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

Revision:

4:137bb367ba50

Child:

7:bfe8272ced90

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Drivers/BSP/Components/lsm6dsl/lsm6dsl.h	Fri Apr 14 13:09:54 2017 +0200
@@ -0,0 +1,346 @@
+/**
+ ******************************************************************************
+ * @file    lsm6dsl.h
+ * @author  MCD Application Team
+ * @version V1.0.0
+ * @date    14-February-2017
+ * @brief   LSM6DSL header driver file
+ ******************************************************************************
+ * @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.
+ *
+ ******************************************************************************
+ */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __LSM6DSL__H
+#define __LSM6DSL__H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+  
+/* Includes ------------------------------------------------------------------*/
+#include "../Common/accelero.h"
+#include "../Common/gyro.h"  
+
+/** @addtogroup BSP
+  * @{
+  */
+
+/** @addtogroup Component
+  * @{
+  */
+
+/** @addtogroup LSM6DSL
+  * @{
+  */
+
+/** @defgroup LSM6DSL_Exported_Constants LSM6DSL Exported Constants
+  * @{
+  */
+/************** I2C Address *****************/
+
+#define LSM6DSL_ACC_GYRO_I2C_ADDRESS_LOW    0xD4  // SAD[0] = 0
+#define LSM6DSL_ACC_GYRO_I2C_ADDRESS_HIGH   0xD6  // SAD[0] = 1
+
+/************** Who am I  *******************/
+
+#define LSM6DSL_ACC_GYRO_WHO_AM_I           0x6A
+
+/************** Device Register  *******************/
+
+#define LSM6DSL_ACC_GYRO_FUNC_CFG_ACCESS    0x01
+
+#define LSM6DSL_ACC_GYRO_SENSOR_SYNC_TIME   0x04
+#define LSM6DSL_ACC_GYRO_SENSOR_RES_RATIO   0x05
+
+#define LSM6DSL_ACC_GYRO_FIFO_CTRL1         0x06
+#define LSM6DSL_ACC_GYRO_FIFO_CTRL2         0x07
+#define LSM6DSL_ACC_GYRO_FIFO_CTRL3         0x08
+#define LSM6DSL_ACC_GYRO_FIFO_CTRL4         0x09
+#define LSM6DSL_ACC_GYRO_FIFO_CTRL5         0x0A
+
+#define LSM6DSL_ACC_GYRO_DRDY_PULSE_CFG_G   0x0B
+#define LSM6DSL_ACC_GYRO_INT1_CTRL          0x0D
+#define LSM6DSL_ACC_GYRO_INT2_CTRL          0x0E
+#define LSM6DSL_ACC_GYRO_WHO_AM_I_REG       0x0F
+#define LSM6DSL_ACC_GYRO_CTRL1_XL           0x10
+#define LSM6DSL_ACC_GYRO_CTRL2_G            0x11
+#define LSM6DSL_ACC_GYRO_CTRL3_C            0x12
+#define LSM6DSL_ACC_GYRO_CTRL4_C            0x13
+#define LSM6DSL_ACC_GYRO_CTRL5_C            0x14
+#define LSM6DSL_ACC_GYRO_CTRL6_C            0x15
+#define LSM6DSL_ACC_GYRO_CTRL7_G            0x16
+#define LSM6DSL_ACC_GYRO_CTRL8_XL           0x17
+#define LSM6DSL_ACC_GYRO_CTRL9_XL           0x18
+#define LSM6DSL_ACC_GYRO_CTRL10_C           0x19
