ST
iNEMO inertial module: 3D accelerometer and 3D gyroscope.
Dependencies: X_NUCLEO_COMMON ST_INTERFACES
Diff: lsm6dsox_reg.h
- Revision:
- 1:fe40aec6e97a
- Parent:
- 0:f27ce43dee4f
- Child:
- 4:88054adaed8d
--- a/lsm6dsox_reg.h Wed Jul 10 12:08:49 2019 +0000
+++ b/lsm6dsox_reg.h Thu Oct 29 12:45:14 2020 +0000
@@ -1,7 +1,7 @@
/*
******************************************************************************
* @file lsm6dsox_reg.h
- * @author Sensor Solutions Software Team
+ * @author Sensors Software Solution Team
* @brief This file contains all the functions prototypes for the
* lsm6dsox_reg.c driver.
******************************************************************************
@@ -19,8 +19,8 @@
*/
/* Define to prevent recursive inclusion -------------------------------------*/
-#ifndef LSM6DSOX_DRIVER_H
-#define LSM6DSOX_DRIVER_H
+#ifndef LSM6DSOX_REGS_H
+#define LSM6DSOX_REGS_H
#ifdef __cplusplus
extern "C" {
@@ -28,6 +28,7 @@
/* Includes ------------------------------------------------------------------*/
#include <stdint.h>
+#include <stddef.h>
#include <math.h>
/** @addtogroup LSM6DSOX
@@ -35,7 +36,7 @@
*
*/
-/** @defgroup LSM6DSOX_sensors_common_types
+/** @defgroup STMicroelectronics sensors common types
* @{
*
*/
@@ -55,24 +56,24 @@
*
*/
-typedef union{
- int16_t i16bit[3];
- uint8_t u8bit[6];
+typedef union {
+ int16_t i16bit[3];
+ uint8_t u8bit[6];
} axis3bit16_t;
-typedef union{
- int16_t i16bit;
- uint8_t u8bit[2];
+typedef union {
+ int16_t i16bit;
+ uint8_t u8bit[2];
} axis1bit16_t;
-typedef union{
- int32_t i32bit[3];
- uint8_t u8bit[12];
+typedef union {
+ int32_t i32bit[3];
+ uint8_t u8bit[12];
} axis3bit32_t;
-typedef union{
- int32_t i32bit;
- uint8_t u8bit[4];
+typedef union {
+ int32_t i32bit;
+ uint8_t u8bit[4];
} axis1bit32_t;
/**
@@ -80,15 +81,15 @@
*
*/
-typedef struct{
- uint8_t bit0 : 1;
- uint8_t bit1 : 1;
- uint8_t bit2 : 1;
- uint8_t bit3 : 1;
- uint8_t bit4 : 1;
- uint8_t bit5 : 1;
- uint8_t bit6 : 1;
- uint8_t bit7 : 1;
+typedef struct {
+ uint8_t bit0 : 1;
+ uint8_t bit1 : 1;
+ uint8_t bit2 : 1;
+ uint8_t bit3 : 1;
+ uint8_t bit4 : 1;
+ uint8_t bit5 : 1;
+ uint8_t bit6 : 1;
+ uint8_t bit7 : 1;
} bitwise_t;
#define PROPERTY_DISABLE (0U)
@@ -96,6 +97,32 @@
#endif /* MEMS_SHARED_TYPES */
+#ifndef MEMS_UCF_SHARED_TYPES
+#define MEMS_UCF_SHARED_TYPES
+
+/** @defgroup Generic address-data structure definition
+ * @brief This structure is useful to load a predefined configuration
+ * of a sensor.
+ * You can create a sensor configuration by your own or using
+ * Unico / Unicleo tools available on STMicroelectronics
+ * web site.
+ *
+ * @{
+ *
+ */
+
+typedef struct {
+ uint8_t address;
+ uint8_t data;
+} ucf_line_t;
+
+/**
+ * @}
+ *
+ */
+
+#endif /* MEMS_UCF_SHARED_TYPES */
+
/**
* @}
*
@@ -109,15 +136,15 @@
*
*/
-typedef int32_t (*lsm6dsox_write_ptr)(void *, uint8_t, uint8_t*, uint16_t);
-typedef int32_t (*lsm6dsox_read_ptr) (void *, uint8_t, uint8_t*, uint16_t);
+typedef int32_t (*lsm6dsox_write_ptr)(void *, uint8_t, uint8_t *, uint16_t);
+typedef int32_t (*lsm6dsox_read_ptr)(void *, uint8_t, uint8_t *, uint16_t);
typedef struct {
- /** Component mandatory fields **/
- lsm6dsox_write_ptr write_reg;
- lsm6dsox_read_ptr read_reg;
- /** Customizable optional pointer **/
- void *handle;
+ /** Component mandatory fields **/
+ lsm6dsox_write_ptr write_reg;
+ lsm6dsox_read_ptr read_reg;
+ /** Customizable optional pointer **/
+ void *handle;
} lsm6dsox_ctx_t;
/**
@@ -131,11 +158,11 @@
*/
/** I2C Device Address 8 bit format if SA0=0 -> D5 if SA0=1 -> D7 **/
-#define LSM6DSOX_I2C_ADD_L 0xD5
-#define LSM6DSOX_I2C_ADD_H 0xD7
