Hz */ |
| julientiron | 1:bdbf36f8408d | 411 | #define LSM6DS0_XL_ODR_238HZ ((uint8_t)0x80) /*!< Output Data Rate: 238 Hz */ |
| julientiron | 1:bdbf36f8408d | 412 | #define LSM6DS0_XL_ODR_476HZ ((uint8_t)0xA0) /*!< Output Data Rate: 476 Hz */ |
| julientiron | 1:bdbf36f8408d | 413 | #define LSM6DS0_XL_ODR_952HZ ((uint8_t)0xC0) /*!< Output Data Rate: 952 Hz */ |
| julientiron | 1:bdbf36f8408d | 414 | |
| julientiron | 1:bdbf36f8408d | 415 | #define LSM6DS0_XL_ODR_MASK ((uint8_t)0xE0) |
| julientiron | 1:bdbf36f8408d | 416 | |
| julientiron | 1:bdbf36f8408d | 417 | |
| julientiron | 1:bdbf36f8408d | 418 | /** @defgroup LSM6DS0_XG Accelerometer Full scale selection CTRL_REG6_XL |
| julientiron | 1:bdbf36f8408d | 419 | * @{ |
| julientiron | 1:bdbf36f8408d | 420 | */ |
| julientiron | 1:bdbf36f8408d | 421 | #define LSM6DS0_XL_FS_2G ((uint8_t)0x00) /*!< Full scale: +- 2g */ |
| julientiron | 1:bdbf36f8408d | 422 | #define LSM6DS0_XL_FS_4G ((uint8_t)0x10) /*!< Full scale: +- 4g */ |
| julientiron | 1:bdbf36f8408d | 423 | #define LSM6DS0_XL_FS_8G ((uint8_t)0x18) /*!< Full scale: +- 8g */ |
| julientiron | 1:bdbf36f8408d | 424 | |
| julientiron | 1:bdbf36f8408d | 425 | #define LSM6DS0_XL_FS_MASK ((uint8_t)0x18) |
| julientiron | 1:bdbf36f8408d | 426 | |
| julientiron | 1:bdbf36f8408d | 427 | |
| julientiron | 1:bdbf36f8408d | 428 | /** @defgroup LSM6DS0_XG Accelerometer Bandwidth selection CTRL_REG6_XL |
| julientiron | 1:bdbf36f8408d | 429 | * @{ |
| julientiron | 1:bdbf36f8408d | 430 | */ |
| julientiron | 1:bdbf36f8408d | 431 | #define LSM6DS0_XL_BW_SCAL_ODR ((uint8_t)0x00) /*!< Bandwidth selection: determined by ODR: |
| julientiron | 1:bdbf36f8408d | 432 | - BW = 408Hz when ODR = 952Hz, 50Hz, 10Hz |
| julientiron | 1:bdbf36f8408d | 433 | - BW = 211Hz when ODR = 476Hz |
| julientiron | 1:bdbf36f8408d | 434 | - BW = 105Hz when ODR = 238Hz |
| julientiron | 1:bdbf36f8408d | 435 | - BW = 50Hz when ODR = 119Hz */ |
| julientiron | 1:bdbf36f8408d | 436 | #define LSM6DS0_XL_BW_SCAL_BW ((uint8_t)0x04) /*!< Bandwidth selection: selected according to Anti aliasing filter bandwidth */ |
| julientiron | 1:bdbf36f8408d | 437 | |
| julientiron | 1:bdbf36f8408d | 438 | #define LSM6DS0_XL_BW_SCAL_MASK ((uint8_t)0x04) |
| julientiron | 1:bdbf36f8408d | 439 | |
| julientiron | 1:bdbf36f8408d | 440 | |
| julientiron | 1:bdbf36f8408d | 441 | /** @defgroup LSM6DS0_XG Accelerometer Anti aliasing filter bandwidth selection CTRL_REG6_XL |
| julientiron | 1:bdbf36f8408d | 442 | * @{ |
| julientiron | 1:bdbf36f8408d | 443 | */ |
