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Diff: Sensor_Shield/lsm6ds0.h
- Revision:
- 1:bdbf36f8408d
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Sensor_Shield/lsm6ds0.h Tue May 19 16:53:44 2015 +0000
@@ -0,0 +1,556 @@
+/**
+ ******************************************************************************
+ * @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_H
+#define __LSM6DS0_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "imu_6axes.h"
+
+/** @addtogroup BSP
+ * @{
+ */
+
+/** @addtogroup LSM6DS0
+ * @{
+ */
+
+/** @defgroup LSM6DS0_Exported_Constants
+ * @{
+ */
+
+
+
+/******************************************************************************/
+/*********** 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: Gyroscope�s Z-axis output enable
+ * [4] Yen_G: Gyroscope�s Y-axis output enable
+ * [3] Xen_G: Gyroscope�s 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: Accelerometer�s Z-axis output enable
+ * [4] Yen_XL: Accelerometer�s Y-axis output enable
+ * [3] Xen_XL: Accelerometer�s 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 0xD4 // SAD[0] = 0
+//#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 Gyroscope�s Z-axis output enable selection CTRL_REG4
+ * @{
+ */
+#define LSM6DS0_G_ZEN_DISABLE ((uint8_t)0x00) /*!< Gyroscope�s Z-axis output enable: disable */
+#define LSM6DS0_G_ZEN_ENABLE ((uint8_t)0x20) /*!< Gyroscope�s Z-axis output enable: enable */
+
+#define LSM6DS0_G_ZEN_MASK ((uint8_t)0x20)
+
+
+/** @defgroup LSM6DS0_XG Gyroscope�s Y-axis output enable selection CTRL_REG4
+ * @{
+ */
+#define LSM6DS0_G_YEN_DISABLE ((uint8_t)0x00) /*!< Gyroscope�s Y-axis output enable: disable */
+#define LSM6DS0_G_YEN_ENABLE ((uint8_t)0x10) /*!< Gyroscope�s Y-axis output enable: enable */
+
+#define LSM6DS0_G_YEN_MASK ((uint8_t)0x10)
+
+
+/** @defgroup LSM6DS0_XG Gyroscope�s X-axis output enable selection CTRL_REG4
+ * @{
+ */
+#define LSM6DS0_G_XEN_DISABLE ((uint8_t)0x00) /*!< Gyroscope�s X-axis output enable: disable */
+#define LSM6DS0_G_XEN_ENABLE ((uint8_t)0x08) /*!< Gyroscope�s 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 Accelerometer�s Z-axis output enable selection CTRL_REG5_XL
+ * @{
+ */
+#define LSM6DS0_XL_ZEN_DISABLE ((uint8_t)0x00) /*!< Accelerometer�s Z-axis output enable: disable */
+#define LSM6DS0_XL_ZEN_ENABLE ((uint8_t)0x20) /*!< Accelerometer�s Z-axis output enable: enable */
+
+#define LSM6DS0_XL_ZEN_MASK ((uint8_t)0x20)
+
+
+/** @defgroup LSM6DS0_XG Accelerometer�s Y-axis output enable selection CTRL_REG5_XL
+ * @{
+ */
+#define LSM6DS0_XL_YEN_DISABLE ((uint8_t)0x00) /*!< Accelerometer�s Y-axis output enable: disable */
+#define LSM6DS0_XL_YEN_ENABLE ((uint8_t)0x10) /*!< Accelerometer�s Y-axis output enable: enable */
+
+#define LSM6DS0_XL_YEN_MASK ((uint8_t)0x10)
+
+
+/** @defgroup LSM6DS0_XG Accelerometer�s X-axis output enable selection CTRL_REG5_XL
+ * @{
+ */
+#define LSM6DS0_XL_XEN_DISABLE ((uint8_t)0x00) /*!< Accelerometer�s X-axis output enable: disable */
+#define LSM6DS0_XL_XEN_ENABLE ((uint8_t)0x08) /*!< Accelerometer�s 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)
+
+/**
+ * @}
+ */
+
+
+/** @defgroup LSM6DS0_Imported_Functions
+ * @{
+ */
+
+/* Six axes sensor driver structure */
+extern IMU_6AXES_DrvTypeDef LSM6DS0Drv;
+
+/* Six axes sensor IO functions */
+void IMU_6AXES_IO_Init(void);
+void IMU_6AXES_IO_Write(uint8_t* pBuffer, uint8_t DeviceAddr, uint8_t WriteAddr,
+ uint16_t NumByteToWrite);
+void IMU_6AXES_IO_Read(uint8_t* pBuffer, uint8_t DeviceAddr,
+ uint8_t RegisterAddr, uint16_t NumByteToRead);
+
+/**
+ * @}
+ */
+
+
+
+/** @defgroup LSM6DS0_Exported_Functions
+ * @{
+ */
+
+/* Sensor Configuration Functions */
+void LSM6DS0_Init(IMU_6AXES_InitTypeDef *LSM6DS0_Init);
+uint8_t LSM6DS0_Read_XG_ID(void);
+void LSM6DS0_X_GetAxes(int32_t *pData);
+void LSM6DS0_G_GetAxes(int32_t *pData);
+
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __LSM6DS0_H */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
+