+
+#define LSM6DSL_ACC_GYRO_MASTER_CONFIG      0x1A
+#define LSM6DSL_ACC_GYRO_WAKE_UP_SRC        0x1B
+#define LSM6DSL_ACC_GYRO_TAP_SRC            0x1C
+#define LSM6DSL_ACC_GYRO_D6D_SRC            0x1D
+#define LSM6DSL_ACC_GYRO_STATUS_REG         0x1E
+
+#define LSM6DSL_ACC_GYRO_OUT_TEMP_L         0x20
+#define LSM6DSL_ACC_GYRO_OUT_TEMP_H         0x21
+#define LSM6DSL_ACC_GYRO_OUTX_L_G           0x22
+#define LSM6DSL_ACC_GYRO_OUTX_H_G           0x23
+#define LSM6DSL_ACC_GYRO_OUTY_L_G           0x24
+#define LSM6DSL_ACC_GYRO_OUTY_H_G           0x25
+#define LSM6DSL_ACC_GYRO_OUTZ_L_G           0x26
+#define LSM6DSL_ACC_GYRO_OUTZ_H_G           0x27
+#define LSM6DSL_ACC_GYRO_OUTX_L_XL          0x28
+#define LSM6DSL_ACC_GYRO_OUTX_H_XL          0x29
+#define LSM6DSL_ACC_GYRO_OUTY_L_XL          0x2A
+#define LSM6DSL_ACC_GYRO_OUTY_H_XL          0x2B
+#define LSM6DSL_ACC_GYRO_OUTZ_L_XL          0x2C
+#define LSM6DSL_ACC_GYRO_OUTZ_H_XL          0x2D
+#define LSM6DSL_ACC_GYRO_SENSORHUB1_REG     0x2E
+#define LSM6DSL_ACC_GYRO_SENSORHUB2_REG     0x2F
+#define LSM6DSL_ACC_GYRO_SENSORHUB3_REG     0x30
+#define LSM6DSL_ACC_GYRO_SENSORHUB4_REG     0x31
+#define LSM6DSL_ACC_GYRO_SENSORHUB5_REG     0x32
+#define LSM6DSL_ACC_GYRO_SENSORHUB6_REG     0x33
+#define LSM6DSL_ACC_GYRO_SENSORHUB7_REG     0x34
+#define LSM6DSL_ACC_GYRO_SENSORHUB8_REG     0x35
+#define LSM6DSL_ACC_GYRO_SENSORHUB9_REG     0x36
+#define LSM6DSL_ACC_GYRO_SENSORHUB10_REG    0x37
+#define LSM6DSL_ACC_GYRO_SENSORHUB11_REG    0x38
+#define LSM6DSL_ACC_GYRO_SENSORHUB12_REG    0x39
+#define LSM6DSL_ACC_GYRO_FIFO_STATUS1       0x3A
+#define LSM6DSL_ACC_GYRO_FIFO_STATUS2       0x3B
+#define LSM6DSL_ACC_GYRO_FIFO_STATUS3       0x3C
+#define LSM6DSL_ACC_GYRO_FIFO_STATUS4       0x3D
+#define LSM6DSL_ACC_GYRO_FIFO_DATA_OUT_L    0x3E
+#define LSM6DSL_ACC_GYRO_FIFO_DATA_OUT_H    0x3F
+#define LSM6DSL_ACC_GYRO_TIMESTAMP0_REG     0x40
+#define LSM6DSL_ACC_GYRO_TIMESTAMP1_REG     0x41
+#define LSM6DSL_ACC_GYRO_TIMESTAMP2_REG     0x42
+
+#define LSM6DSL_ACC_GYRO_TIMESTAMP_L        0x49
+#define LSM6DSL_ACC_GYRO_TIMESTAMP_H        0x4A
+
+#define LSM6DSL_ACC_GYRO_STEP_COUNTER_L     0x4B
+#define LSM6DSL_ACC_GYRO_STEP_COUNTER_H     0x4C
+
+#define LSM6DSL_ACC_GYRO_SENSORHUB13_REG    0x4D
+#define LSM6DSL_ACC_GYRO_SENSORHUB14_REG    0x4E
+#define LSM6DSL_ACC_GYRO_SENSORHUB15_REG    0x4F
+#define LSM6DSL_ACC_GYRO_SENSORHUB16_REG    0x50
+#define LSM6DSL_ACC_GYRO_SENSORHUB17_REG    0x51
+#define LSM6DSL_ACC_GYRO_SENSORHUB18_REG    0x52
+
+#define LSM6DSL_ACC_GYRO_FUNC_SRC           0x53
+#define LSM6DSL_ACC_GYRO_TAP_CFG1           0x58