| julientiron | 1:bdbf36f8408d | 444 | #define LSM6DS0_XL_BW_408HZ ((uint8_t)0x00) /*!< Anti-aliasing filter bandwidht: 408 Hz */ |
| julientiron | 1:bdbf36f8408d | 445 | #define LSM6DS0_XL_BW_211HZ ((uint8_t)0x01) /*!< Anti-aliasing filter bandwidht: 211 Hz */ |
| julientiron | 1:bdbf36f8408d | 446 | #define LSM6DS0_XL_BW_105HZ ((uint8_t)0x02) /*!< Anti-aliasing filter bandwidht: 105 Hz */ |
| julientiron | 1:bdbf36f8408d | 447 | #define LSM6DS0_XL_BW_50HZ ((uint8_t)0x03) /*!< Anti-aliasing filter bandwidht: 50 Hz */ |
| julientiron | 1:bdbf36f8408d | 448 | |
| julientiron | 1:bdbf36f8408d | 449 | #define LSM6DS0_XL_BW_MASK ((uint8_t)0x03) |
| julientiron | 1:bdbf36f8408d | 450 | |
| julientiron | 1:bdbf36f8408d | 451 | |
| julientiron | 1:bdbf36f8408d | 452 | /** @defgroup LSM6DS0_XG Accelerometer Decimation of acceleration data selection CTRL_REG5_XL |
| julientiron | 1:bdbf36f8408d | 453 | * @{ |
| julientiron | 1:bdbf36f8408d | 454 | */ |
| julientiron | 1:bdbf36f8408d | 455 | #define LSM6DS0_XL_DEC_NO ((uint8_t)0x00) /*!< Decimation of acceleration data: no decimation */ |
| julientiron | 1:bdbf36f8408d | 456 | #define LSM6DS0_XL_DEC_EVERY_2S ((uint8_t)0x40) /*!< Decimation of acceleration data: update every 2 samples */ |
| julientiron | 1:bdbf36f8408d | 457 | #define LSM6DS0_XL_DEC_EVERY_4S ((uint8_t)0x80) /*!< Decimation of acceleration data: update every 4 samples */ |
| julientiron | 1:bdbf36f8408d | 458 | #define LSM6DS0_XL_DEC_EVERY_8S ((uint8_t)0xC0) /*!< Decimation of acceleration data: update every 8 samples */ |
| julientiron | 1:bdbf36f8408d | 459 | |
| julientiron | 1:bdbf36f8408d | 460 | #define LSM6DS0_XL_DEC_MASK ((uint8_t)0xC0) |
| julientiron | 1:bdbf36f8408d | 461 | |
| julientiron | 1:bdbf36f8408d | 462 | |
| julientiron | 1:bdbf36f8408d | 463 | /** @defgroup LSM6DS0_XG Accelerometer�s Z-axis output enable selection CTRL_REG5_XL |
| julientiron | 1:bdbf36f8408d | 464 | * @{ |
| julientiron | 1:bdbf36f8408d | 465 | */ |
| julientiron | 1:bdbf36f8408d | 466 | #define LSM6DS0_XL_ZEN_DISABLE ((uint8_t)0x00) /*!< Accelerometer�s Z-axis output enable: disable */ |
| julientiron | 1:bdbf36f8408d | 467 | #define LSM6DS0_XL_ZEN_ENABLE ((uint8_t)0x20) /*!< Accelerometer�s Z-axis output enable: enable */ |
| julientiron | 1:bdbf36f8408d | 468 | |
| julientiron | 1:bdbf36f8408d | 469 | #define LSM6DS0_XL_ZEN_MASK ((uint8_t)0x20) |
| julientiron | 1:bdbf36f8408d | 470 | |
| julientiron | 1:bdbf36f8408d | 471 | |
| julientiron | 1:bdbf36f8408d | 472 | /** @defgroup LSM6DS0_XG Accelerometer�s Y-axis output enable selection CTRL_REG5_XL |
