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Components/LSM6DS0/lsm6ds0.cpp@5:e2e603447679, 2015-05-21 (annotated)

Committer:: quentin9696
Date:: Thu May 21 11:21:58 2015 +0000
Revision:: 5:e2e603447679
Parent:: 0:528e23a13fb7

Who changed what in which revision?

User	Revision	Line number	New contents of line
quentin9696	0:528e23a13fb7	1	/**
quentin9696	0:528e23a13fb7	2	******************************************************************************
quentin9696	0:528e23a13fb7	3	* @file x_cube_mems_lsm6ds0.h
quentin9696	0:528e23a13fb7	4	* @author AST / EST
quentin9696	0:528e23a13fb7	5	* @version V0.0.1
quentin9696	0:528e23a13fb7	6	* @date 9-December-2014
quentin9696	0:528e23a13fb7	7	* @brief Header file for component LSM6DS0
quentin9696	0:528e23a13fb7	8	******************************************************************************
quentin9696	0:528e23a13fb7	9	* @attention
quentin9696	0:528e23a13fb7	10	*
quentin9696	0:528e23a13fb7	11	* <h2><center>© COPYRIGHT(c) 2014 STMicroelectronics</center></h2>
quentin9696	0:528e23a13fb7	12	*
quentin9696	0:528e23a13fb7	13	* Redistribution and use in source and binary forms, with or without modification,
quentin9696	0:528e23a13fb7	14	* are permitted provided that the following conditions are met:
quentin9696	0:528e23a13fb7	15	* 1. Redistributions of source code must retain the above copyright notice,
quentin9696	0:528e23a13fb7	16	* this list of conditions and the following disclaimer.
quentin9696	0:528e23a13fb7	17	* 2. Redistributions in binary form must reproduce the above copyright notice,
quentin9696	0:528e23a13fb7	18	* this list of conditions and the following disclaimer in the documentation
quentin9696	0:528e23a13fb7	19	* and/or other materials provided with the distribution.
quentin9696	0:528e23a13fb7	20	* 3. Neither the name of STMicroelectronics nor the names of its contributors
quentin9696	0:528e23a13fb7	21	* may be used to endorse or promote products derived from this software
quentin9696	0:528e23a13fb7	22	* without specific prior written permission.
quentin9696	0:528e23a13fb7	23	*
quentin9696	0:528e23a13fb7	24	* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
quentin9696	0:528e23a13fb7	25	* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
quentin9696	0:528e23a13fb7	26	* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
quentin9696	0:528e23a13fb7	27	* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
quentin9696	0:528e23a13fb7	28	* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
quentin9696	0:528e23a13fb7	29	* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
quentin9696	0:528e23a13fb7	30	* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
quentin9696	0:528e23a13fb7	31	* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
quentin9696	0:528e23a13fb7	32	* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
quentin9696	0:528e23a13fb7	33	* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
quentin9696	0:528e23a13fb7	34	*
quentin9696	0:528e23a13fb7	35	******************************************************************************
quentin9696	0:528e23a13fb7	36	*/
quentin9696	0:528e23a13fb7	37
quentin9696	0:528e23a13fb7	38	/* Includes ------------------------------------------------------------------*/
quentin9696	0:528e23a13fb7	39	#include "mbed.h"
quentin9696	0:528e23a13fb7	40	#include "lsm6ds0.h"
quentin9696	0:528e23a13fb7	41	#include "lsm6ds0_platform.h"
quentin9696	0:528e23a13fb7	42	#include <math.h>
quentin9696	0:528e23a13fb7	43
quentin9696	0:528e23a13fb7	44	/* Methods -------------------------------------------------------------------*/
quentin9696	0:528e23a13fb7	45
quentin9696	0:528e23a13fb7	46	/**
quentin9696	0:528e23a13fb7	47	* @brief Read data from LSM6DS0 Gyroscope and calculate angular rate in mdps.
quentin9696	0:528e23a13fb7	48	* @param float *pfData
quentin9696	0:528e23a13fb7	49	* @retval None.
