Contains the BSP driver for the B-L475E-IOT01 board.
Dependents: mbed-os-example-ble-Thermometer DISCO_L475VG_IOT01-Telegram-BOT DISCO_L475VG_IOT01-sche_cheveux DISCO_L475VG_IOT01-QSPI_FLASH_FILE_SYSTEM ... more
https://os.mbed.com/platforms/ST-Discovery-L475E-IOT01A/
Drivers/BSP/Components/lsm6dsl/lsm6dsl.c@4:137bb367ba50, 2017-04-14 (annotated)
- Committer:
- bcostm
- Date:
- Fri Apr 14 13:09:54 2017 +0200
- Revision:
- 4:137bb367ba50
- Child:
- 7:bfe8272ced90
Add remaining Components files
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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bcostm | 4:137bb367ba50 | 1 | /** |
bcostm | 4:137bb367ba50 | 2 | ****************************************************************************** |
bcostm | 4:137bb367ba50 | 3 | * @file lsm6dsl.c |
bcostm | 4:137bb367ba50 | 4 | * @author MCD Application Team |
bcostm | 4:137bb367ba50 | 5 | * @version V1.0.0 |
bcostm | 4:137bb367ba50 | 6 | * @date 14-February-2017 |
bcostm | 4:137bb367ba50 | 7 | * @brief This file provides a set of functions needed to manage the LSM6DSL |
bcostm | 4:137bb367ba50 | 8 | * accelero and gyro devices |
bcostm | 4:137bb367ba50 | 9 | ****************************************************************************** |
bcostm | 4:137bb367ba50 | 10 | * @attention |
bcostm | 4:137bb367ba50 | 11 | * |
bcostm | 4:137bb367ba50 | 12 | * <h2><center>© COPYRIGHT(c) 2017 STMicroelectronics</center></h2> |
bcostm | 4:137bb367ba50 | 13 | * |
bcostm | 4:137bb367ba50 | 14 | * Redistribution and use in source and binary forms, with or without modification, |
bcostm | 4:137bb367ba50 | 15 | * are permitted provided that the following conditions are met: |
bcostm | 4:137bb367ba50 | 16 | * 1. Redistributions of source code must retain the above copyright notice, |
bcostm | 4:137bb367ba50 | 17 | * this list of conditions and the following disclaimer. |
bcostm | 4:137bb367ba50 | 18 | * 2. Redistributions in binary form must reproduce the above copyright notice, |
bcostm | 4:137bb367ba50 | 19 | * this list of conditions and the following disclaimer in the documentation |
bcostm | 4:137bb367ba50 | 20 | * and/or other materials provided with the distribution. |
bcostm | 4:137bb367ba50 | 21 | * 3. Neither the name of STMicroelectronics nor the names of its contributors |
bcostm | 4:137bb367ba50 | 22 | * may be used to endorse or promote products derived from this software |
bcostm | 4:137bb367ba50 | 23 | * without specific prior written permission. |
bcostm | 4:137bb367ba50 | 24 | * |
bcostm | 4:137bb367ba50 | 25 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
bcostm | 4:137bb367ba50 | 26 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
bcostm | 4:137bb367ba50 | 27 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE |
bcostm | 4:137bb367ba50 | 28 | * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE |
