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LSM6DS0
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Dependents: StepOne (store accelerometer value)
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LSM6DS0
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Simone Saracino
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lsm6ds0.h
00001 // Library for the STMicroelectronics LSM6DS0 3D accelerometer and 3D gyroscope 00002 00003 // Define to prevent recursive inclusion ------------------------------------- 00004 #ifndef __LSM6DS0_H 00005 #define __LSM6DS0_H 00006 00007 #include "mbed.h" 00008 00009 00010 /******************************************************************************/ 00011 /*********** 3D ACCELEROMETER AND 3D GYROSCOPE REGISTER MAPPING **************/ 00012 /******************************************************************************/ 00013 00014 #define LSM6DS0_ACC_SENS_2G ((float)0.061) // Accelerometer sensitivity with 2 G full scale [mg / LSB] 00015 #define LSM6DS0_ACC_SENS_4G ((float)0.122) // Accelerometer sensitivity with 4 G full scale [mg / LSB] 00016 #define LSM6DS0_ACC_SENS_8G ((float)0.244) // Accelerometer sensitivity with 8 G full scale [mg / LSB] 00017 #define LSM6DS0_ACC_SENS_16G ((float)0.732) // Accelerometer sensitivity with 16 G full scale [mg / LSB] 00018 00019 #define LSM6DS0_GYRO_SENS_245DPS ((float)8.75f) // 00020 #define LSM6DS0_GYRO_SENS_500DPS ((float)17.50f) // Gyroscope sensitivity with 500 dps full scale [mdps / LSB] 00021 #define LSM6DS0_GYRO_SENS_2000DPS ((float)70f) // Gyroscope sensitivity with 2000 dps full scale [mdps / LSB] 00022 00023 #define LSM6DS0_GYRO_SENS_245DPS ((float)8.75f) //Gyroscope sensitivity with 245 dps full scale [mdps / LSB] 00024 #define LSM6DS0_GYRO_SENS_500DPS ((float)17.50f) // Gyroscope sensitivity with 500 dps full scale [mdps / LSB] 00025 #define LSM6DS0_GYRO_SENS_2000DPS ((float)70f) // Gyroscope sensitivity with 2000 dps full scale [mdps / LSB] 00026 00027 // LSM6DS0 register names 00028 00029 /******************************************************************************/ 00030 /* */ 00031 /* LSM6DS0 on board MEMS */ 00032 /* */ 00033 /******************************************************************************/ 00034 /***************** Bit definition for I2C/SPI communication *****************/ 00035 #define LSM6DS0_ADDRESS 0xD6 00036 #define LSM6DS0_SUB ((uint8_t)0x7F) // SUB[6:0] Sub-registers address Mask 00037 #define LSM6DS0_SUB_0 ((uint8_t)0x01) // bit 0 00038 #define LSM6DS0_SUB_1 ((uint8_t)0x02) // bit 1 00039 #define LSM6DS0_SUB_2 ((uint8_t)0x08) // bit 3 00040 #define LSM6DS0_SUB_4 ((uint8_t)0x10) // bit 4 00041 #define LSM6DS0_SUB_5 ((uint8_t)0x20) // bit 5 00042 #define LSM6DS0_SUB_6 ((uint8_t)0x40) // bit 6 00043 00044 #define LSM6DS0_SUB_MSB ((uint8_t)0x80) // Multiple data read\write bit 00045 00046 /***************** Bit definition for Registers Addresses *******************/ 00047 #define LSM6DS0_SUB_ACT_THS ((uint8_t)0x04) // Activity threshold register 00048 #define LSM6DS0_SUB_ACT_DUR ((uint8_t)0x05) // Inactivity duration register 00049 #define