quentin9696	0:528e23a13fb7	50	*/
quentin9696	0:528e23a13fb7	51	void LSM6DS0::Gyro_GetAxes(AxesRaw_TypeDef *pData)
quentin9696	0:528e23a13fb7	52	{
quentin9696	0:528e23a13fb7	53
quentin9696	0:528e23a13fb7	54	uint8_t tempReg = 0x00;
quentin9696	0:528e23a13fb7	55	int16_t pDataRaw[3];
quentin9696	0:528e23a13fb7	56	float sensitivity = 0;
quentin9696	0:528e23a13fb7	57	int ret;
quentin9696	0:528e23a13fb7	58
quentin9696	0:528e23a13fb7	59	LSM6DS0::Gyro_GetAxesRaw(pDataRaw);
quentin9696	0:528e23a13fb7	60
quentin9696	0:528e23a13fb7	61	//IMU_6AXES_IO_Read(&tempReg, LSM6DS0_XG_MEMS_ADDRESS, LSM6DS0_XG_CTRL_REG1_G, 1);
quentin9696	0:528e23a13fb7	62	ret = dev_i2c.i2c_read(&tempReg, LSM6DS0_XG_MEMS_ADDRESS, LSM6DS0_XG_CTRL_REG1_G, 1);
quentin9696	0:528e23a13fb7	63
quentin9696	0:528e23a13fb7	64	if (ret == 0)
quentin9696	0:528e23a13fb7	65	{
quentin9696	0:528e23a13fb7	66	tempReg &= LSM6DS0_G_FS_MASK;
quentin9696	0:528e23a13fb7	67
quentin9696	0:528e23a13fb7	68	switch(tempReg)
quentin9696	0:528e23a13fb7	69	{
quentin9696	0:528e23a13fb7	70	case LSM6DS0_G_FS_245:
quentin9696	0:528e23a13fb7	71	sensitivity = 8.75;
quentin9696	0:528e23a13fb7	72	break;
quentin9696	0:528e23a13fb7	73	case LSM6DS0_G_FS_500:
quentin9696	0:528e23a13fb7	74	sensitivity = 17.50;
quentin9696	0:528e23a13fb7	75	break;
quentin9696	0:528e23a13fb7	76	case LSM6DS0_G_FS_2000:
quentin9696	0:528e23a13fb7	77	sensitivity = 70;
quentin9696	0:528e23a13fb7	78	break;
quentin9696	0:528e23a13fb7	79	}
quentin9696	0:528e23a13fb7	80	}
quentin9696	0:528e23a13fb7	81
quentin9696	0:528e23a13fb7	82	pData->AXIS_X = (int32_t)(pDataRaw[0] * sensitivity);
quentin9696	0:528e23a13fb7	83	pData->AXIS_Y = (int32_t)(pDataRaw[1] * sensitivity);
quentin9696	0:528e23a13fb7	84	pData->AXIS_Z = (int32_t)(pDataRaw[2] * sensitivity);
quentin9696	0:528e23a13fb7	85	}
quentin9696	0:528e23a13fb7	86
quentin9696	0:528e23a13fb7	87
quentin9696	0:528e23a13fb7	88	/**
quentin9696	0:528e23a13fb7	89	* @brief Read raw data from LSM6DS0 Gyroscope output register.
quentin9696	0:528e23a13fb7	90	* @param float *pfData
quentin9696	0:528e23a13fb7	91	* @retval None.