| julientiron | 1:bdbf36f8408d | 473 | * @{ |
| julientiron | 1:bdbf36f8408d | 474 | */ |
| julientiron | 1:bdbf36f8408d | 475 | #define LSM6DS0_XL_YEN_DISABLE ((uint8_t)0x00) /*!< Accelerometer�s Y-axis output enable: disable */ |
| julientiron | 1:bdbf36f8408d | 476 | #define LSM6DS0_XL_YEN_ENABLE ((uint8_t)0x10) /*!< Accelerometer�s Y-axis output enable: enable */ |
| julientiron | 1:bdbf36f8408d | 477 | |
| julientiron | 1:bdbf36f8408d | 478 | #define LSM6DS0_XL_YEN_MASK ((uint8_t)0x10) |
| julientiron | 1:bdbf36f8408d | 479 | |
| julientiron | 1:bdbf36f8408d | 480 | |
| julientiron | 1:bdbf36f8408d | 481 | /** @defgroup LSM6DS0_XG Accelerometer�s X-axis output enable selection CTRL_REG5_XL |
| julientiron | 1:bdbf36f8408d | 482 | * @{ |
| julientiron | 1:bdbf36f8408d | 483 | */ |
| julientiron | 1:bdbf36f8408d | 484 | #define LSM6DS0_XL_XEN_DISABLE ((uint8_t)0x00) /*!< Accelerometer�s X-axis output enable: disable */ |
| julientiron | 1:bdbf36f8408d | 485 | #define LSM6DS0_XL_XEN_ENABLE ((uint8_t)0x08) /*!< Accelerometer�s X-axis output enable: enable */ |
| julientiron | 1:bdbf36f8408d | 486 | |
| julientiron | 1:bdbf36f8408d | 487 | #define LSM6DS0_XL_XEN_MASK ((uint8_t)0x08) |
| julientiron | 1:bdbf36f8408d | 488 | |
| julientiron | 1:bdbf36f8408d | 489 | /** |
| julientiron | 1:bdbf36f8408d | 490 | * @} |
| julientiron | 1:bdbf36f8408d | 491 | */ |
| julientiron | 1:bdbf36f8408d | 492 | |
| julientiron | 1:bdbf36f8408d | 493 | |
| julientiron | 1:bdbf36f8408d | 494 | /** @defgroup LSM6DS0 Accel selftest en/dis - LSM6DS0_XG_CTRL_REG10 |
| julientiron | 1:bdbf36f8408d | 495 | * @{ |
| julientiron | 1:bdbf36f8408d | 496 | */ |
| julientiron | 1:bdbf36f8408d | 497 | #define LSM6DS0_XL_ST_DISABLE ((uint8_t)0x00) /*!< Accel selftest disable */ |
| julientiron | 1:bdbf36f8408d | 498 | #define LSM6DS0_XL_ST_ENABLE ((uint8_t)0x01) /*!< Accel selftest enable */ |
| julientiron | 1:bdbf36f8408d | 499 | |
| julientiron | 1:bdbf36f8408d | 500 | #define LSM6DS0_XL_ST_MASK ((uint8_t)0x01) |
| julientiron | 1:bdbf36f8408d | 501 | |
| julientiron | 1:bdbf36f8408d | 502 | /** |
| julientiron | 1:bdbf36f8408d | 503 | * @} |
| julientiron | 1:bdbf36f8408d | 504 | */ |
| julientiron | 1:bdbf36f8408d | 505 | |
| julientiron | 1:bdbf36f8408d | 506 | |
| julientiron | 1:bdbf36f8408d | 507 | /** @defgroup LSM6DS0_Imported_Functions |
| julientiron | 1:bdbf36f8408d | 508 | * @{ |
| julientiron | 1:bdbf36f8408d | 509 | */ |
| julientiron | 1:bdbf36f8408d | 510 | |
| julientiron | 1:bdbf36f8408d | 511 | /* Six axes sensor driver structure */ |