+#define LSM6DSOX_I2C_ADD_L 0xD5U
+#define LSM6DSOX_I2C_ADD_H 0xD7U
/** Device Identification (Who am I) **/
-#define LSM6DSOX_ID 0x6C
+#define LSM6DSOX_ID 0x6CU
/**
* @}
@@ -615,7 +642,7 @@
typedef struct {
uint8_t not_used_01 : 3;
uint8_t spi2_read_en : 1;
- uint8_t not_used_02 : 1;
+ uint8_t not_used_02 : 1;
uint8_t den_lh_ois : 1;
uint8_t lvl2_ois : 1;
uint8_t int2_drdy_ois : 1;
@@ -1175,7 +1202,8 @@
uint8_t fsm_init : 1;
uint8_t not_used_01 : 2;
uint8_t fifo_compr_init : 1;
- uint8_t not_used_02 : 4;
+ uint8_t mlc_init : 1;
+ uint8_t not_used_02 : 3;
} lsm6dsox_emb_func_init_b_t;
#define LSM6DSOX_MLC0_SRC 0x70U
@@ -1663,7 +1691,7 @@
lsm6dsox_fsm_outs15_t fsm_outs15;
lsm6dsox_fsm_outs16_t fsm_outs16;
lsm6dsox_emb_func_odr_cfg_b_t emb_func_odr_cfg_b;
- lsm6dsox_emb_func_odr_cfg_c_t emb_func_odr_cfg_c;
+ lsm6dsox_emb_func_odr_cfg_c_t emb_func_odr_cfg_c;
lsm6dsox_emb_func_src_t emb_func_src;
lsm6dsox_emb_func_init_a_t emb_func_init_a;
lsm6dsox_emb_func_init_b_t emb_func_init_b;
@@ -1750,7 +1778,7 @@
LSM6DSOX_XL_ODR_1667Hz = 8,
LSM6DSOX_XL_ODR_3333Hz = 9,
LSM6DSOX_XL_ODR_6667Hz = 10,
- LSM6DSOX_XL_ODR_6Hz5 = 11, /* (low power only) */
+ LSM6DSOX_XL_ODR_1Hz6 = 11, /* (low power only) */
} lsm6dsox_odr_xl_t;
int32_t lsm6dsox_xl_data_rate_set(lsm6dsox_ctx_t *ctx, lsm6dsox_odr_xl_t val);
int32_t lsm6dsox_xl_data_rate_get(lsm6dsox_ctx_t *ctx, lsm6dsox_odr_xl_t *val);
@@ -1812,20 +1840,6 @@
int32_t lsm6dsox_gy_power_mode_get(lsm6dsox_ctx_t *ctx,
lsm6dsox_g_hm_mode_t *val);
-typedef struct {
- lsm6dsox_all_int_src_t all_int_src;
- lsm6dsox_wake_up_src_t wake_up_src;
- lsm6dsox_tap_src_t tap_src;
- lsm6dsox_d6d_src_t d6d_src;
- lsm6dsox_status_reg_t status_reg;
- lsm6dsox_emb_func_status_t emb_func_status;
- lsm6dsox_fsm_status_a_t fsm_status_a;
- lsm6dsox_fsm_status_b_t fsm_status_b;
- lsm6dsox_mlc_status_mainpage_t mlc_status;
-} lsm6dsox_all_sources_t;
-int32_t lsm6dsox_all_sources_get(lsm6dsox_ctx_t *ctx,
- lsm6dsox_all_sources_t *val);
-
int32_t lsm6dsox_status_reg_get(lsm6dsox_ctx_t *ctx,
lsm6dsox_status_reg_t *val);
@@ -1847,6 +1861,8 @@
int32_t lsm6dsox_xl_usr_offset_set(lsm6dsox_ctx_t *ctx, uint8_t val);
int32_t lsm6dsox_xl_usr_offset_get(lsm6dsox_ctx_t *ctx, uint8_t *val);
+int32_t lsm6dsox_timestamp_rst(lsm6dsox_ctx_t *ctx);
+
int32_t lsm6dsox_timestamp_set(lsm6dsox_ctx_t *ctx, uint8_t val);
int32_t lsm6dsox_timestamp_get(lsm6dsox_ctx_t *ctx, uint8_t *val);
@@ -1911,7 +1927,7 @@
uint8_t *val);
int32_t lsm6dsox_ln_pg_read_byte(lsm6dsox_ctx_t *ctx, uint16_t address,
uint8_t *val);
-
+
int32_t lsm6dsox_ln_pg_write(lsm6dsox_ctx_t *ctx, uint16_t address,
uint8_t *buf, uint8_t len);
int32_t lsm6dsox_ln_pg_read(lsm6dsox_ctx_t *ctx, uint16_t address,
@@ -2228,31 +2244,6 @@
lsm6dsox_i3c_disable_t val);
int32_t lsm6dsox_i3c_disable_get(lsm6dsox_ctx_t *ctx,
lsm6dsox_i3c_disable_t *val);
-typedef struct {
- lsm6dsox_int1_ctrl_t int1_ctrl;
- lsm6dsox_md1_cfg_t md1_cfg;
- lsm6dsox_emb_func_int1_t emb_func_int1;
- lsm6dsox_fsm_int1_a_t fsm_int1_a;
- lsm6dsox_fsm_int1_b_t fsm_int1_b;
- lsm6dsox_mlc_int1_t mlc_int1;
-} lsm6dsox_pin_int1_route_t;
-int32_t lsm6dsox_pin_int1_route_set(lsm6dsox_ctx_t *ctx,
- lsm6dsox_pin_int1_route_t *val);
-int32_t lsm6dsox_pin_int1_route_get(lsm6dsox_ctx_t *ctx,
- lsm6dsox_pin_int1_route_t *val);
-
-typedef struct {
- lsm6dsox_int2_ctrl_t int2_ctrl;
- lsm6dsox_md2_cfg_t md2_cfg;
- lsm6dsox_emb_func_int2_t emb_func_int2;
- lsm6dsox_fsm_int2_a_t fsm_int2_a;
- lsm6dsox_fsm_int2_b_t fsm_int2_b;
- lsm6dsox_mlc_int2_t mlc_int2;
-} lsm6dsox_pin_int2_route_t;
-int32_t lsm6dsox_pin_int2_route_set(lsm6dsox_ctx_t *ctx,
- lsm6dsox_pin_int2_route_t *val);