quentin9696	0:528e23a13fb7	92	*/
quentin9696	0:528e23a13fb7	93	void LSM6DS0::Gyro_GetAxesRaw(int16_t *pData)
quentin9696	0:528e23a13fb7	94	{
quentin9696	0:528e23a13fb7	95	uint8_t tempReg[2] = {0,0};
quentin9696	0:528e23a13fb7	96	int ret;
quentin9696	0:528e23a13fb7	97
quentin9696	0:528e23a13fb7	98	pData[0] = pData[1] = pData[2] = 0;
quentin9696	0:528e23a13fb7	99
quentin9696	0:528e23a13fb7	100	//IMU_6AXES_IO_Read(&tempReg[0], LSM6DS0_XG_MEMS_ADDRESS, LSM6DS0_XG_OUT_X_L_G + 0x80, 2);
quentin9696	0:528e23a13fb7	101	ret = dev_i2c.i2c_read(&tempReg[0], LSM6DS0_XG_MEMS_ADDRESS, LSM6DS0_XG_OUT_X_L_G + 0x80, 2);
quentin9696	0:528e23a13fb7	102
quentin9696	0:528e23a13fb7	103	if (ret == 0)
quentin9696	0:528e23a13fb7	104	{
quentin9696	0:528e23a13fb7	105	pData[0] = ((((int16_t)tempReg[1]) << 8)+(int16_t)tempReg[0]);
quentin9696	0:528e23a13fb7	106
quentin9696	0:528e23a13fb7	107	//IMU_6AXES_IO_Read(&tempReg[0], LSM6DS0_XG_MEMS_ADDRESS, LSM6DS0_XG_OUT_Y_L_G + 0x80, 2);
quentin9696	0:528e23a13fb7	108	ret = dev_i2c.i2c_read(&tempReg[0], LSM6DS0_XG_MEMS_ADDRESS, LSM6DS0_XG_OUT_Y_L_G + 0x80, 2);
quentin9696	0:528e23a13fb7	109	}
quentin9696	0:528e23a13fb7	110
quentin9696	0:528e23a13fb7	111	if (ret == 0)
quentin9696	0:528e23a13fb7	112	{
quentin9696	0:528e23a13fb7	113	pData[1] = ((((int16_t)tempReg[1]) << 8)+(int16_t)tempReg[0]);
quentin9696	0:528e23a13fb7	114
quentin9696	0:528e23a13fb7	115	//IMU_6AXES_IO_Read(&tempReg[0], LSM6DS0_XG_MEMS_ADDRESS, LSM6DS0_XG_OUT_Z_L_G + 0x80, 2);
quentin9696	0:528e23a13fb7	116	ret = dev_i2c.i2c_read(&tempReg[0], LSM6DS0_XG_MEMS_ADDRESS, LSM6DS0_XG_OUT_Z_L_G + 0x80, 2);
quentin9696	0:528e23a13fb7	117	}
quentin9696	0:528e23a13fb7	118
quentin9696	0:528e23a13fb7	119	if (ret == 0)
quentin9696	0:528e23a13fb7	120	{
quentin9696	0:528e23a13fb7	121	pData[2] = ((((int16_t)tempReg[1]) << 8)+(int16_t)tempReg[0]);
quentin9696	0:528e23a13fb7	122	}
quentin9696	0:528e23a13fb7	123	}
quentin9696	0:528e23a13fb7	124
quentin9696	0:528e23a13fb7	125
quentin9696	0:528e23a13fb7	126	/**
quentin9696	0:528e23a13fb7	127	* @brief Read data from LSM6DS0 Accelerometer and calculate linear acceleration in mg.
quentin9696	0:528e23a13fb7	128	* @param float *pfData
quentin9696	0:528e23a13fb7	129	* @retval None.
quentin9696	0:528e23a13fb7	130	*/
quentin9696	0:528e23a13fb7	131	void LSM6DS0::Acc_GetAxes(AxesRaw_TypeDef *pData)
quentin9696	0:528e23a13fb7	132	{
quentin9696	0:528e23a13fb7	133	uint8_t tempReg = 0x00;
quentin9696	0:528e23a13fb7	134	int16_t pDataRaw[3];
quentin9696	0:528e23a13fb7	135	float sensitivity = 0;
quentin9696	0:528e23a13fb7	136	int ret;
quentin9696	0:528e23a13fb7	137
quentin9696	0:528e23a13fb7	138	Acc_GetAxesRaw(pDataRaw);
quentin9696	0:528e23a13fb7	139