bcostm | 4:137bb367ba50 | 29 | * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL |
bcostm | 4:137bb367ba50 | 30 | * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR |
bcostm | 4:137bb367ba50 | 31 | * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
bcostm | 4:137bb367ba50 | 32 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, |
bcostm | 4:137bb367ba50 | 33 | * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
bcostm | 4:137bb367ba50 | 34 | * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
bcostm | 4:137bb367ba50 | 35 | * |
bcostm | 4:137bb367ba50 | 36 | ****************************************************************************** |
bcostm | 4:137bb367ba50 | 37 | */ |
bcostm | 4:137bb367ba50 | 38 | |
bcostm | 4:137bb367ba50 | 39 | /* Includes ------------------------------------------------------------------*/ |
bcostm | 4:137bb367ba50 | 40 | #include "lsm6dsl.h" |
bcostm | 4:137bb367ba50 | 41 | |
bcostm | 4:137bb367ba50 | 42 | /** @addtogroup BSP |
bcostm | 4:137bb367ba50 | 43 | * @{ |
bcostm | 4:137bb367ba50 | 44 | */ |
bcostm | 4:137bb367ba50 | 45 | |
bcostm | 4:137bb367ba50 | 46 | /** @addtogroup Component |
bcostm | 4:137bb367ba50 | 47 | * @{ |
bcostm | 4:137bb367ba50 | 48 | */ |
bcostm | 4:137bb367ba50 | 49 | |
bcostm | 4:137bb367ba50 | 50 | /** @defgroup LSM6DSL LSM6DSL |
bcostm | 4:137bb367ba50 | 51 | * @{ |
bcostm | 4:137bb367ba50 | 52 | */ |
bcostm | 4:137bb367ba50 | 53 | |
bcostm | 4:137bb367ba50 | 54 | /** @defgroup LSM6DSL_Private_Variables LSM6DSL Private Variables |
bcostm | 4:137bb367ba50 | 55 | * @{ |
bcostm | 4:137bb367ba50 | 56 | */ |
bcostm | 4:137bb367ba50 | 57 | ACCELERO_DrvTypeDef Lsm6dslAccDrv = |
bcostm | 4:137bb367ba50 | 58 | { |
bcostm | 4:137bb367ba50 | 59 | LSM6DSL_AccInit, |
bcostm | 4:137bb367ba50 | 60 | LSM6DSL_AccDeInit, |
bcostm | 4:137bb367ba50 | 61 | LSM6DSL_AccReadID, |
bcostm | 4:137bb367ba50 | 62 | 0, |
bcostm | 4:137bb367ba50 | 63 | LSM6DSL_AccLowPower, |
bcostm | 4:137bb367ba50 | 64 | 0, |
bcostm | 4:137bb367ba50 | 65 | 0, |
bcostm | 4:137bb367ba50 | 66 | 0, |
bcostm | 4:137bb367ba50 | 67 | 0, |
bcostm | 4:137bb367ba50 | 68 | 0, |
bcostm | 4:137bb367ba50 | 69 | 0, |
bcostm | 4:137bb367ba50 | 70 | 0, |
bcostm | 4:137bb367ba50 | 71 | LSM6DSL_AccReadXYZ |
bcostm | 4:137bb367ba50 | 72 | }; |
bcostm | 4:137bb367ba50 | 73 | |
bcostm | 4:137bb367ba50 | 74 | GYRO_DrvTypeDef Lsm6dslGyroDrv = |
bcostm | 4:137bb367ba50 | 75 | { |
bcostm | 4:137bb367ba50 | 76 | LSM6DSL_GyroInit, |
bcostm | 4:137bb367ba50 | 77 | LSM6DSL_GyroDeInit, |
bcostm | 4:137bb367ba50 | 78 | LSM6DSL_GyroReadID, |
bcostm | 4:137bb367ba50 | 79 | 0, |
bcostm | 4:137bb367ba50 | 80 | LSM6DSL_GyroLowPower, |
bcostm | 4:137bb367ba50 | 81 | 0, |
bcostm | 4:137bb367ba50 | 82 | 0, |
bcostm | 4:137bb367ba50 | 83 | 0, |
bcostm | 4:137bb367ba50 | 84 | 0, |
bcostm | 4:137bb367ba50 | 85 | 0, |
bcostm | 4:137bb367ba50 | 86 | 0, |
bcostm | 4:137bb367ba50 | 87 | 0, |