+#define LSM6DSL_ACC_GYRO_TAP_THS_6D         0x59
+#define LSM6DSL_ACC_GYRO_INT_DUR2           0x5A
+#define LSM6DSL_ACC_GYRO_WAKE_UP_THS        0x5B
+#define LSM6DSL_ACC_GYRO_WAKE_UP_DUR        0x5C
+#define LSM6DSL_ACC_GYRO_FREE_FALL          0x5D
+#define LSM6DSL_ACC_GYRO_MD1_CFG            0x5E
+#define LSM6DSL_ACC_GYRO_MD2_CFG            0x5F
+
+#define LSM6DSL_ACC_GYRO_OUT_MAG_RAW_X_L    0x66
+#define LSM6DSL_ACC_GYRO_OUT_MAG_RAW_X_H    0x67
+#define LSM6DSL_ACC_GYRO_OUT_MAG_RAW_Y_L    0x68
+#define LSM6DSL_ACC_GYRO_OUT_MAG_RAW_Y_H    0x69
+#define LSM6DSL_ACC_GYRO_OUT_MAG_RAW_Z_L    0x6A
+#define LSM6DSL_ACC_GYRO_OUT_MAG_RAW_Z_H    0x6B
+
+#define LSM6DSL_ACC_GYRO_X_OFS_USR          0x73
+#define LSM6DSL_ACC_GYRO_Y_OFS_USR          0x74
+#define LSM6DSL_ACC_GYRO_Z_OFS_USR          0x75
+
+/************** Embedded functions register mapping  *******************/
+#define LSM6DSL_ACC_GYRO_SLV0_ADD                     0x02
+#define LSM6DSL_ACC_GYRO_SLV0_SUBADD                  0x03
+#define LSM6DSL_ACC_GYRO_SLAVE0_CONFIG                0x04
+#define LSM6DSL_ACC_GYRO_SLV1_ADD                     0x05
+#define LSM6DSL_ACC_GYRO_SLV1_SUBADD                  0x06
+#define LSM6DSL_ACC_GYRO_SLAVE1_CONFIG                0x07
+#define LSM6DSL_ACC_GYRO_SLV2_ADD                     0x08
+#define LSM6DSL_ACC_GYRO_SLV2_SUBADD                  0x09
+#define LSM6DSL_ACC_GYRO_SLAVE2_CONFIG                0x0A
+#define LSM6DSL_ACC_GYRO_SLV3_ADD                     0x0B
+#define LSM6DSL_ACC_GYRO_SLV3_SUBADD                  0x0C
+#define LSM6DSL_ACC_GYRO_SLAVE3_CONFIG                0x0D
+#define LSM6DSL_ACC_GYRO_DATAWRITE_SRC_MODE_SUB_SLV0  0x0E
+#define LSM6DSL_ACC_GYRO_CONFIG_PEDO_THS_MIN          0x0F
+
+#define LSM6DSL_ACC_GYRO_SM_STEP_THS                  0x13
+#define LSM6DSL_ACC_GYRO_PEDO_DEB_REG                 0x14
+#define LSM6DSL_ACC_GYRO_STEP_COUNT_DELTA             0x15
+
+#define LSM6DSL_ACC_GYRO_MAG_SI_XX                    0x24
+#define LSM6DSL_ACC_GYRO_MAG_SI_XY                    0x25
+#define LSM6DSL_ACC_GYRO_MAG_SI_XZ                    0x26
+#define LSM6DSL_ACC_GYRO_MAG_SI_YX                    0x27
+#define LSM6DSL_ACC_GYRO_MAG_SI_YY                    0x28
+#define LSM6DSL_ACC_GYRO_MAG_SI_YZ                    0x29
+#define LSM6DSL_ACC_GYRO_MAG_SI_ZX                    0x2A
+#define LSM6DSL_ACC_GYRO_MAG_SI_ZY                    0x2B
+#define LSM6DSL_ACC_GYRO_MAG_SI_ZZ                    0x2C
+#define LSM6DSL_ACC_GYRO_MAG_OFFX_L                   0x2D
+#define LSM6DSL_ACC_GYRO_MAG_OFFX_H                   0x2E
+#define LSM6DSL_ACC_GYRO_MAG_OFFY_L                   0x2F
+#define LSM6DSL_ACC_GYRO_MAG_OFFY_H                   0x30