quentin9696	0:528e23a13fb7	140	//IMU_6AXES_IO_Read(&tempReg, LSM6DS0_XG_MEMS_ADDRESS, LSM6DS0_XG_CTRL_REG6_XL, 1);
quentin9696	0:528e23a13fb7	141	ret = dev_i2c.i2c_read(&tempReg, LSM6DS0_XG_MEMS_ADDRESS, LSM6DS0_XG_CTRL_REG6_XL, 1);
quentin9696	0:528e23a13fb7	142
quentin9696	0:528e23a13fb7	143	if (ret == 0)
quentin9696	0:528e23a13fb7	144	{
quentin9696	0:528e23a13fb7	145	tempReg &= LSM6DS0_XL_FS_MASK;
quentin9696	0:528e23a13fb7	146
quentin9696	0:528e23a13fb7	147	switch(tempReg)
quentin9696	0:528e23a13fb7	148	{
quentin9696	0:528e23a13fb7	149	case LSM6DS0_XL_FS_2G:
quentin9696	0:528e23a13fb7	150	sensitivity = 0.061;
quentin9696	0:528e23a13fb7	151	break;
quentin9696	0:528e23a13fb7	152	case LSM6DS0_XL_FS_4G:
quentin9696	0:528e23a13fb7	153	sensitivity = 0.122;
quentin9696	0:528e23a13fb7	154	break;
quentin9696	0:528e23a13fb7	155	case LSM6DS0_XL_FS_8G:
quentin9696	0:528e23a13fb7	156	sensitivity = 0.244;
quentin9696	0:528e23a13fb7	157	break;
quentin9696	0:528e23a13fb7	158	}
quentin9696	0:528e23a13fb7	159	}
quentin9696	0:528e23a13fb7	160
quentin9696	0:528e23a13fb7	161	pData->AXIS_X = (int32_t)(pDataRaw[0] * sensitivity);
quentin9696	0:528e23a13fb7	162	pData->AXIS_Y = (int32_t)(pDataRaw[1] * sensitivity);
quentin9696	0:528e23a13fb7	163	pData->AXIS_Z = (int32_t)(pDataRaw[2] * sensitivity);
quentin9696	0:528e23a13fb7	164
quentin9696	0:528e23a13fb7	165	}
quentin9696	0:528e23a13fb7	166
quentin9696	0:528e23a13fb7	167	/**
quentin9696	0:528e23a13fb7	168	* @brief Read raw data from LSM6DS0 Accelerometer output register.
quentin9696	0:528e23a13fb7	169	* @param float *pfData
quentin9696	0:528e23a13fb7	170	* @retval None.
quentin9696	0:528e23a13fb7	171	*/
quentin9696	0:528e23a13fb7	172	void LSM6DS0::Acc_GetAxesRaw(int16_t *pData)
quentin9696	0:528e23a13fb7	173	{
quentin9696	0:528e23a13fb7	174	uint8_t tempReg[2] = {0,0};
quentin9696	0:528e23a13fb7	175	int ret;
quentin9696	0:528e23a13fb7	176
quentin9696	0:528e23a13fb7	177	pData[0] = pData[1] = pData[2] = 0;
quentin9696	0:528e23a13fb7	178
quentin9696	0:528e23a13fb7	179	//IMU_6AXES_IO_Read(&tempReg[0], LSM6DS0_XG_MEMS_ADDRESS, LSM6DS0_XG_OUT_X_L_XL + 0x80, 2);
quentin9696	0:528e23a13fb7	180	ret = dev_i2c.i2c_read(&tempReg[0], LSM6DS0_XG_MEMS_ADDRESS, LSM6DS0_XG_OUT_X_L_XL + 0x80, 2);
quentin9696	0:528e23a13fb7	181
quentin9696	0:528e23a13fb7	182	if (ret == 0)
quentin9696	0:528e23a13fb7	183	{
quentin9696	0:528e23a13fb7	184	pData[0] = ((((int16_t)tempReg[1]) << 8)+(int16_t)tempReg[0]);
quentin9696	0:528e23a13fb7	185
quentin9696	0:528e23a13fb7	186	//IMU_6AXES_IO_Read(&tempReg[0], LSM6DS0_XG_MEMS_ADDRESS, LSM6DS0_XG_OUT_Y_L_XL + 0x80, 2);
quentin9696	0:528e23a13fb7	187	ret = dev_i2c.i2c_read(&tempReg[0], LSM6DS0_XG_MEMS_ADDRESS, LSM6DS0_XG_OUT_Y_L_XL + 0x80, 2);
quentin9696	0:528e23a13fb7	188	}
quentin9696	0:528e23a13fb7	189