bcostm | 4:137bb367ba50 | 88 | LSM6DSL_GyroReadXYZAngRate |
bcostm | 4:137bb367ba50 | 89 | }; |
bcostm | 4:137bb367ba50 | 90 | /** |
bcostm | 4:137bb367ba50 | 91 | * @} |
bcostm | 4:137bb367ba50 | 92 | */ |
bcostm | 4:137bb367ba50 | 93 | |
bcostm | 4:137bb367ba50 | 94 | /** @defgroup LSM6DSL_ACC_Private_Functions LSM6DSL ACC Private Functions |
bcostm | 4:137bb367ba50 | 95 | * @{ |
bcostm | 4:137bb367ba50 | 96 | */ |
bcostm | 4:137bb367ba50 | 97 | /** |
bcostm | 4:137bb367ba50 | 98 | * @brief Set LSM6DSL Accelerometer Initialization. |
bcostm | 4:137bb367ba50 | 99 | * @param InitStruct: Init parameters |
bcostm | 4:137bb367ba50 | 100 | */ |
bcostm | 4:137bb367ba50 | 101 | void LSM6DSL_AccInit(uint16_t InitStruct) |
bcostm | 4:137bb367ba50 | 102 | { |
bcostm | 4:137bb367ba50 | 103 | uint8_t ctrl = 0x00; |
bcostm | 4:137bb367ba50 | 104 | uint8_t tmp; |
bcostm | 4:137bb367ba50 | 105 | |
bcostm | 4:137bb367ba50 | 106 | /* Read CTRL1_XL */ |
bcostm | 4:137bb367ba50 | 107 | tmp = SENSOR_IO_Read(LSM6DSL_ACC_GYRO_I2C_ADDRESS_LOW, LSM6DSL_ACC_GYRO_CTRL1_XL); |
bcostm | 4:137bb367ba50 | 108 | |
bcostm | 4:137bb367ba50 | 109 | /* Write value to ACC MEMS CTRL1_XL register: FS and Data Rate */ |
bcostm | 4:137bb367ba50 | 110 | ctrl = (uint8_t) InitStruct; |
bcostm | 4:137bb367ba50 | 111 | tmp &= ~(0xFC); |
bcostm | 4:137bb367ba50 | 112 | tmp |= ctrl; |
bcostm | 4:137bb367ba50 | 113 | SENSOR_IO_Write(LSM6DSL_ACC_GYRO_I2C_ADDRESS_LOW, LSM6DSL_ACC_GYRO_CTRL1_XL, tmp); |
bcostm | 4:137bb367ba50 | 114 | |
bcostm | 4:137bb367ba50 | 115 | /* Read CTRL3_C */ |
bcostm | 4:137bb367ba50 | 116 | tmp = SENSOR_IO_Read(LSM6DSL_ACC_GYRO_I2C_ADDRESS_LOW, LSM6DSL_ACC_GYRO_CTRL3_C); |
bcostm | 4:137bb367ba50 | 117 | |
bcostm | 4:137bb367ba50 | 118 | /* Write value to ACC MEMS CTRL3_C register: BDU and Auto-increment */ |
bcostm | 4:137bb367ba50 | 119 | ctrl = ((uint8_t) (InitStruct >> 8)); |
bcostm | 4:137bb367ba50 | 120 | tmp &= ~(0x44); |
bcostm | 4:137bb367ba50 | 121 | tmp |= ctrl; |
bcostm | 4:137bb367ba50 | 122 | SENSOR_IO_Write(LSM6DSL_ACC_GYRO_I2C_ADDRESS_LOW, LSM6DSL_ACC_GYRO_CTRL3_C, tmp); |
bcostm | 4:137bb367ba50 | 123 | } |
bcostm | 4:137bb367ba50 | 124 | |
bcostm | 4:137bb367ba50 | 125 | /** |
bcostm | 4:137bb367ba50 | 126 | * @brief LSM6DSL Accelerometer De-initialization. |
bcostm | 4:137bb367ba50 | 127 | */ |
bcostm | 4:137bb367ba50 | 128 | void LSM6DSL_AccDeInit(void) |
bcostm | 4:137bb367ba50 | 129 | { |
bcostm | 4:137bb367ba50 | 130 | uint8_t ctrl = 0x00; |
bcostm | 4:137bb367ba50 | 131 | |
bcostm | 4:137bb367ba50 | 132 | /* Read control register 1 value */ |
bcostm | 4:137bb367ba50 | 133 | ctrl = SENSOR_IO_Read(LSM6DSL_ACC_GYRO_I2C_ADDRESS_LOW, LSM6DSL_ACC_GYRO_CTRL1_XL); |
bcostm | 4:137bb367ba50 | 134 | |
bcostm | 4:137bb367ba50 | 135 | /* Clear ODR bits */ |
bcostm | 4:137bb367ba50 | 136 | ctrl &= ~(LSM6DSL_ODR_BITPOSITION); |
bcostm | 4:137bb367ba50 | 137 | |
