Diff: Drivers/BSP/Components/lsm6dsl/lsm6dsl.c

Revision:

4:137bb367ba50

Child:

7:bfe8272ced90

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Drivers/BSP/Components/lsm6dsl/lsm6dsl.c	Fri Apr 14 13:09:54 2017 +0200
@@ -0,0 +1,394 @@
+/**
+ ******************************************************************************
+ * @file    lsm6dsl.c
+ * @author  MCD Application Team
+ * @version V1.0.0
+ * @date    14-February-2017
+ * @brief   This file provides a set of functions needed to manage the LSM6DSL
+ *          accelero and gyro devices
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>&copy; COPYRIGHT(c) 2017 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 "lsm6dsl.h"
+
+/** @addtogroup BSP
+  * @{
+  */
+
+/** @addtogroup Component
+  * @{
+  */
+
+/** @defgroup LSM6DSL LSM6DSL
+  * @{
+  */
+
+/** @defgroup LSM6DSL_Private_Variables LSM6DSL Private Variables
+  * @{
+  */ 
+ACCELERO_DrvTypeDef Lsm6dslAccDrv =
+{
+  LSM6DSL_AccInit,
+  LSM6DSL_AccDeInit,
+  LSM6DSL_AccReadID,
+  0,
+  LSM6DSL_AccLowPower,
+  0,
+  0,
+  0,
+  0,
+  0,
+  0,
+  0,
+  LSM6DSL_AccReadXYZ
+};
+
+GYRO_DrvTypeDef Lsm6dslGyroDrv =
+{
+  LSM6DSL_GyroInit,
+  LSM6DSL_GyroDeInit,
+  LSM6DSL_GyroReadID,
+  0,
+  LSM6DSL_GyroLowPower,
+  0,
+  0,
+  0,
+  0,
+  0,
+  0,
+  0,
+  LSM6DSL_GyroReadXYZAngRate
+};
+/**
+  * @}
+  */ 
+
+/** @defgroup LSM6DSL_ACC_Private_Functions LSM6DSL ACC Private Functions
+  * @{
+  */
+/**
+  * @brief  Set LSM6DSL Accelerometer Initialization.
+  * @param  InitStruct: Init parameters
+  */
+void LSM6DSL_AccInit(uint16_t InitStruct)
+{  
+  uint8_t ctrl = 0x00;
+  uint8_t tmp;
+
+  /* Read CTRL1_XL */
+  tmp = SENSOR_IO_Read(LSM6DSL_ACC_GYRO_I2C_ADDRESS_LOW, LSM6DSL_ACC_GYRO_CTRL1_XL);
+
+  /* Write value to ACC MEMS CTRL1_XL register: FS and Data Rate */
+  ctrl = (uint8_t) InitStruct;
+  tmp &= ~(0xFC);
+  tmp |= ctrl;
+  SENSOR_IO_Write(LSM6DSL_ACC_GYRO_I2C_ADDRESS_LOW, LSM6DSL_ACC_GYRO_CTRL1_XL, tmp);
+
+  /* Read CTRL3_C */
+  tmp = SENSOR_IO_Read(LSM6DSL_ACC_GYRO_I2C_ADDRESS_LOW, LSM6DSL_ACC_GYRO_CTRL3_C);
+
+  /* Write value to ACC MEMS CTRL3_C register: BDU and Auto-increment */
+  ctrl = ((uint8_t) (InitStruct >> 8));
+  tmp &= ~(0x44);
+  tmp |= ctrl; 
+  SENSOR_IO_Write(LSM6DSL_ACC_GYRO_I2C_ADDRESS_LOW, LSM6DSL_ACC_GYRO_CTRL3_C, tmp);
+}
+
+/**
+  * @brief  LSM6DSL Accelerometer De-initialization.
+  */
+void LSM6DSL_AccDeInit(void)
+{
+  uint8_t ctrl = 0x00;
+  
+  /* Read control register 1 value */
+  ctrl = SENSOR_IO_Read(LSM6DSL_ACC_GYRO_I2C_ADDRESS_LOW, LSM6DSL_ACC_GYRO_CTRL1_XL);
+
+  /* Clear ODR bits */
+  ctrl &= ~(LSM6DSL_ODR_BITPOSITION);
+
+  /* Set Power down */
+  ctrl |= LSM6DSL_ODR_POWER_DOWN;
+  
+  /* write back control register */
+  SENSOR_IO_Write(LSM6DSL_ACC_GYRO_I2C_ADDRESS_LOW, LSM6DSL_ACC_GYRO_CTRL1_XL, ctrl);
+}
+
+/**
+  * @brief  Read LSM6DSL ID.
+  * @retval ID 
+  */
+uint8_t LSM6DSL_AccReadID(void)
+{  
+  /* IO interface initialization */
+  SENSOR_IO_Init();
+  /* Read value at Who am I register address */