quentin9696	0:528e23a13fb7	190	if (ret == 0)
quentin9696	0:528e23a13fb7	191	{
quentin9696	0:528e23a13fb7	192	pData[1] = ((((int16_t)tempReg[1]) << 8)+(int16_t)tempReg[0]);
quentin9696	0:528e23a13fb7	193
quentin9696	0:528e23a13fb7	194	//IMU_6AXES_IO_Read(&tempReg[0], LSM6DS0_XG_MEMS_ADDRESS, LSM6DS0_XG_OUT_Z_L_XL + 0x80, 2);
quentin9696	0:528e23a13fb7	195	ret = dev_i2c.i2c_read(&tempReg[0], LSM6DS0_XG_MEMS_ADDRESS, LSM6DS0_XG_OUT_Z_L_XL + 0x80, 2);
quentin9696	0:528e23a13fb7	196	}
quentin9696	0:528e23a13fb7	197
quentin9696	0:528e23a13fb7	198	if (ret == 0)
quentin9696	0:528e23a13fb7	199	{
quentin9696	0:528e23a13fb7	200	pData[2] = ((((int16_t)tempReg[1]) << 8)+(int16_t)tempReg[0]);
quentin9696	0:528e23a13fb7	201	}
quentin9696	0:528e23a13fb7	202	}
quentin9696	0:528e23a13fb7	203
quentin9696	0:528e23a13fb7	204	/**
quentin9696	0:528e23a13fb7	205	* @brief Read ID address of HTS221
quentin9696	0:528e23a13fb7	206	* @param Device ID address
quentin9696	0:528e23a13fb7	207	* @retval ID name
quentin9696	0:528e23a13fb7	208	*/
quentin9696	0:528e23a13fb7	209	uint8_t LSM6DS0::ReadID(void)
quentin9696	0:528e23a13fb7	210	{
quentin9696	0:528e23a13fb7	211	uint8_t tmp=0x00;
quentin9696	0:528e23a13fb7	212	int ret;
quentin9696	0:528e23a13fb7	213
quentin9696	0:528e23a13fb7	214	/* Read WHO I AM register */
quentin9696	0:528e23a13fb7	215	//IMU_6AXES_IO_Read(&tmp, LSM6DS0_XG_MEMS_ADDRESS, LSM6DS0_XG_WHO_AM_I_ADDR, 1);
quentin9696	0:528e23a13fb7	216	ret = dev_i2c.i2c_read(&tmp, LSM6DS0_XG_MEMS_ADDRESS, LSM6DS0_XG_WHO_AM_I_ADDR, 1);
quentin9696	0:528e23a13fb7	217
quentin9696	0:528e23a13fb7	218	/* Return the ID */
quentin9696	0:528e23a13fb7	219	return ((ret == 0) ? (uint8_t)tmp : 0);
quentin9696	0:528e23a13fb7	220	}
quentin9696	0:528e23a13fb7	221
quentin9696	0:528e23a13fb7	222	/**
quentin9696	0:528e23a13fb7	223	* @brief Set LSM6DS0 Initialization.
quentin9696	0:528e23a13fb7	224	* @param InitStruct: it contains the configuration setting for the LSM6DS0.
quentin9696	0:528e23a13fb7	225	* @retval None
quentin9696	0:528e23a13fb7	226	*/
quentin9696	0:528e23a13fb7	227	void LSM6DS0::Init() {
quentin9696	0:528e23a13fb7	228
quentin9696	0:528e23a13fb7	229	uint8_t tmp1 = 0x00;
quentin9696	0:528e23a13fb7	230	int ret;
quentin9696	0:528e23a13fb7	231
quentin9696	0:528e23a13fb7	232	/***** Gyroscope init *****/
quentin9696	0:528e23a13fb7	233
quentin9696	0:528e23a13fb7	234	//IMU_6AXES_IO_Read(&tmp1, LSM6DS0_XG_MEMS_ADDRESS, LSM6DS0_XG_CTRL_REG1_G, 1);
quentin9696	0:528e23a13fb7	235	ret = dev_i2c.i2c_read(&tmp1, LSM6DS0_XG_MEMS_ADDRESS, LSM6DS0_XG_CTRL_REG1_G, 1);
quentin9696	0:528e23a13fb7	236
quentin9696	0:528e23a13fb7	237	if (ret == 0)
quentin9696	0:528e23a13fb7	238	{
quentin9696	0:528e23a13fb7	239	/* Output Data Rate selection */