bcostm | 4:137bb367ba50 | 138 | /* Set Power down */ |
bcostm | 4:137bb367ba50 | 139 | ctrl |= LSM6DSL_ODR_POWER_DOWN; |
bcostm | 4:137bb367ba50 | 140 | |
bcostm | 4:137bb367ba50 | 141 | /* write back control register */ |
bcostm | 4:137bb367ba50 | 142 | SENSOR_IO_Write(LSM6DSL_ACC_GYRO_I2C_ADDRESS_LOW, LSM6DSL_ACC_GYRO_CTRL1_XL, ctrl); |
bcostm | 4:137bb367ba50 | 143 | } |
bcostm | 4:137bb367ba50 | 144 | |
bcostm | 4:137bb367ba50 | 145 | /** |
bcostm | 4:137bb367ba50 | 146 | * @brief Read LSM6DSL ID. |
bcostm | 4:137bb367ba50 | 147 | * @retval ID |
bcostm | 4:137bb367ba50 | 148 | */ |
bcostm | 4:137bb367ba50 | 149 | uint8_t LSM6DSL_AccReadID(void) |
bcostm | 4:137bb367ba50 | 150 | { |
bcostm | 4:137bb367ba50 | 151 | /* IO interface initialization */ |
bcostm | 4:137bb367ba50 | 152 | SENSOR_IO_Init(); |
bcostm | 4:137bb367ba50 | 153 | /* Read value at Who am I register address */ |
bcostm | 4:137bb367ba50 | 154 | return (SENSOR_IO_Read(LSM6DSL_ACC_GYRO_I2C_ADDRESS_LOW, LSM6DSL_ACC_GYRO_WHO_AM_I_REG)); |
bcostm | 4:137bb367ba50 | 155 | } |
bcostm | 4:137bb367ba50 | 156 | |
bcostm | 4:137bb367ba50 | 157 | /** |
bcostm | 4:137bb367ba50 | 158 | * @brief Set/Unset Accelerometer in low power mode. |
bcostm | 4:137bb367ba50 | 159 | * @param status 0 means disable Low Power Mode, otherwise Low Power Mode is enabled |
bcostm | 4:137bb367ba50 | 160 | */ |
bcostm | 4:137bb367ba50 | 161 | void LSM6DSL_AccLowPower(uint16_t status) |
bcostm | 4:137bb367ba50 | 162 | { |
bcostm | 4:137bb367ba50 | 163 | uint8_t ctrl = 0x00; |
bcostm | 4:137bb367ba50 | 164 | |
bcostm | 4:137bb367ba50 | 165 | /* Read CTRL6_C value */ |
bcostm | 4:137bb367ba50 | 166 | ctrl = SENSOR_IO_Read(LSM6DSL_ACC_GYRO_I2C_ADDRESS_LOW, LSM6DSL_ACC_GYRO_CTRL6_C); |
bcostm | 4:137bb367ba50 | 167 | |
bcostm | 4:137bb367ba50 | 168 | /* Clear Low Power Mode bit */ |
bcostm | 4:137bb367ba50 | 169 | ctrl &= ~(0x10); |
bcostm | 4:137bb367ba50 | 170 | |
bcostm | 4:137bb367ba50 | 171 | /* Set Low Power Mode */ |
bcostm | 4:137bb367ba50 | 172 | if(status) |
bcostm | 4:137bb367ba50 | 173 | { |
bcostm | 4:137bb367ba50 | 174 | ctrl |= LSM6DSL_ACC_GYRO_LP_XL_ENABLED; |
bcostm | 4:137bb367ba50 | 175 | }else |
bcostm | 4:137bb367ba50 | 176 | { |
bcostm | 4:137bb367ba50 | 177 | ctrl |= LSM6DSL_ACC_GYRO_LP_XL_DISABLED; |
bcostm | 4:137bb367ba50 | 178 | } |
bcostm | 4:137bb367ba50 | 179 | |
bcostm | 4:137bb367ba50 | 180 | /* write back control register */ |
bcostm | 4:137bb367ba50 | 181 | SENSOR_IO_Write(LSM6DSL_ACC_GYRO_I2C_ADDRESS_LOW, LSM6DSL_ACC_GYRO_CTRL6_C, ctrl); |
bcostm | 4:137bb367ba50 | 182 | } |
bcostm | 4:137bb367ba50 | 183 | |
bcostm | 4:137bb367ba50 | 184 | /** |
bcostm | 4:137bb367ba50 | 185 | * @brief Read X, Y & Z Acceleration values |
bcostm | 4:137bb367ba50 | 186 | * @param pData: Data out pointer |
bcostm | 4:137bb367ba50 | 187 | */ |
bcostm | 4:137bb367ba50 | 188 | void LSM6DSL_AccReadXYZ(int16_t* pData) |