-int32_t lsm6dsox_pin_int2_route_get(lsm6dsox_ctx_t *ctx,
- lsm6dsox_pin_int2_route_t *val);
typedef enum {
LSM6DSOX_PUSH_PULL = 0x00,
@@ -2509,7 +2500,7 @@
} lsm6dsox_trig_counter_bdr_t;
typedef enum {
- LSM6DSOX_GYRO_NC_TAG = 1,
+ LSM6DSOX_GYRO_NC_TAG = 1,
LSM6DSOX_XL_NC_TAG,
LSM6DSOX_TEMPERATURE_TAG,
LSM6DSOX_TIMESTAMP_TAG,
@@ -2530,7 +2521,7 @@
LSM6DSOX_GAME_ROTATION_TAG,
LSM6DSOX_GEOMAG_ROTATION_TAG,
LSM6DSOX_ROTATION_TAG,
- LSM6DSOX_SENSORHUB_NACK_TAG = 0x19,
+ LSM6DSOX_SENSORHUB_NACK_TAG = 0x19,
} lsm6dsox_fifo_tag_t;
int32_t lsm6dsox_fifo_cnt_event_batch_set(lsm6dsox_ctx_t *ctx,
lsm6dsox_trig_counter_bdr_t val);
@@ -2557,7 +2548,7 @@
int32_t lsm6dsox_fifo_wtm_flag_get(lsm6dsox_ctx_t *ctx, uint8_t *val);
int32_t lsm6dsox_fifo_sensor_tag_get(lsm6dsox_ctx_t *ctx,
- lsm6dsox_fifo_tag_t *val);
+ lsm6dsox_fifo_tag_t *val);
int32_t lsm6dsox_fifo_pedo_batch_set(lsm6dsox_ctx_t *ctx, uint8_t val);
int32_t lsm6dsox_fifo_pedo_batch_get(lsm6dsox_ctx_t *ctx, uint8_t *val);
@@ -2609,11 +2600,9 @@
int32_t lsm6dsox_den_mark_axis_z_get(lsm6dsox_ctx_t *ctx, uint8_t *val);
typedef enum {
- LSM6DSOX_PEDO_DISABLE = 0x00,
- LSM6DSOX_PEDO_BASE_MODE = 0x01,
- LSM6DSOX_PEDO_ADV_MODE = 0x03,
- LSM6DSOX_FALSE_STEP_REJ = 0x13,
- LSM6DSOX_FALSE_STEP_REJ_ADV_MODE = 0x33,
+ LSM6DSOX_PEDO_BASE_MODE = 0x00,
+ LSM6DSOX_FALSE_STEP_REJ = 0x10,
+ LSM6DSOX_FALSE_STEP_REJ_ADV_MODE = 0x30,
} lsm6dsox_pedo_md_t;
int32_t lsm6dsox_pedo_sens_set(lsm6dsox_ctx_t *ctx, lsm6dsox_pedo_md_t val);
int32_t lsm6dsox_pedo_sens_get(lsm6dsox_ctx_t *ctx, lsm6dsox_pedo_md_t *val);
@@ -2645,15 +2634,9 @@
int32_t lsm6dsox_pedo_int_mode_get(lsm6dsox_ctx_t *ctx,
lsm6dsox_carry_count_en_t *val);
-int32_t lsm6dsox_motion_sens_set(lsm6dsox_ctx_t *ctx, uint8_t val);
-int32_t lsm6dsox_motion_sens_get(lsm6dsox_ctx_t *ctx, uint8_t *val);
-
int32_t lsm6dsox_motion_flag_data_ready_get(lsm6dsox_ctx_t *ctx,
uint8_t *val);
-int32_t lsm6dsox_tilt_sens_set(lsm6dsox_ctx_t *ctx, uint8_t val);
-int32_t lsm6dsox_tilt_sens_get(lsm6dsox_ctx_t *ctx, uint8_t *val);
-
int32_t lsm6dsox_tilt_flag_data_ready_get(lsm6dsox_ctx_t *ctx,
uint8_t *val);
@@ -2711,9 +2694,6 @@
int32_t lsm6dsox_long_cnt_flag_data_ready_get(lsm6dsox_ctx_t *ctx,
uint8_t *val);
-int32_t lsm6dsox_emb_fsm_en_set(lsm6dsox_ctx_t *ctx, uint8_t val);
-int32_t lsm6dsox_emb_fsm_en_get(lsm6dsox_ctx_t *ctx, uint8_t *val);
-
typedef struct {
lsm6dsox_fsm_enable_a_t fsm_enable_a;
lsm6dsox_fsm_enable_b_t fsm_enable_b;
@@ -2775,9 +2755,6 @@
int32_t lsm6dsox_fsm_start_address_set(lsm6dsox_ctx_t *ctx, uint16_t val);
int32_t lsm6dsox_fsm_start_address_get(lsm6dsox_ctx_t *ctx, uint16_t *val);
-int32_t lsm6dsox_mlc_set(lsm6dsox_ctx_t *ctx, uint8_t val);
-int32_t lsm6dsox_mlc_get(lsm6dsox_ctx_t *ctx, uint8_t *val);
-
int32_t lsm6dsox_mlc_status_get(lsm6dsox_ctx_t *ctx,
lsm6dsox_mlc_status_mainpage_t *val);
@@ -2813,7 +2790,8 @@
lsm6dsox_sensor_hub_18_t sh_byte_18;
} lsm6dsox_emb_sh_read_t;
int32_t lsm6dsox_sh_read_data_raw_get(lsm6dsox_ctx_t *ctx,
- lsm6dsox_emb_sh_read_t *val);
+ lsm6dsox_emb_sh_read_t *val,
+ uint8_t len);
typedef enum {
LSM6DSOX_SLV_0 = 0,
@@ -2840,8 +2818,8 @@
int32_t lsm6dsox_sh_pass_through_get(lsm6dsox_ctx_t *ctx, uint8_t *val);
typedef enum {
- LSM6DSOX_EXT_ON_INT2_PIN = 0,
- LSM6DSOX_XL_GY_DRDY = 1,
+ LSM6DSOX_EXT_ON_INT2_PIN = 1,
+ LSM6DSOX_XL_GY_DRDY = 0,
} lsm6dsox_start_config_t;
int32_t lsm6dsox_sh_syncro_mode_set(lsm6dsox_ctx_t *ctx,
lsm6dsox_start_config_t val);
@@ -2921,6 +2899,429 @@
int32_t lsm6dsox_s4s_dt_set(lsm6dsox_ctx_t *ctx, uint8_t val);
int32_t lsm6dsox_s4s_dt_get(lsm6dsox_ctx_t *ctx, uint8_t *val);
+typedef struct {