+  return (SENSOR_IO_Read(LSM6DSL_ACC_GYRO_I2C_ADDRESS_LOW, LSM6DSL_ACC_GYRO_WHO_AM_I_REG));
+}
+
+/**
+  * @brief  Set/Unset Accelerometer in low power mode.
+  * @param  status 0 means disable Low Power Mode, otherwise Low Power Mode is enabled
+  */
+void LSM6DSL_AccLowPower(uint16_t status)
+{
+  uint8_t ctrl = 0x00;
+  
+  /* Read CTRL6_C value */
+  ctrl = SENSOR_IO_Read(LSM6DSL_ACC_GYRO_I2C_ADDRESS_LOW, LSM6DSL_ACC_GYRO_CTRL6_C);
+
+  /* Clear Low Power Mode bit */
+  ctrl &= ~(0x10);
+
+  /* Set Low Power Mode */
+  if(status)
+  {
+    ctrl |= LSM6DSL_ACC_GYRO_LP_XL_ENABLED;
+  }else
+  {
+    ctrl |= LSM6DSL_ACC_GYRO_LP_XL_DISABLED;
+  }
+  
+  /* write back control register */
+  SENSOR_IO_Write(LSM6DSL_ACC_GYRO_I2C_ADDRESS_LOW, LSM6DSL_ACC_GYRO_CTRL6_C, ctrl);
+}
+
+/**
+  * @brief  Read X, Y & Z Acceleration values 
+  * @param  pData: Data out pointer
+  */
+void LSM6DSL_AccReadXYZ(int16_t* pData)
+{
+  int16_t pnRawData[3];
+  uint8_t ctrlx= 0;
+  uint8_t buffer[6];
+  uint8_t i = 0;
+  float sensitivity = 0;
+  
+  /* Read the acceleration control register content */
+  ctrlx = SENSOR_IO_Read(LSM6DSL_ACC_GYRO_I2C_ADDRESS_LOW, LSM6DSL_ACC_GYRO_CTRL1_XL);
+  
+  /* Read output register X, Y & Z acceleration */
+  SENSOR_IO_ReadMultiple(LSM6DSL_ACC_GYRO_I2C_ADDRESS_LOW, LSM6DSL_ACC_GYRO_OUTX_L_XL, buffer, 6);
+  
+  for(i=0; i<3; i++)
+  {
+    pnRawData[i]=((((uint16_t)buffer[2*i+1]) << 8) + (uint16_t)buffer[2*i]);
+  }
+  
+  /* Normal mode */
+  /* Switch the sensitivity value set in the CRTL1_XL */
+  switch(ctrlx & 0x0C)
+  {
+  case LSM6DSL_ACC_FULLSCALE_2G:
+    sensitivity = LSM6DSL_ACC_SENSITIVITY_2G;
+    break;
+  case LSM6DSL_ACC_FULLSCALE_4G:
+    sensitivity = LSM6DSL_ACC_SENSITIVITY_4G;
+    break;
+  case LSM6DSL_ACC_FULLSCALE_8G:
+    sensitivity = LSM6DSL_ACC_SENSITIVITY_8G;
+    break;
+  case LSM6DSL_ACC_FULLSCALE_16G:
+    sensitivity = LSM6DSL_ACC_SENSITIVITY_16G;
+    break;    
+  }
+  
+  /* Obtain the mg value for the three axis */
+  for(i=0; i<3; i++)
+  {
+    pData[i]=( int16_t )(pnRawData[i] * sensitivity);
+  }
+}
+
+/**
+  * @}
+  */ 
+
+/** @defgroup LSM6DSL_GYRO_Private_Functions LSM6DSL GYRO Private Functions
+  * @{
+  */
+
+/**
+  * @brief  Set LSM6DSL Gyroscope Initialization.
+  * @param  InitStruct: pointer to a LSM6DSL_InitTypeDef structure 
+  *         that contains the configuration setting for the LSM6DSL.
+  */
+void LSM6DSL_GyroInit(uint16_t InitStruct)
+{  
+  uint8_t ctrl = 0x00;
+  uint8_t tmp;
+
+  /* Read CTRL2_G */
+  tmp = SENSOR_IO_Read(LSM6DSL_ACC_GYRO_I2C_ADDRESS_LOW, LSM6DSL_ACC_GYRO_CTRL2_G);
+
+  /* Write value to GYRO MEMS CTRL2_G register: FS and Data Rate */
+  ctrl = (uint8_t) InitStruct;
+  tmp &= ~(0xFC);
+  tmp |= ctrl;
+  SENSOR_IO_Write(LSM6DSL_ACC_GYRO_I2C_ADDRESS_LOW, LSM6DSL_ACC_GYRO_CTRL2_G, tmp);
+
+  /* Read CTRL3_C */
+  tmp = SENSOR_IO_Read(LSM6DSL_ACC_GYRO_I2C_ADDRESS_LOW, LSM6DSL_ACC_GYRO_CTRL3_C);
+
+  /* Write value to GYRO MEMS CTRL3_C register: BDU and Auto-increment */
+  ctrl = ((uint8_t) (InitStruct >> 8));
+  tmp &= ~(0x44);