bcostm | 4:137bb367ba50 | 189 | { |
bcostm | 4:137bb367ba50 | 190 | int16_t pnRawData[3]; |
bcostm | 4:137bb367ba50 | 191 | uint8_t ctrlx= 0; |
bcostm | 4:137bb367ba50 | 192 | uint8_t buffer[6]; |
bcostm | 4:137bb367ba50 | 193 | uint8_t i = 0; |
bcostm | 4:137bb367ba50 | 194 | float sensitivity = 0; |
bcostm | 4:137bb367ba50 | 195 | |
bcostm | 4:137bb367ba50 | 196 | /* Read the acceleration control register content */ |
bcostm | 4:137bb367ba50 | 197 | ctrlx = SENSOR_IO_Read(LSM6DSL_ACC_GYRO_I2C_ADDRESS_LOW, LSM6DSL_ACC_GYRO_CTRL1_XL); |
bcostm | 4:137bb367ba50 | 198 | |
bcostm | 4:137bb367ba50 | 199 | /* Read output register X, Y & Z acceleration */ |
bcostm | 4:137bb367ba50 | 200 | SENSOR_IO_ReadMultiple(LSM6DSL_ACC_GYRO_I2C_ADDRESS_LOW, LSM6DSL_ACC_GYRO_OUTX_L_XL, buffer, 6); |
bcostm | 4:137bb367ba50 | 201 | |
bcostm | 4:137bb367ba50 | 202 | for(i=0; i<3; i++) |
bcostm | 4:137bb367ba50 | 203 | { |
bcostm | 4:137bb367ba50 | 204 | pnRawData[i]=((((uint16_t)buffer[2*i+1]) << 8) + (uint16_t)buffer[2*i]); |
bcostm | 4:137bb367ba50 | 205 | } |
bcostm | 4:137bb367ba50 | 206 | |
bcostm | 4:137bb367ba50 | 207 | /* Normal mode */ |
bcostm | 4:137bb367ba50 | 208 | /* Switch the sensitivity value set in the CRTL1_XL */ |
bcostm | 4:137bb367ba50 | 209 | switch(ctrlx & 0x0C) |
bcostm | 4:137bb367ba50 | 210 | { |
bcostm | 4:137bb367ba50 | 211 | case LSM6DSL_ACC_FULLSCALE_2G: |
bcostm | 4:137bb367ba50 | 212 | sensitivity = LSM6DSL_ACC_SENSITIVITY_2G; |
bcostm | 4:137bb367ba50 | 213 | break; |
bcostm | 4:137bb367ba50 | 214 | case LSM6DSL_ACC_FULLSCALE_4G: |
bcostm | 4:137bb367ba50 | 215 | sensitivity = LSM6DSL_ACC_SENSITIVITY_4G; |
bcostm | 4:137bb367ba50 | 216 | break; |
bcostm | 4:137bb367ba50 | 217 | case LSM6DSL_ACC_FULLSCALE_8G: |
bcostm | 4:137bb367ba50 | 218 | sensitivity = LSM6DSL_ACC_SENSITIVITY_8G; |
bcostm | 4:137bb367ba50 | 219 | break; |
bcostm | 4:137bb367ba50 | 220 | case LSM6DSL_ACC_FULLSCALE_16G: |
bcostm | 4:137bb367ba50 | 221 | sensitivity = LSM6DSL_ACC_SENSITIVITY_16G; |
bcostm | 4:137bb367ba50 | 222 | break; |
bcostm | 4:137bb367ba50 | 223 | } |
bcostm | 4:137bb367ba50 | 224 | |
bcostm | 4:137bb367ba50 | 225 | /* Obtain the mg value for the three axis */ |
bcostm | 4:137bb367ba50 | 226 | for(i=0; i<3; i++) |
bcostm | 4:137bb367ba50 | 227 | { |
bcostm | 4:137bb367ba50 | 228 | pData[i]=( int16_t )(pnRawData[i] * sensitivity); |
bcostm | 4:137bb367ba50 | 229 | } |
bcostm | 4:137bb367ba50 | 230 | } |
bcostm | 4:137bb367ba50 | 231 | |
bcostm | 4:137bb367ba50 | 232 | /** |
bcostm | 4:137bb367ba50 | 233 | * @} |
bcostm | 4:137bb367ba50 | 234 | */ |
bcostm | 4:137bb367ba50 | 235 | |
bcostm | 4:137bb367ba50 | 236 | /** @defgroup LSM6DSL_GYRO_Private_Functions LSM6DSL GYRO Private Functions |
bcostm | 4:137bb367ba50 | 237 | * @{ |
bcostm | 4:137bb367ba50 | 238 | */ |
bcostm | 4:137bb367ba50 | 239 | |
bcostm | 4:137bb367ba50 | 240 | /** |