+ uint8_t ui;
+ uint8_t aux;
+} lsm6dsox_id_t;
+int32_t lsm6dsox_id_get(lsm6dsox_ctx_t *ctx, lsm6dsox_ctx_t *aux_ctx,
+ lsm6dsox_id_t *val);
+
+typedef struct {
+ enum {
+ LSM6DSOX_SEL_BY_HW = 0x00, /* bus mode select by HW (SPI 3W disable) */
+ LSM6DSOX_SPI_4W = 0x06, /* Only SPI: SDO / SDI separated pins */
+ LSM6DSOX_SPI_3W = 0x07, /* Only SPI: SDO / SDI share the same pin */
+ LSM6DSOX_I2C = 0x04, /* Only I2C */
+ LSM6DSOX_I3C_T_50us = 0x02, /* I3C: available time equal to 50 μs */
+ LSM6DSOX_I3C_T_2us = 0x12, /* I3C: available time equal to 2 μs */
+ LSM6DSOX_I3C_T_1ms = 0x22, /* I3C: available time equal to 1 ms */
+ LSM6DSOX_I3C_T_25ms = 0x32, /* I3C: available time equal to 25 ms */
+ } ui_bus_md;
+ enum {
+ LSM6DSOX_SPI_4W_AUX = 0x00,
+ LSM6DSOX_SPI_3W_AUX = 0x01,
+ } aux_bus_md;
+} lsm6dsox_bus_mode_t;
+int32_t lsm6dsox_bus_mode_set(lsm6dsox_ctx_t *ctx, lsm6dsox_ctx_t *aux_ctx,
+ lsm6dsox_bus_mode_t val);
+int32_t lsm6dsox_bus_mode_get(lsm6dsox_ctx_t *ctx, lsm6dsox_ctx_t *aux_ctx,
+ lsm6dsox_bus_mode_t *val);
+
+typedef enum {
+ LSM6DSOX_DRV_RDY = 0x00, /* Initialize the device for driver usage */
+ LSM6DSOX_BOOT = 0x01, /* Restore calib. param. ( it takes 10ms ) */
+ LSM6DSOX_RESET = 0x02, /* Reset configuration registers */
+ LSM6DSOX_FIFO_COMP = 0x04, /* FIFO compression initialization request. */
+ LSM6DSOX_FSM = 0x08, /* Finite State Machine initialization request */
+ LSM6DSOX_MLC = 0x10, /* Machine Learning Core initialization request */
+ LSM6DSOX_PEDO = 0x20, /* Pedometer algo initialization request. */
+ LSM6DSOX_TILT = 0x40, /* Tilt algo initialization request */
+ LSM6DSOX_SMOTION = 0x80, /* Significant Motion initialization request */
+} lsm6dsox_init_t;
+int32_t lsm6dsox_init_set(lsm6dsox_ctx_t *ctx, lsm6dsox_init_t val);
+
+typedef struct {
+ uint8_t sw_reset : 1; /* Restoring configuration registers */
+ uint8_t boot : 1; /* Restoring calibration parameters */
+ uint8_t drdy_xl : 1; /* Accelerometer data ready */
+ uint8_t drdy_g : 1; /* Gyroscope data ready */
+ uint8_t drdy_temp : 1; /* Temperature data ready */
+ uint8_t ois_drdy_xl : 1; /* Accelerometer data ready on OIS */
+ uint8_t ois_drdy_g : 1; /* Gyroscope data ready on OIS */
+ uint8_t ois_gyro_settling : 1; /* Gyroscope is in the settling phase */
+} lsm6dsox_status_t;
+int32_t lsm6dsox_status_get(lsm6dsox_ctx_t *ctx, lsm6dsox_ctx_t *aux_ctx,
+ lsm6dsox_status_t *val);
+
+typedef struct {
+ uint8_t sdo_sa0_pull_up : 1; /* 1 = pull-up on SDO/SA0 pin */
+ uint8_t aux_sdo_ocs_pull_up : 1; /* 1 = pull-up on OCS_Aux/SDO_Aux pins */
+ uint8_t int1_int2_push_pull : 1; /* 1 = push-pull / 0 = open-drain*/
+ uint8_t int1_pull_down : 1; /* 1 = pull-down always disabled (0=auto) */
+} lsm6dsox_pin_conf_t;
+int32_t lsm6dsox_pin_conf_set(lsm6dsox_ctx_t *ctx, lsm6dsox_pin_conf_t val);
+int32_t lsm6dsox_pin_conf_get(lsm6dsox_ctx_t *ctx, lsm6dsox_pin_conf_t *val);
+
+typedef struct {
+ uint8_t active_low : 1; /* 1 = active low / 0 = active high */
+ uint8_t base_latched : 1; /* base functions are: FF, WU, 6D, Tap, Act/Inac */
+ uint8_t emb_latched : 1; /* emb functions are: Pedo, Tilt, SMot, Timestamp */
+} lsm6dsox_int_mode_t;
+int32_t lsm6dsox_interrupt_mode_set(lsm6dsox_ctx_t *ctx,
+ lsm6dsox_int_mode_t val);
+int32_t lsm6dsox_interrupt_mode_get(lsm6dsox_ctx_t *ctx,
+ lsm6dsox_int_mode_t *val);
+
+typedef struct {
+ uint8_t drdy_xl : 1; /* Accelerometer data ready */
+ uint8_t drdy_g : 1; /* Gyroscope data ready */
+ uint8_t drdy_temp : 1; /* Temperature data ready (1 = int2 pin disable) */
+ uint8_t boot : 1; /* Restoring calibration parameters */