+#define LSM6DSL_ACC_GYRO_MAG_OFFZ_L                   0x31
+#define LSM6DSL_ACC_GYRO_MAG_OFFZ_H                   0x32
+
+/* Accelero Full_ScaleSelection */
+#define LSM6DSL_ACC_FULLSCALE_2G          ((uint8_t)0x00) /*!< ±2 g */
+#define LSM6DSL_ACC_FULLSCALE_4G          ((uint8_t)0x08) /*!< ±4 g */
+#define LSM6DSL_ACC_FULLSCALE_8G          ((uint8_t)0x0C) /*!< ±8 g */
+#define LSM6DSL_ACC_FULLSCALE_16G         ((uint8_t)0x04) /*!< ±16 g */
+
+/* Accelero Full Scale Sensitivity */
+#define LSM6DSL_ACC_SENSITIVITY_2G     ((float)0.061f)  /*!< accelerometer sensitivity with 2 g full scale  [mgauss/LSB] */
+#define LSM6DSL_ACC_SENSITIVITY_4G     ((float)0.122f)  /*!< accelerometer sensitivity with 4 g full scale  [mgauss/LSB] */
+#define LSM6DSL_ACC_SENSITIVITY_8G     ((float)0.244f)  /*!< accelerometer sensitivity with 8 g full scale  [mgauss/LSB] */
+#define LSM6DSL_ACC_SENSITIVITY_16G    ((float)0.488f)  /*!< accelerometer sensitivity with 12 g full scale [mgauss/LSB] */
+
+/* Accelero Power Mode selection */
+#define LSM6DSL_ACC_GYRO_LP_XL_DISABLED     ((uint8_t)0x00) /* LP disabled*/
+#define LSM6DSL_ACC_GYRO_LP_XL_ENABLED      ((uint8_t)0x10) /* LP enabled*/
+
+/* Output Data Rate */
+#define LSM6DSL_ODR_BITPOSITION      ((uint8_t)0xF0)  /*!< Output Data Rate bit position */  
+#define LSM6DSL_ODR_POWER_DOWN       ((uint8_t)0x00) /* Power Down mode       */
+#define LSM6DSL_ODR_13Hz             ((uint8_t)0x10) /* Low Power mode        */
+#define LSM6DSL_ODR_26Hz             ((uint8_t)0x20) /* Low Power mode        */ 
+#define LSM6DSL_ODR_52Hz             ((uint8_t)0x30) /* Low Power mode        */
+#define LSM6DSL_ODR_104Hz            ((uint8_t)0x40) /* Normal mode           */
+#define LSM6DSL_ODR_208Hz            ((uint8_t)0x50) /* Normal mode           */
+#define LSM6DSL_ODR_416Hz            ((uint8_t)0x60) /* High Performance mode */
+#define LSM6DSL_ODR_833Hz            ((uint8_t)0x70) /* High Performance mode */
+#define LSM6DSL_ODR_1660Hz           ((uint8_t)0x80) /* High Performance mode */
+#define LSM6DSL_ODR_3330Hz           ((uint8_t)0x90) /* High Performance mode */
+#define LSM6DSL_ODR_6660Hz           ((uint8_t)0xA0) /* High Performance mode */ 
+
+/* Gyro Full Scale Selection */
+#define LSM6DSL_GYRO_FS_245            ((uint8_t)0x00)  
+#define LSM6DSL_GYRO_FS_500            ((uint8_t)0x04)  
+#define LSM6DSL_GYRO_FS_1000           ((uint8_t)0x08)  
+#define LSM6DSL_GYRO_FS_2000           ((uint8_t)0x0C)
+
+/* Gyro Full Scale Sensitivity */ 
+#define LSM6DSL_GYRO_SENSITIVITY_245DPS            ((float)8.750f) /**< Sensitivity value for 245 dps full scale  [mdps/LSB] */ 