bcostm | 4:137bb367ba50 | 241 | * @brief Set LSM6DSL Gyroscope Initialization. |
bcostm | 4:137bb367ba50 | 242 | * @param InitStruct: pointer to a LSM6DSL_InitTypeDef structure |
bcostm | 4:137bb367ba50 | 243 | * that contains the configuration setting for the LSM6DSL. |
bcostm | 4:137bb367ba50 | 244 | */ |
bcostm | 4:137bb367ba50 | 245 | void LSM6DSL_GyroInit(uint16_t InitStruct) |
bcostm | 4:137bb367ba50 | 246 | { |
bcostm | 4:137bb367ba50 | 247 | uint8_t ctrl = 0x00; |
bcostm | 4:137bb367ba50 | 248 | uint8_t tmp; |
bcostm | 4:137bb367ba50 | 249 | |
bcostm | 4:137bb367ba50 | 250 | /* Read CTRL2_G */ |
bcostm | 4:137bb367ba50 | 251 | tmp = SENSOR_IO_Read(LSM6DSL_ACC_GYRO_I2C_ADDRESS_LOW, LSM6DSL_ACC_GYRO_CTRL2_G); |
bcostm | 4:137bb367ba50 | 252 | |
bcostm | 4:137bb367ba50 | 253 | /* Write value to GYRO MEMS CTRL2_G register: FS and Data Rate */ |
bcostm | 4:137bb367ba50 | 254 | ctrl = (uint8_t) InitStruct; |
bcostm | 4:137bb367ba50 | 255 | tmp &= ~(0xFC); |
bcostm | 4:137bb367ba50 | 256 | tmp |= ctrl; |
bcostm | 4:137bb367ba50 | 257 | SENSOR_IO_Write(LSM6DSL_ACC_GYRO_I2C_ADDRESS_LOW, LSM6DSL_ACC_GYRO_CTRL2_G, tmp); |
bcostm | 4:137bb367ba50 | 258 | |
bcostm | 4:137bb367ba50 | 259 | /* Read CTRL3_C */ |
bcostm | 4:137bb367ba50 | 260 | tmp = SENSOR_IO_Read(LSM6DSL_ACC_GYRO_I2C_ADDRESS_LOW, LSM6DSL_ACC_GYRO_CTRL3_C); |
bcostm | 4:137bb367ba50 | 261 | |
bcostm | 4:137bb367ba50 | 262 | /* Write value to GYRO MEMS CTRL3_C register: BDU and Auto-increment */ |
bcostm | 4:137bb367ba50 | 263 | ctrl = ((uint8_t) (InitStruct >> 8)); |
bcostm | 4:137bb367ba50 | 264 | tmp &= ~(0x44); |
bcostm | 4:137bb367ba50 | 265 | tmp |= ctrl; |
bcostm | 4:137bb367ba50 | 266 | SENSOR_IO_Write(LSM6DSL_ACC_GYRO_I2C_ADDRESS_LOW, LSM6DSL_ACC_GYRO_CTRL3_C, tmp); |
bcostm | 4:137bb367ba50 | 267 | } |
bcostm | 4:137bb367ba50 | 268 | |
bcostm | 4:137bb367ba50 | 269 | |
bcostm | 4:137bb367ba50 | 270 | /** |
bcostm | 4:137bb367ba50 | 271 | * @brief LSM6DSL Gyroscope De-initialization |
bcostm | 4:137bb367ba50 | 272 | */ |
bcostm | 4:137bb367ba50 | 273 | void LSM6DSL_GyroDeInit(void) |
bcostm | 4:137bb367ba50 | 274 | { |
bcostm | 4:137bb367ba50 | 275 | uint8_t ctrl = 0x00; |
bcostm | 4:137bb367ba50 | 276 | |
bcostm | 4:137bb367ba50 | 277 | /* Read control register 1 value */ |
bcostm | 4:137bb367ba50 | 278 | ctrl = SENSOR_IO_Read(LSM6DSL_ACC_GYRO_I2C_ADDRESS_LOW, LSM6DSL_ACC_GYRO_CTRL2_G); |
bcostm | 4:137bb367ba50 | 279 | |
bcostm | 4:137bb367ba50 | 280 | /* Clear ODR bits */ |
bcostm | 4:137bb367ba50 | 281 | ctrl &= ~(LSM6DSL_ODR_BITPOSITION); |
bcostm | 4:137bb367ba50 | 282 | |
bcostm | 4:137bb367ba50 | 283 | /* Set Power down */ |
bcostm | 4:137bb367ba50 | 284 | ctrl |= LSM6DSL_ODR_POWER_DOWN; |
bcostm | 4:137bb367ba50 | 285 | |
bcostm | 4:137bb367ba50 | 286 | /* write back control register */ |
bcostm | 4:137bb367ba50 | 287 | SENSOR_IO_Write(LSM6DSL_ACC_GYRO_I2C_ADDRESS_LOW, LSM6DSL_ACC_GYRO_CTRL2_G, ctrl); |