+ uint8_t fifo_th : 1; /* FIFO threshold reached */
+ uint8_t fifo_ovr : 1; /* FIFO overrun */
+ uint8_t fifo_full : 1; /* FIFO full */
+ uint8_t fifo_bdr : 1; /* FIFO Batch counter threshold reached */
+ uint8_t den_flag : 1; /* external trigger level recognition (DEN) */
+ uint8_t sh_endop : 1; /* sensor hub end operation */
+ uint8_t timestamp : 1; /* timestamp overflow (1 = int2 pin disable) */
+ uint8_t six_d : 1; /* orientation change (6D/4D detection) */
+ uint8_t double_tap : 1; /* double-tap event */
+ uint8_t free_fall : 1; /* free fall event */
+ uint8_t wake_up : 1; /* wake up event */
+ uint8_t single_tap : 1; /* single-tap event */
+ uint8_t sleep_change : 1; /* Act/Inact (or Vice-versa) status changed */
+ uint8_t step_detector : 1; /* Step detected */
+ uint8_t tilt : 1; /* Relative tilt event detected */
+ uint8_t sig_mot : 1; /* "significant motion" event detected */
+ uint8_t fsm_lc : 1; /* fsm long counter timeout interrupt event */
+ uint8_t fsm1 : 1; /* fsm 1 interrupt event */
+ uint8_t fsm2 : 1; /* fsm 2 interrupt event */
+ uint8_t fsm3 : 1; /* fsm 3 interrupt event */
+ uint8_t fsm4 : 1; /* fsm 4 interrupt event */
+ uint8_t fsm5 : 1; /* fsm 5 interrupt event */
+ uint8_t fsm6 : 1; /* fsm 6 interrupt event */
+ uint8_t fsm7 : 1; /* fsm 7 interrupt event */
+ uint8_t fsm8 : 1; /* fsm 8 interrupt event */
+ uint8_t fsm9 : 1; /* fsm 9 interrupt event */
+ uint8_t fsm10 : 1; /* fsm 10 interrupt event */
+ uint8_t fsm11 : 1; /* fsm 11 interrupt event */
+ uint8_t fsm12 : 1; /* fsm 12 interrupt event */
+ uint8_t fsm13 : 1; /* fsm 13 interrupt event */
+ uint8_t fsm14 : 1; /* fsm 14 interrupt event */
+ uint8_t fsm15 : 1; /* fsm 15 interrupt event */
+ uint8_t fsm16 : 1; /* fsm 16 interrupt event */
+ uint8_t mlc1 : 1; /* mlc 1 interrupt event */
+ uint8_t mlc2 : 1; /* mlc 2 interrupt event */
+ uint8_t mlc3 : 1; /* mlc 3 interrupt event */
+ uint8_t mlc4 : 1; /* mlc 4 interrupt event */
+ uint8_t mlc5 : 1; /* mlc 5 interrupt event */
+ uint8_t mlc6 : 1; /* mlc 6 interrupt event */
+ uint8_t mlc7 : 1; /* mlc 7 interrupt event */
+ uint8_t mlc8 : 1; /* mlc 8 interrupt event */
+} lsm6dsox_pin_int1_route_t;
+
+int32_t lsm6dsox_pin_int1_route_set(lsm6dsox_ctx_t *ctx,
+ lsm6dsox_pin_int1_route_t val);
+int32_t lsm6dsox_pin_int1_route_get(lsm6dsox_ctx_t *ctx,
+ lsm6dsox_pin_int1_route_t *val);
+
+typedef struct {
+ uint8_t drdy_ois : 1; /* OIS chain data ready */
+ uint8_t drdy_xl : 1; /* Accelerometer data ready */
+ uint8_t drdy_g : 1; /* Gyroscope data ready */
+ uint8_t drdy_temp : 1; /* Temperature data ready */
+ uint8_t fifo_th : 1; /* FIFO threshold reached */
+ uint8_t fifo_ovr : 1; /* FIFO overrun */
+ uint8_t fifo_full : 1; /* FIFO full */
+ uint8_t fifo_bdr : 1; /* FIFO Batch counter threshold reached */
+ uint8_t timestamp : 1; /* timestamp overflow */
+ uint8_t six_d : 1; /* orientation change (6D/4D detection) */
+ uint8_t double_tap : 1; /* double-tap event */
+ uint8_t free_fall : 1; /* free fall event */
+ uint8_t wake_up : 1; /* wake up event */
+ uint8_t single_tap : 1; /* single-tap event */
+ uint8_t sleep_change : 1; /* Act/Inact (or Vice-versa) status changed */
+ uint8_t step_detector : 1; /* Step detected */
+ uint8_t tilt : 1; /* Relative tilt event detected */
+ uint8_t sig_mot : 1; /* "significant motion" event detected */
+ uint8_t fsm_lc : 1; /* fsm long counter timeout interrupt event */
+ uint8_t fsm1 : 1; /* fsm 1 interrupt event */
+ uint8_t fsm2 : 1; /* fsm 2 interrupt event */
+ uint8_t fsm3 : 1; /* fsm 3 interrupt event */
+ uint8_t fsm4 : 1; /* fsm 4 interrupt event */
+ uint8_t fsm5 : 1; /* fsm 5 interrupt event */