quentin9696	0:528e23a13fb7	240	tmp1 &= ~(LSM6DS0_G_ODR_MASK);
quentin9696	0:528e23a13fb7	241	tmp1 \|= LSM6DS0_G_ODR_119HZ;
quentin9696	0:528e23a13fb7	242
quentin9696	0:528e23a13fb7	243	/* Full scale selection */
quentin9696	0:528e23a13fb7	244	tmp1 &= ~(LSM6DS0_G_FS_MASK);
quentin9696	0:528e23a13fb7	245	tmp1 \|= LSM6DS0_G_FS_2000;
quentin9696	0:528e23a13fb7	246
quentin9696	0:528e23a13fb7	247	//IMU_6AXES_IO_Write(&tmp1, LSM6DS0_XG_MEMS_ADDRESS, LSM6DS0_XG_CTRL_REG1_G, 1);
quentin9696	0:528e23a13fb7	248	ret = dev_i2c.i2c_write(&tmp1, LSM6DS0_XG_MEMS_ADDRESS, LSM6DS0_XG_CTRL_REG1_G, 1);
quentin9696	0:528e23a13fb7	249	}
quentin9696	0:528e23a13fb7	250
quentin9696	0:528e23a13fb7	251	if (ret == 0)
quentin9696	0:528e23a13fb7	252	{
quentin9696	0:528e23a13fb7	253	//IMU_6AXES_IO_Read(&tmp1, LSM6DS0_XG_MEMS_ADDRESS, LSM6DS0_XG_CTRL_REG4, 1);
quentin9696	0:528e23a13fb7	254	ret = dev_i2c.i2c_read(&tmp1, LSM6DS0_XG_MEMS_ADDRESS, LSM6DS0_XG_CTRL_REG4, 1);
quentin9696	0:528e23a13fb7	255	}
quentin9696	0:528e23a13fb7	256
quentin9696	0:528e23a13fb7	257	if (ret == 0)
quentin9696	0:528e23a13fb7	258	{
quentin9696	0:528e23a13fb7	259	/* Enable X axis selection */
quentin9696	0:528e23a13fb7	260	tmp1 &= ~(LSM6DS0_G_XEN_MASK);
quentin9696	0:528e23a13fb7	261	tmp1 \|= LSM6DS0_G_XEN_ENABLE;
quentin9696	0:528e23a13fb7	262
quentin9696	0:528e23a13fb7	263	/* Enable Y axis selection */
quentin9696	0:528e23a13fb7	264	tmp1 &= ~(LSM6DS0_G_YEN_MASK);
quentin9696	0:528e23a13fb7	265	tmp1 \|= LSM6DS0_G_YEN_ENABLE;
quentin9696	0:528e23a13fb7	266
quentin9696	0:528e23a13fb7	267	/* Enable Z axis selection */
quentin9696	0:528e23a13fb7	268	tmp1 &= ~(LSM6DS0_G_ZEN_MASK);
quentin9696	0:528e23a13fb7	269	tmp1 \|= LSM6DS0_G_ZEN_ENABLE;
quentin9696	0:528e23a13fb7	270
quentin9696	0:528e23a13fb7	271	//IMU_6AXES_IO_Write(&tmp1, LSM6DS0_XG_MEMS_ADDRESS, LSM6DS0_XG_CTRL_REG4, 1);
quentin9696	0:528e23a13fb7	272	ret = dev_i2c.i2c_write(&tmp1, LSM6DS0_XG_MEMS_ADDRESS, LSM6DS0_XG_CTRL_REG4, 1);
quentin9696	0:528e23a13fb7	273	}
quentin9696	0:528e23a13fb7	274
quentin9696	0:528e23a13fb7	275	/******************************/
quentin9696	0:528e23a13fb7	276	/*** Accelerometer init ***/
quentin9696	0:528e23a13fb7	277	if (ret == 0)
quentin9696	0:528e23a13fb7	278	{
quentin9696	0:528e23a13fb7	279	//IMU_6AXES_IO_Read(&tmp1, LSM6DS0_XG_MEMS_ADDRESS, LSM6DS0_XG_CTRL_REG6_XL, 1);
quentin9696	0:528e23a13fb7	280	ret = dev_i2c.i2c_read(&tmp1, LSM6DS0_XG_MEMS_ADDRESS, LSM6DS0_XG_CTRL_REG6_XL, 1);
quentin9696	0:528e23a13fb7	281	}
quentin9696	0:528e23a13fb7	282
quentin9696	0:528e23a13fb7	283	if (ret == 0)
quentin9696	0:528e23a13fb7	284	{
quentin9696	0:528e23a13fb7	285	/* Output Data Rate selection */
quentin9696	0:528e23a13fb7	286	tmp1 &= ~(LSM6DS0_XL_ODR_MASK);
quentin9696	0:528e23a13fb7	287	tmp1 \|= LSM6DS0_XL_ODR_119HZ;