bcostm | 4:137bb367ba50 | 288 | } |
bcostm | 4:137bb367ba50 | 289 | |
bcostm | 4:137bb367ba50 | 290 | /** |
bcostm | 4:137bb367ba50 | 291 | * @brief Read ID address of LSM6DSL |
bcostm | 4:137bb367ba50 | 292 | * @retval ID |
bcostm | 4:137bb367ba50 | 293 | */ |
bcostm | 4:137bb367ba50 | 294 | uint8_t LSM6DSL_GyroReadID(void) |
bcostm | 4:137bb367ba50 | 295 | { |
bcostm | 4:137bb367ba50 | 296 | /* IO interface initialization */ |
bcostm | 4:137bb367ba50 | 297 | SENSOR_IO_Init(); |
bcostm | 4:137bb367ba50 | 298 | /* Read value at Who am I register address */ |
bcostm | 4:137bb367ba50 | 299 | return SENSOR_IO_Read(LSM6DSL_ACC_GYRO_I2C_ADDRESS_LOW, LSM6DSL_ACC_GYRO_WHO_AM_I_REG); |
bcostm | 4:137bb367ba50 | 300 | } |
bcostm | 4:137bb367ba50 | 301 | |
bcostm | 4:137bb367ba50 | 302 | /** |
bcostm | 4:137bb367ba50 | 303 | * @brief Set/Unset LSM6DSL Gyroscope in low power mode |
bcostm | 4:137bb367ba50 | 304 | * @param status 0 means disable Low Power Mode, otherwise Low Power Mode is enabled |
bcostm | 4:137bb367ba50 | 305 | */ |
bcostm | 4:137bb367ba50 | 306 | void LSM6DSL_GyroLowPower(uint16_t status) |
bcostm | 4:137bb367ba50 | 307 | { |
bcostm | 4:137bb367ba50 | 308 | uint8_t ctrl = 0x00; |
bcostm | 4:137bb367ba50 | 309 | |
bcostm | 4:137bb367ba50 | 310 | /* Read CTRL7_G value */ |
bcostm | 4:137bb367ba50 | 311 | ctrl = SENSOR_IO_Read(LSM6DSL_ACC_GYRO_I2C_ADDRESS_LOW, LSM6DSL_ACC_GYRO_CTRL7_G); |
bcostm | 4:137bb367ba50 | 312 | |
bcostm | 4:137bb367ba50 | 313 | /* Clear Low Power Mode bit */ |
bcostm | 4:137bb367ba50 | 314 | ctrl &= ~(0x80); |
bcostm | 4:137bb367ba50 | 315 | |
bcostm | 4:137bb367ba50 | 316 | /* Set Low Power Mode */ |
bcostm | 4:137bb367ba50 | 317 | if(status) |
bcostm | 4:137bb367ba50 | 318 | { |
bcostm | 4:137bb367ba50 | 319 | ctrl |= LSM6DSL_ACC_GYRO_LP_G_ENABLED; |
bcostm | 4:137bb367ba50 | 320 | }else |
bcostm | 4:137bb367ba50 | 321 | { |
bcostm | 4:137bb367ba50 | 322 | ctrl |= LSM6DSL_ACC_GYRO_LP_G_DISABLED; |
bcostm | 4:137bb367ba50 | 323 | } |
bcostm | 4:137bb367ba50 | 324 | |
bcostm | 4:137bb367ba50 | 325 | /* write back control register */ |
bcostm | 4:137bb367ba50 | 326 | SENSOR_IO_Write(LSM6DSL_ACC_GYRO_I2C_ADDRESS_LOW, LSM6DSL_ACC_GYRO_CTRL7_G, ctrl); |
bcostm | 4:137bb367ba50 | 327 | } |
bcostm | 4:137bb367ba50 | 328 | |
bcostm | 4:137bb367ba50 | 329 | /** |
bcostm | 4:137bb367ba50 | 330 | * @brief Calculate the LSM6DSL angular data. |
bcostm | 4:137bb367ba50 | 331 | * @param pfData: Data out pointer |
bcostm | 4:137bb367ba50 | 332 | */ |
bcostm | 4:137bb367ba50 | 333 | void LSM6DSL_GyroReadXYZAngRate(float *pfData) |
bcostm | 4:137bb367ba50 | 334 | { |
bcostm | 4:137bb367ba50 | 335 | int16_t pnRawData[3]; |
bcostm | 4:137bb367ba50 | 336 | uint8_t ctrlg= 0; |
bcostm | 4:137bb367ba50 | 337 | uint8_t buffer[6]; |
bcostm | 4:137bb367ba50 | 338 | uint8_t i = 0; |
bcostm | 4:137bb367ba50 | 339 | float sensitivity = 0; |