+ uint8_t fsm6 : 1; /* fsm 6 interrupt event */
+ uint8_t fsm7 : 1; /* fsm 7 interrupt event */
+ uint8_t fsm8 : 1; /* fsm 8 interrupt event */
+ uint8_t fsm9 : 1; /* fsm 9 interrupt event */
+ uint8_t fsm10 : 1; /* fsm 10 interrupt event */
+ uint8_t fsm11 : 1; /* fsm 11 interrupt event */
+ uint8_t fsm12 : 1; /* fsm 12 interrupt event */
+ uint8_t fsm13 : 1; /* fsm 13 interrupt event */
+ uint8_t fsm14 : 1; /* fsm 14 interrupt event */
+ uint8_t fsm15 : 1; /* fsm 15 interrupt event */
+ uint8_t fsm16 : 1; /* fsm 16 interrupt event */
+ uint8_t mlc1 : 1; /* mlc 1 interrupt event */
+ uint8_t mlc2 : 1; /* mlc 2 interrupt event */
+ uint8_t mlc3 : 1; /* mlc 3 interrupt event */
+ uint8_t mlc4 : 1; /* mlc 4 interrupt event */
+ uint8_t mlc5 : 1; /* mlc 5 interrupt event */
+ uint8_t mlc6 : 1; /* mlc 6 interrupt event */
+ uint8_t mlc7 : 1; /* mlc 7 interrupt event */
+ uint8_t mlc8 : 1; /* mlc 8 interrupt event */
+} lsm6dsox_pin_int2_route_t;
+
+int32_t lsm6dsox_pin_int2_route_set(lsm6dsox_ctx_t *ctx, lsm6dsox_ctx_t *aux_ctx,
+ lsm6dsox_pin_int2_route_t val);
+int32_t lsm6dsox_pin_int2_route_get(lsm6dsox_ctx_t *ctx, lsm6dsox_ctx_t *aux_ctx,
+ lsm6dsox_pin_int2_route_t *val);
+
+typedef struct {
+ uint8_t drdy_xl : 1; /* Accelerometer data ready */
+ uint8_t drdy_g : 1; /* Gyroscope data ready */
+ uint8_t drdy_temp : 1; /* Temperature data ready */
+ uint8_t den_flag : 1; /* external trigger level recognition (DEN) */
+ uint8_t timestamp : 1; /* timestamp overflow (1 = int2 pin disable) */
+ uint8_t free_fall : 1; /* free fall event */
+ uint8_t wake_up : 1; /* wake up event */
+ uint8_t wake_up_z : 1; /* wake up on Z axis event */
+ uint8_t wake_up_y : 1; /* wake up on Y axis event */
+ uint8_t wake_up_x : 1; /* wake up on X axis event */
+ uint8_t single_tap : 1; /* single-tap event */
+ uint8_t double_tap : 1; /* double-tap event */
+ uint8_t tap_z : 1; /* single-tap on Z axis event */
+ uint8_t tap_y : 1; /* single-tap on Y axis event */
+ uint8_t tap_x : 1; /* single-tap on X axis event */
+ uint8_t tap_sign : 1; /* sign of tap event (0-pos / 1-neg) */
+ uint8_t six_d : 1; /* orientation change (6D/4D detection) */
+ uint8_t six_d_xl : 1; /* X-axis low 6D/4D event (under threshold) */
+ uint8_t six_d_xh : 1; /* X-axis high 6D/4D event (over threshold) */
+ uint8_t six_d_yl : 1; /* Y-axis low 6D/4D event (under threshold) */
+ uint8_t six_d_yh : 1; /* Y-axis high 6D/4D event (over threshold) */
+ uint8_t six_d_zl : 1; /* Z-axis low 6D/4D event (under threshold) */
+ uint8_t six_d_zh : 1; /* Z-axis high 6D/4D event (over threshold) */
+ uint8_t sleep_change : 1; /* Act/Inact (or Vice-versa) status changed */
+ uint8_t sleep_state : 1; /* Act/Inact status flag (0-Act / 1-Inact) */
+ uint8_t step_detector : 1; /* Step detected */
+ uint8_t tilt : 1; /* Relative tilt event detected */
+ uint8_t sig_mot : 1; /* "significant motion" event detected */
+ uint8_t fsm_lc : 1; /* fsm long counter timeout interrupt event */
+ uint8_t fsm1 : 1; /* fsm 1 interrupt event */
+ uint8_t fsm2 : 1; /* fsm 2 interrupt event */
+ uint8_t fsm3 : 1; /* fsm 3 interrupt event */
+ uint8_t fsm4 : 1; /* fsm 4 interrupt event */
+ uint8_t fsm5 : 1; /* fsm 5 interrupt event */
+ uint8_t fsm6 : 1; /* fsm 6 interrupt event */
+ uint8_t fsm7 : 1; /* fsm 7 interrupt event */
+ uint8_t fsm8 : 1; /* fsm 8 interrupt event */
+ uint8_t fsm9 : 1; /* fsm 9 interrupt event */
+ uint8_t fsm10 : 1; /* fsm 10 interrupt event */
+ uint8_t fsm11 : 1; /* fsm 11 interrupt event */
+ uint8_t fsm12 : 1; /* fsm 12 interrupt event */
+ uint8_t fsm13 : 1; /* fsm 13 interrupt event */