quentin9696	0:528e23a13fb7	288
quentin9696	0:528e23a13fb7	289	/* Full scale selection */
quentin9696	0:528e23a13fb7	290	tmp1 &= ~(LSM6DS0_XL_FS_MASK);
quentin9696	0:528e23a13fb7	291	tmp1 \|= LSM6DS0_XL_FS_2G;
quentin9696	0:528e23a13fb7	292
quentin9696	0:528e23a13fb7	293	//IMU_6AXES_IO_Write(&tmp1, LSM6DS0_XG_MEMS_ADDRESS, LSM6DS0_XG_CTRL_REG6_XL, 1);
quentin9696	0:528e23a13fb7	294	ret = dev_i2c.i2c_write(&tmp1, LSM6DS0_XG_MEMS_ADDRESS, LSM6DS0_XG_CTRL_REG6_XL, 1);
quentin9696	0:528e23a13fb7	295	}
quentin9696	0:528e23a13fb7	296
quentin9696	0:528e23a13fb7	297	if (ret == 0)
quentin9696	0:528e23a13fb7	298	{
quentin9696	0:528e23a13fb7	299	//IMU_6AXES_IO_Read(&tmp1, LSM6DS0_XG_MEMS_ADDRESS, LSM6DS0_XG_CTRL_REG5_XL, 1);
quentin9696	0:528e23a13fb7	300	ret = dev_i2c.i2c_read(&tmp1, LSM6DS0_XG_MEMS_ADDRESS, LSM6DS0_XG_CTRL_REG5_XL, 1);
quentin9696	0:528e23a13fb7	301	}
quentin9696	0:528e23a13fb7	302
quentin9696	0:528e23a13fb7	303	if (ret == 0)
quentin9696	0:528e23a13fb7	304	{
quentin9696	0:528e23a13fb7	305	/* Enable X axis selection */
quentin9696	0:528e23a13fb7	306	tmp1 &= ~(LSM6DS0_XL_XEN_MASK);
quentin9696	0:528e23a13fb7	307	tmp1 \|= LSM6DS0_XL_XEN_ENABLE;
quentin9696	0:528e23a13fb7	308
quentin9696	0:528e23a13fb7	309	/* Enable Y axis selection */
quentin9696	0:528e23a13fb7	310	tmp1 &= ~(LSM6DS0_XL_YEN_MASK);
quentin9696	0:528e23a13fb7	311	tmp1 \|= LSM6DS0_XL_YEN_ENABLE;
quentin9696	0:528e23a13fb7	312
quentin9696	0:528e23a13fb7	313	/* Enable Z axis selection */
quentin9696	0:528e23a13fb7	314	tmp1 &= ~(LSM6DS0_XL_ZEN_MASK);
quentin9696	0:528e23a13fb7	315	tmp1 \|= LSM6DS0_XL_ZEN_ENABLE;
quentin9696	0:528e23a13fb7	316
quentin9696	0:528e23a13fb7	317	//IMU_6AXES_IO_Write(&tmp1, LSM6DS0_XG_MEMS_ADDRESS, LSM6DS0_XG_CTRL_REG5_XL, 1);
quentin9696	0:528e23a13fb7	318	ret = dev_i2c.i2c_write(&tmp1, LSM6DS0_XG_MEMS_ADDRESS, LSM6DS0_XG_CTRL_REG5_XL, 1);
quentin9696	0:528e23a13fb7	319	}
quentin9696	0:528e23a13fb7	320	/******************************/
quentin9696	0:528e23a13fb7	321
quentin9696	0:528e23a13fb7	322	if (ret == 0)
quentin9696	0:528e23a13fb7	323	{
quentin9696	0:528e23a13fb7	324	if(ReadID() == I_AM_LSM6DS0_XG)
quentin9696	0:528e23a13fb7	325	{
quentin9696	0:528e23a13fb7	326	LSM6DS0Initialized = 1;
quentin9696	0:528e23a13fb7	327	//ret = HUM_TEMP_OK;
quentin9696	0:528e23a13fb7	328	}
quentin9696	0:528e23a13fb7	329	}
quentin9696	0:528e23a13fb7	330
quentin9696	0:528e23a13fb7	331	return;
quentin9696	0:528e23a13fb7	332	}

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Type:	Program
Created:	27 Sep 2015
Imports:	2
Forks:	0
Commits:	6
Dependents:	2
Dependencies:	0
Followers:	10

Components/LSM6DS0/lsm6ds0.cpp@5:e2e603447679, 2015-05-21 (annotated)

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