| julientiron | 1:bdbf36f8408d | 512 | extern IMU_6AXES_DrvTypeDef LSM6DS0Drv; |
| julientiron | 1:bdbf36f8408d | 513 | |
| julientiron | 1:bdbf36f8408d | 514 | /* Six axes sensor IO functions */ |
| julientiron | 1:bdbf36f8408d | 515 | void IMU_6AXES_IO_Init(void); |
| julientiron | 1:bdbf36f8408d | 516 | void IMU_6AXES_IO_Write(uint8_t* pBuffer, uint8_t DeviceAddr, uint8_t WriteAddr, |
| julientiron | 1:bdbf36f8408d | 517 | uint16_t NumByteToWrite); |
| julientiron | 1:bdbf36f8408d | 518 | void IMU_6AXES_IO_Read(uint8_t* pBuffer, uint8_t DeviceAddr, |
| julientiron | 1:bdbf36f8408d | 519 | uint8_t RegisterAddr, uint16_t NumByteToRead); |
| julientiron | 1:bdbf36f8408d | 520 | |
| julientiron | 1:bdbf36f8408d | 521 | /** |
| julientiron | 1:bdbf36f8408d | 522 | * @} |
| julientiron | 1:bdbf36f8408d | 523 | */ |
| julientiron | 1:bdbf36f8408d | 524 | |
| julientiron | 1:bdbf36f8408d | 525 | |
| julientiron | 1:bdbf36f8408d | 526 | |
| julientiron | 1:bdbf36f8408d | 527 | /** @defgroup LSM6DS0_Exported_Functions |
| julientiron | 1:bdbf36f8408d | 528 | * @{ |
| julientiron | 1:bdbf36f8408d | 529 | */ |
| julientiron | 1:bdbf36f8408d | 530 | |
| julientiron | 1:bdbf36f8408d | 531 | /* Sensor Configuration Functions */ |
| julientiron | 1:bdbf36f8408d | 532 | void LSM6DS0_Init(IMU_6AXES_InitTypeDef *LSM6DS0_Init); |
| julientiron | 1:bdbf36f8408d | 533 | uint8_t LSM6DS0_Read_XG_ID(void); |
| julientiron | 1:bdbf36f8408d | 534 | void LSM6DS0_X_GetAxes(int32_t *pData); |
| julientiron | 1:bdbf36f8408d | 535 | void LSM6DS0_G_GetAxes(int32_t *pData); |
| julientiron | 1:bdbf36f8408d | 536 | |
| julientiron | 1:bdbf36f8408d | 537 | /** |
| julientiron | 1:bdbf36f8408d | 538 | * @} |
| julientiron | 1:bdbf36f8408d | 539 | */ |
| julientiron | 1:bdbf36f8408d | 540 | |
| julientiron | 1:bdbf36f8408d | 541 | /** |
| julientiron | 1:bdbf36f8408d | 542 | * @} |
| julientiron | 1:bdbf36f8408d | 543 | */ |
| julientiron | 1:bdbf36f8408d | 544 | |
| julientiron | 1:bdbf36f8408d | 545 | /** |
| julientiron | 1:bdbf36f8408d | 546 | * @} |
| julientiron | 1:bdbf36f8408d | 547 | */ |
| julientiron | 1:bdbf36f8408d | 548 | |
| julientiron | 1:bdbf36f8408d | 549 | #ifdef __cplusplus |
| julientiron | 1:bdbf36f8408d | 550 | } |
| julientiron | 1:bdbf36f8408d | 551 | #endif |
| julientiron | 1:bdbf36f8408d | 552 | |
| julientiron | 1:bdbf36f8408d | 553 | #endif /* __LSM6DS0_H */ |
| julientiron | 1:bdbf36f8408d | 554 | |
| julientiron | 1:bdbf36f8408d | 555 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ |
| julientiron | 1:bdbf36f8408d | 556 |