+ uint8_t fsm14 : 1; /* fsm 14 interrupt event */
+ uint8_t fsm15 : 1; /* fsm 15 interrupt event */
+ uint8_t fsm16 : 1; /* fsm 16 interrupt event */
+ uint8_t mlc1 : 1; /* mlc 1 interrupt event */
+ uint8_t mlc2 : 1; /* mlc 2 interrupt event */
+ uint8_t mlc3 : 1; /* mlc 3 interrupt event */
+ uint8_t mlc4 : 1; /* mlc 4 interrupt event */
+ uint8_t mlc5 : 1; /* mlc 5 interrupt event */
+ uint8_t mlc6 : 1; /* mlc 6 interrupt event */
+ uint8_t mlc7 : 1; /* mlc 7 interrupt event */
+ uint8_t mlc8 : 1; /* mlc 8 interrupt event */
+ uint8_t sh_endop : 1; /* sensor hub end operation */
+ uint8_t sh_slave0_nack : 1; /* Not acknowledge on sensor hub slave 0 */
+ uint8_t sh_slave1_nack : 1; /* Not acknowledge on sensor hub slave 1 */
+ uint8_t sh_slave2_nack : 1; /* Not acknowledge on sensor hub slave 2 */
+ uint8_t sh_slave3_nack : 1; /* Not acknowledge on sensor hub slave 3 */
+ uint8_t sh_wr_once : 1; /* "WRITE_ONCE" end on sensor hub slave 0 */
+ uint16_t fifo_diff : 10; /* Number of unread sensor data in FIFO*/
+ uint8_t fifo_ovr_latched : 1; /* Latched FIFO overrun status */
+ uint8_t fifo_bdr : 1; /* FIFO Batch counter threshold reached */
+ uint8_t fifo_full : 1; /* FIFO full */
+ uint8_t fifo_ovr : 1; /* FIFO overrun */
+ uint8_t fifo_th : 1; /* FIFO threshold reached */
+} lsm6dsox_all_sources_t;
+int32_t lsm6dsox_all_sources_get(lsm6dsox_ctx_t *ctx,
+ lsm6dsox_all_sources_t *val);
+
+typedef struct{
+ uint8_t odr_fine_tune;
+} dev_cal_t;
+int32_t lsm6dsox_calibration_get(lsm6dsox_ctx_t *ctx, dev_cal_t *val);
+
+typedef struct {
+ struct {
+ struct {
+ enum {
+ LSM6DSOX_XL_UI_OFF = 0x00, /* in power down */
+ LSM6DSOX_XL_UI_1Hz6_LP = 0x1B, /* @1Hz6 (low power) */
+ LSM6DSOX_XL_UI_1Hz6_ULP = 0x2B, /* @1Hz6 (ultra low/Gy, OIS imu off) */
+ LSM6DSOX_XL_UI_12Hz5_HP = 0x01, /* @12Hz5 (high performance) */
+ LSM6DSOX_XL_UI_12Hz5_LP = 0x11, /* @12Hz5 (low power) */
+ LSM6DSOX_XL_UI_12Hz5_ULP = 0x21, /* @12Hz5 (ultra low/Gy, OIS imu off) */
+ LSM6DSOX_XL_UI_26Hz_HP = 0x02, /* @26Hz (high performance) */
+ LSM6DSOX_XL_UI_26Hz_LP = 0x12, /* @26Hz (low power) */
+ LSM6DSOX_XL_UI_26Hz_ULP = 0x22, /* @26Hz (ultra low/Gy, OIS imu off) */
+ LSM6DSOX_XL_UI_52Hz_HP = 0x03, /* @52Hz (high performance) */
+ LSM6DSOX_XL_UI_52Hz_LP = 0x13, /* @52Hz (low power) */
+ LSM6DSOX_XL_UI_52Hz_ULP = 0x23, /* @52Hz (ultra low/Gy, OIS imu off) */
+ LSM6DSOX_XL_UI_104Hz_HP = 0x04, /* @104Hz (high performance) */
+ LSM6DSOX_XL_UI_104Hz_NM = 0x14, /* @104Hz (normal mode) */
+ LSM6DSOX_XL_UI_104Hz_ULP = 0x24, /* @104Hz (ultra low/Gy, OIS imu off) */
+ LSM6DSOX_XL_UI_208Hz_HP = 0x05, /* @208Hz (high performance) */
+ LSM6DSOX_XL_UI_208Hz_NM = 0x15, /* @208Hz (normal mode) */
+ LSM6DSOX_XL_UI_208Hz_ULP = 0x25, /* @208Hz (ultra low/Gy, OIS imu off) */
+ LSM6DSOX_XL_UI_416Hz_HP = 0x06, /* @416Hz (high performance) */
+ LSM6DSOX_XL_UI_833Hz_HP = 0x07, /* @833Hz (high performance) */
+ LSM6DSOX_XL_UI_1667Hz_HP = 0x08, /* @1kHz66 (high performance) */
+ LSM6DSOX_XL_UI_3333Hz_HP = 0x09, /* @3kHz33 (high performance) */
+ LSM6DSOX_XL_UI_6667Hz_HP = 0x0A, /* @6kHz66 (high performance) */
+ } odr;
+ enum {
+ LSM6DSOX_XL_UI_2g = 0,
+ LSM6DSOX_XL_UI_4g = 2,
+ LSM6DSOX_XL_UI_8g = 3,
+ LSM6DSOX_XL_UI_16g = 1, /* OIS full scale is also forced to be 16g */
+ } fs;
+ } xl;
+ struct {
+ enum {
+ LSM6DSOX_GY_UI_OFF = 0x00, /* gy in power down */
+ LSM6DSOX_GY_UI_12Hz5_LP = 0x11, /* gy @12Hz5 (low power) */
+ LSM6DSOX_GY_UI_12Hz5_HP = 0x01, /* gy @12Hz5 (high performance) */
+ LSM6DSOX_GY_UI_26Hz_LP = 0x12, /* gy @26Hz (low power) */
+ LSM6DSOX_GY_UI_26Hz_HP = 0x02, /* gy @26Hz (high performance) */