+#define LSM6DSL_GYRO_SENSITIVITY_500DPS            ((float)17.50f) /**< Sensitivity value for 500 dps full scale  [mdps/LSB] */ 
+#define LSM6DSL_GYRO_SENSITIVITY_1000DPS           ((float)35.00f) /**< Sensitivity value for 1000 dps full scale [mdps/LSB] */ 
+#define LSM6DSL_GYRO_SENSITIVITY_2000DPS           ((float)70.00f) /**< Sensitivity value for 2000 dps full scale [mdps/LSB] */ 
+
+/* Gyro Power Mode selection */
+#define LSM6DSL_ACC_GYRO_LP_G_DISABLED     ((uint8_t)0x00) /* LP disabled*/
+#define LSM6DSL_ACC_GYRO_LP_G_ENABLED      ((uint8_t)0x80) /* LP enabled*/
+
+/* Block Data Update */  
+#define LSM6DSL_BDU_CONTINUOS               ((uint8_t)0x00)
+#define LSM6DSL_BDU_BLOCK_UPDATE            ((uint8_t)0x40)
+
+/* Auto-increment */
+#define LSM6DSL_ACC_GYRO_IF_INC_DISABLED    ((uint8_t)0x00)
+#define LSM6DSL_ACC_GYRO_IF_INC_ENABLED     ((uint8_t)0x04)
+  
+/**
+  * @}
+  */
+
+/** @defgroup LSM6DSL_AccExported_Functions ACCELEROMETER Exported functions
+  * @{
+  */ 
+void    LSM6DSL_AccInit(uint16_t InitStruct);
+void    LSM6DSL_AccDeInit(void);
+uint8_t LSM6DSL_AccReadID(void);
+void    LSM6DSL_AccLowPower(uint16_t status);
+void    LSM6DSL_AccReadXYZ(int16_t* pData);
+/**
+  * @}
+  */
+  
+/** @defgroup LSM6DSL_AccImported_Globals  ACCELEROMETER Imported Globals
+  * @{
+  */
+extern ACCELERO_DrvTypeDef Lsm6dslAccDrv;
+/**
+  * @}
+  */
+
+/** @defgroup LSM6DSL_GyroExported_Functions GYROSCOPE Exported functions
+  * @{
+  */
+/* Sensor Configuration Functions */ 
+void    LSM6DSL_GyroInit(uint16_t InitStruct);
+void    LSM6DSL_GyroDeInit(void);
+uint8_t LSM6DSL_GyroReadID(void);
+void    LSM6DSL_GyroLowPower(uint16_t status);
+void    LSM6DSL_GyroReadXYZAngRate(float *pfData);
+/**
+  * @}
+  */
+
+/** @defgroup LSM6DSL_GyroImported_Globals  GYROSCOPE Imported Globals
+  * @{
+  */
+/* Gyroscope driver structure */
+extern GYRO_DrvTypeDef Lsm6dslGyroDrv;
+
+/**
+  * @}
+  */
+
+/** @defgroup LSM6DSL_Imported_Functions LSM6DSL Imported Functions
+ * @{
+ */
+/* IO functions */
+extern void     SENSOR_IO_Init(void);
+extern void     SENSOR_IO_Write(uint8_t Addr, uint8_t Reg, uint8_t Value);
+extern uint8_t  SENSOR_IO_Read(uint8_t Addr, uint8_t Reg);
+extern uint16_t SENSOR_IO_ReadMultiple(uint8_t Addr, uint8_t Reg, uint8_t *Buffer, uint16_t Length);
+extern void     SENSOR_IO_WriteMultiple(uint8_t Addr, uint8_t Reg, uint8_t *Buffer, uint16_t Length);
+/**
+  * @}
+  */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __LSM6DSL__H */
+
+/**
+  * @}
+  */
+  
+/**
+  * @}
+  */
+  
+/**
+  * @}
+  */
+  
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/