+  tmp |= ctrl; 
+  SENSOR_IO_Write(LSM6DSL_ACC_GYRO_I2C_ADDRESS_LOW, LSM6DSL_ACC_GYRO_CTRL3_C, tmp);
+}
+
+
+/**
+  * @brief LSM6DSL Gyroscope De-initialization
+  */
+void LSM6DSL_GyroDeInit(void)
+{
+  uint8_t ctrl = 0x00;
+  
+  /* Read control register 1 value */
+  ctrl = SENSOR_IO_Read(LSM6DSL_ACC_GYRO_I2C_ADDRESS_LOW, LSM6DSL_ACC_GYRO_CTRL2_G);
+
+  /* Clear ODR bits */
+  ctrl &= ~(LSM6DSL_ODR_BITPOSITION);
+
+  /* Set Power down */
+  ctrl |= LSM6DSL_ODR_POWER_DOWN;
+  
+  /* write back control register */
+  SENSOR_IO_Write(LSM6DSL_ACC_GYRO_I2C_ADDRESS_LOW, LSM6DSL_ACC_GYRO_CTRL2_G, ctrl);
+}
+
+/**
+  * @brief  Read ID address of LSM6DSL
+  * @retval ID 
+  */
+uint8_t LSM6DSL_GyroReadID(void)
+{
+  /* IO interface initialization */
+  SENSOR_IO_Init();  
+  /* Read value at Who am I register address */
+  return SENSOR_IO_Read(LSM6DSL_ACC_GYRO_I2C_ADDRESS_LOW, LSM6DSL_ACC_GYRO_WHO_AM_I_REG);
+}
+
+/**
+  * @brief Set/Unset LSM6DSL Gyroscope in low power mode
+  * @param  status 0 means disable Low Power Mode, otherwise Low Power Mode is enabled 
+  */
+void LSM6DSL_GyroLowPower(uint16_t status)
+{  
+  uint8_t ctrl = 0x00;
+  
+  /* Read CTRL7_G value */
+  ctrl = SENSOR_IO_Read(LSM6DSL_ACC_GYRO_I2C_ADDRESS_LOW, LSM6DSL_ACC_GYRO_CTRL7_G);
+
+  /* Clear Low Power Mode bit */
+  ctrl &= ~(0x80);
+
+  /* Set Low Power Mode */
+  if(status)
+  {
+    ctrl |= LSM6DSL_ACC_GYRO_LP_G_ENABLED;
+  }else
+  {
+    ctrl |= LSM6DSL_ACC_GYRO_LP_G_DISABLED;
+  }
+  
+  /* write back control register */
+  SENSOR_IO_Write(LSM6DSL_ACC_GYRO_I2C_ADDRESS_LOW, LSM6DSL_ACC_GYRO_CTRL7_G, ctrl);
+}
+
+/**
+* @brief  Calculate the LSM6DSL angular data.
+* @param  pfData: Data out pointer
+*/
+void LSM6DSL_GyroReadXYZAngRate(float *pfData)
+{
+  int16_t pnRawData[3];
+  uint8_t ctrlg= 0;
+  uint8_t buffer[6];
+  uint8_t i = 0;
+  float sensitivity = 0;
+  
+  /* Read the gyro control register content */
+  ctrlg = SENSOR_IO_Read(LSM6DSL_ACC_GYRO_I2C_ADDRESS_LOW, LSM6DSL_ACC_GYRO_CTRL2_G);
+  
+  /* Read output register X, Y & Z acceleration */
+  SENSOR_IO_ReadMultiple(LSM6DSL_ACC_GYRO_I2C_ADDRESS_LOW, LSM6DSL_ACC_GYRO_OUTX_L_G, buffer, 6);
+  
+  for(i=0; i<3; i++)
+  {
+    pnRawData[i]=((((uint16_t)buffer[2*i+1]) << 8) + (uint16_t)buffer[2*i]);
+  }
+  
+  /* Normal mode */
+  /* Switch the sensitivity value set in the CRTL2_G */
+  switch(ctrlg & 0x0C)
+  {
+  case LSM6DSL_GYRO_FS_245:
+    sensitivity = LSM6DSL_GYRO_SENSITIVITY_245DPS;
+    break;
+  case LSM6DSL_GYRO_FS_500:
+    sensitivity = LSM6DSL_GYRO_SENSITIVITY_500DPS;
+    break;
+  case LSM6DSL_GYRO_FS_1000:
+    sensitivity = LSM6DSL_GYRO_SENSITIVITY_1000DPS;
+    break;
+  case LSM6DSL_GYRO_FS_2000:
+    sensitivity = LSM6DSL_GYRO_SENSITIVITY_2000DPS;
+    break;    
+  }
+  
+  /* Obtain the mg value for the three axis */
+  for(i=0; i<3; i++)
+  {
+    pfData[i]=( float )(pnRawData[i] * sensitivity);
+  }
+}
+
+/**
+  * @}
+  */ 
+
+/**
+  * @}
+  */ 
+  
+/**
+  * @}
+  */ 
+  
+/**
+  * @}
+  */ 
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
+