+ LSM6DSOX_GY_UI_52Hz_LP = 0x13, /* gy @52Hz (low power) */
+ LSM6DSOX_GY_UI_52Hz_HP = 0x03, /* gy @52Hz (high performance) */
+ LSM6DSOX_GY_UI_104Hz_NM = 0x14, /* gy @104Hz (low power) */
+ LSM6DSOX_GY_UI_104Hz_HP = 0x04, /* gy @104Hz (high performance) */
+ LSM6DSOX_GY_UI_208Hz_NM = 0x15, /* gy @208Hz (low power) */
+ LSM6DSOX_GY_UI_208Hz_HP = 0x05, /* gy @208Hz (high performance) */
+ LSM6DSOX_GY_UI_416Hz_HP = 0x06, /* gy @416Hz (high performance) */
+ LSM6DSOX_GY_UI_833Hz_HP = 0x07, /* gy @833Hz (high performance) */
+ LSM6DSOX_GY_UI_1667Hz_HP = 0x08, /* gy @1kHz66 (high performance) */
+ LSM6DSOX_GY_UI_3333Hz_HP = 0x09, /* gy @3kHz33 (high performance) */
+ LSM6DSOX_GY_UI_6667Hz_HP = 0x0A, /* gy @6kHz66 (high performance) */
+ } odr;
+ enum {
+ LSM6DSOX_GY_UI_250dps = 0,
+ LSM6DSOX_GY_UI_125dps = 1,
+ LSM6DSOX_GY_UI_500dps = 2,
+ LSM6DSOX_GY_UI_1000dps = 4,
+ LSM6DSOX_GY_UI_2000dps = 6,
+ } fs;
+ }gy;
+ } ui;
+ struct {
+ enum {
+ LSM6DSOX_OIS_ONLY_AUX = 0x00, /* Auxiliary SPI full control */
+ LSM6DSOX_OIS_ONLY_UI = 0x02, /* Primary interface full control */
+ LSM6DSOX_OIS_MIXED = 0x01, /* Enabling by UI / read-config by AUX */
+ } ctrl_md;
+ struct {
+ enum {
+ LSM6DSOX_XL_OIS_OFF = 0x00, /* in power down */
+ LSM6DSOX_XL_OIS_6667Hz_HP = 0x01, /* @6kHz OIS imu active/NO ULP on UI */
+ } odr;
+ enum {
+ LSM6DSOX_XL_OIS_2g = 0,
+ LSM6DSOX_XL_OIS_4g = 2,
+ LSM6DSOX_XL_OIS_8g = 3,
+ LSM6DSOX_XL_OIS_16g = 1, /* UI full scale is also forced to be 16g */
+ } fs;
+ } xl;
+ struct {
+ enum {
+ LSM6DSOX_GY_OIS_OFF = 0x00, /* in power down */
+ LSM6DSOX_GY_OIS_6667Hz_HP = 0x01, /* @6kHz No Ultra Low Power*/
+ } odr;
+ enum {
+ LSM6DSOX_GY_OIS_250dps = 0,
+ LSM6DSOX_GY_OIS_125dps = 1,
+ LSM6DSOX_GY_OIS_500dps = 2,
+ LSM6DSOX_GY_OIS_1000dps = 4,
+ LSM6DSOX_GY_OIS_2000dps = 6,
+ } fs;
+ } gy;
+ } ois;
+ struct {
+ enum {
+ LSM6DSOX_FSM_DISABLE = 0x00,
+ LSM6DSOX_FSM_XL = 0x01,
+ LSM6DSOX_FSM_GY = 0x02,
+ LSM6DSOX_FSM_XL_GY = 0x03,
+ } sens;
+ enum {
+ LSM6DSOX_FSM_12Hz5 = 0x00,
+ LSM6DSOX_FSM_26Hz = 0x01,
+ LSM6DSOX_FSM_52Hz = 0x02,
+ LSM6DSOX_FSM_104Hz = 0x03,
+ } odr;
+ } fsm;
+ struct {
+ enum {
+ LSM6DSOX_MLC_DISABLE = 0x00,
+ LSM6DSOX_MLC_XL = 0x01,
+ LSM6DSOX_MLC_XL_GY = 0x03,
+ } sens;
+ enum {
+ LSM6DSOX_MLC_12Hz5 = 0x00,
+ LSM6DSOX_MLC_26Hz = 0x01,
+ LSM6DSOX_MLC_52Hz = 0x02,
+ LSM6DSOX_MLC_104Hz = 0x03,
+ } odr;
+ } mlc;
+} lsm6dsox_md_t;
+int32_t lsm6dsox_mode_set(lsm6dsox_ctx_t *ctx, lsm6dsox_ctx_t *aux_ctx,
+ lsm6dsox_md_t *val);
+int32_t lsm6dsox_mode_get(lsm6dsox_ctx_t *ctx, lsm6dsox_ctx_t *aux_ctx,
+ lsm6dsox_md_t *val);
+
+typedef struct {
+ struct {
+ struct {
+ float mg[3];
+ int16_t raw[3];
+ }xl;
+ struct {
+ float mdps[3];
+ int16_t raw[3];
+ }gy;
+ struct {
+ float deg_c;
+ int16_t raw;
+ }heat;
+ } ui;
+ struct {
+ struct {
+ float mg[3];
+ int16_t raw[3];
+ }xl;
+ struct {
+ float mdps[3];
+ int16_t raw[3];
+ }gy;
+ } ois;
+} lsm6dsox_data_t;
+int32_t lsm6dsox_data_get(lsm6dsox_ctx_t *ctx, lsm6dsox_ctx_t *aux_ctx,
+ lsm6dsox_md_t *md, lsm6dsox_data_t *data);
+
+typedef struct {
+ uint8_t sig_mot : 1; /* significant motion */
+ uint8_t tilt : 1; /* tilt detection */
+ uint8_t step : 1; /* step counter/detector */
+ uint8_t mlc : 1; /* machine learning core */
+ uint8_t fsm : 1; /* finite state machine */
+ uint8_t fifo_compr : 1; /* mlc 8 interrupt event */
+} lsm6dsox_emb_sens_t;
+int32_t lsm6dsox_embedded_sens_set(lsm6dsox_ctx_t *ctx,
+ lsm6dsox_emb_sens_t *emb_sens);
+int32_t lsm6dsox_embedded_sens_get(lsm6dsox_ctx_t *ctx,
+ lsm6dsox_emb_sens_t *emb_sens);
+int32_t lsm6dsox_embedded_sens_off(lsm6dsox_ctx_t *ctx);
+
/**
* @}
*