bcostm | 4:137bb367ba50 | 340 | |
bcostm | 4:137bb367ba50 | 341 | /* Read the gyro control register content */ |
bcostm | 4:137bb367ba50 | 342 | ctrlg = SENSOR_IO_Read(LSM6DSL_ACC_GYRO_I2C_ADDRESS_LOW, LSM6DSL_ACC_GYRO_CTRL2_G); |
bcostm | 4:137bb367ba50 | 343 | |
bcostm | 4:137bb367ba50 | 344 | /* Read output register X, Y & Z acceleration */ |
bcostm | 4:137bb367ba50 | 345 | SENSOR_IO_ReadMultiple(LSM6DSL_ACC_GYRO_I2C_ADDRESS_LOW, LSM6DSL_ACC_GYRO_OUTX_L_G, buffer, 6); |
bcostm | 4:137bb367ba50 | 346 | |
bcostm | 4:137bb367ba50 | 347 | for(i=0; i<3; i++) |
bcostm | 4:137bb367ba50 | 348 | { |
bcostm | 4:137bb367ba50 | 349 | pnRawData[i]=((((uint16_t)buffer[2*i+1]) << 8) + (uint16_t)buffer[2*i]); |
bcostm | 4:137bb367ba50 | 350 | } |
bcostm | 4:137bb367ba50 | 351 | |
bcostm | 4:137bb367ba50 | 352 | /* Normal mode */ |
bcostm | 4:137bb367ba50 | 353 | /* Switch the sensitivity value set in the CRTL2_G */ |
bcostm | 4:137bb367ba50 | 354 | switch(ctrlg & 0x0C) |
bcostm | 4:137bb367ba50 | 355 | { |
bcostm | 4:137bb367ba50 | 356 | case LSM6DSL_GYRO_FS_245: |
bcostm | 4:137bb367ba50 | 357 | sensitivity = LSM6DSL_GYRO_SENSITIVITY_245DPS; |
bcostm | 4:137bb367ba50 | 358 | break; |
bcostm | 4:137bb367ba50 | 359 | case LSM6DSL_GYRO_FS_500: |
bcostm | 4:137bb367ba50 | 360 | sensitivity = LSM6DSL_GYRO_SENSITIVITY_500DPS; |
bcostm | 4:137bb367ba50 | 361 | break; |
bcostm | 4:137bb367ba50 | 362 | case LSM6DSL_GYRO_FS_1000: |
bcostm | 4:137bb367ba50 | 363 | sensitivity = LSM6DSL_GYRO_SENSITIVITY_1000DPS; |
bcostm | 4:137bb367ba50 | 364 | break; |
bcostm | 4:137bb367ba50 | 365 | case LSM6DSL_GYRO_FS_2000: |
bcostm | 4:137bb367ba50 | 366 | sensitivity = LSM6DSL_GYRO_SENSITIVITY_2000DPS; |
bcostm | 4:137bb367ba50 | 367 | break; |
bcostm | 4:137bb367ba50 | 368 | } |
bcostm | 4:137bb367ba50 | 369 | |
bcostm | 4:137bb367ba50 | 370 | /* Obtain the mg value for the three axis */ |
bcostm | 4:137bb367ba50 | 371 | for(i=0; i<3; i++) |
bcostm | 4:137bb367ba50 | 372 | { |
bcostm | 4:137bb367ba50 | 373 | pfData[i]=( float )(pnRawData[i] * sensitivity); |
bcostm | 4:137bb367ba50 | 374 | } |
bcostm | 4:137bb367ba50 | 375 | } |
bcostm | 4:137bb367ba50 | 376 | |
bcostm | 4:137bb367ba50 | 377 | /** |
bcostm | 4:137bb367ba50 | 378 | * @} |
bcostm | 4:137bb367ba50 | 379 | */ |
bcostm | 4:137bb367ba50 | 380 | |
bcostm | 4:137bb367ba50 | 381 | /** |
bcostm | 4:137bb367ba50 | 382 | * @} |
bcostm | 4:137bb367ba50 | 383 | */ |
bcostm | 4:137bb367ba50 | 384 | |
bcostm | 4:137bb367ba50 | 385 | /** |
bcostm | 4:137bb367ba50 | 386 | * @} |
bcostm | 4:137bb367ba50 | 387 | */ |
bcostm | 4:137bb367ba50 | 388 | |
bcostm | 4:137bb367ba50 | 389 | /** |
bcostm | 4:137bb367ba50 | 390 | * @} |
bcostm | 4:137bb367ba50 | 391 | */ |
bcostm | 4:137bb367ba50 | 392 | |
bcostm | 4:137bb367ba50 | 393 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ |
bcostm | 4:137bb367ba50 | 394 |