LSM6DS0_SUB_INT_GEN_CFG_XL ((uint8_t)0x06) // Accelerometer interrupt generator configuration register 00050 #define LSM6DS0_SUB_INT_GEN_THS_X_XL ((uint8_t)0x07) // Accelerometer X-axis interrupt threshold register 00051 #define LSM6DS0_SUB_INT_GEN_THS_Y_XL ((uint8_t)0x08) // Accelerometer Y-axis interrupt threshold register 00052 #define LSM6DS0_SUB_INT_GEN_THS_Z_XL ((uint8_t)0x09) // Accelerometer Z-axis interrupt threshold register 00053 #define LSM6DS0_SUB_INT_GEN_DUR_XL ((uint8_t)0x0A) // Accelerometer interrupt duration register 00054 #define LSM6DS0_SUB_REFERENCE_G ((uint8_t)0x0B) // Gyroscope reference value register for digital high-pass filter 00055 #define LSM6DS0_SUB_INT_CTRL ((uint8_t)0x0C) // INT pin control register 00056 #define LSM6DS0_SUB_WHO_AM_I ((uint8_t)0x0F) // Who_AM_I register 00057 #define LSM6DS0_SUB_CTRL_REG1_G ((uint8_t)0x10) // Gyroscope control register 1 00058 #define LSM6DS0_SUB_CTRL_REG2_G ((uint8_t)0x11) // Gyroscope control register 2 00059 #define LSM6DS0_SUB_CTRL_REG3_G ((uint8_t)0x12) // Gyroscope control register 3 00060 #define LSM6DS0_SUB_ORIENT_CFG_G ((uint8_t)0x13) // Gyroscope sign and orientation register 00061 #define LSM6DS0_SUB_INT_GEN_SRC_G ((uint8_t)0x14) // Gyroscope interrupt source register 00062 #define LSM6DS0_SUB_OUT_TEMP_L ((uint8_t)0x15) // Temperature data output low register 00063 #define LSM6DS0_SUB_OUT_TEMP_H ((uint8_t)0x16) // Temperature data output high register 00064 #define LSM6DS0_SUB_STATUS_REG1 ((uint8_t)0x17) // Status register 1 00065 #define LSM6DS0_SUB_OUT_X_L_G ((uint8_t)0x18) // Gyroscope X-axis low output register 00066 #define LSM6DS0_SUB_OUT_X_H_G ((uint8_t)0x19) // Gyroscope X-axis high output register 00067 #define LSM6DS0_SUB_OUT_Y_L_G ((uint8_t)0x1A) // Gyroscope Y-axis low output register 00068 #define LSM6DS0_SUB_OUT_Y_H_G ((uint8_t)0x1B) // Gyroscope Y-axis high output register 00069 #define LSM6DS0_SUB_OUT_Z_L_G ((uint8_t)0x1C) // Gyroscope Z-axis low output register 00070 #define LSM6DS0_SUB_OUT_Z_H_G ((uint8_t)0x1D) // Gyroscope Z-axis high output register 00071 #define LSM6DS0_SUB_CTRL_REG4 ((uint8_t)0x1E) // Control register 4 00072 #define LSM6DS0_SUB_CTRL_REG5_XL ((uint8_t)0x1F) // Accelerometer Control Register 5 00073 #define LSM6DS0_SUB_CTRL_REG6_XL ((uint8_t)0x20) // Accelerometer Control Register 6 00074 #define LSM6DS0_SUB_CTRL_REG7_XL ((uint8_t)0x21) // Accelerometer Control Register 7 00075 #define LSM6DS0_SUB_CTRL_REG8 ((uint8_t)0x22) // Control register 8 00076 #define LSM6DS0_SUB_CTRL_REG9 ((uint8_t)0x23) // Control register 9 00077 #define LSM6DS0_SUB_CTRL_REG10 ((uint8_t)0x24) // Control register 10 00078 #define LSM6DS0_SUB_INT_GEN_SRC_XL ((uint8_t)0x26) // Accelerometer interrupt source register 00079 #define LSM6DS0_SUB_STATUS_REG2 ((uint8_t)0x27) // Status register 00080 #define LSM6DS0_SUB_OUT_X_L_XL ((uint8_t)0x28) // Accelerometer X-axis low output register 00081 #define LSM6DS0_SUB_OUT_X_H_XL ((uint8_t)0x29) // Accelerometer X-axis high output register 00082 #define LSM6DS0_SUB_OUT_Y_L_XL ((uint8_t)0x2A) // Accelerometer Y-axis low output register 00083 #define LSM6DS0_SUB_OUT_Y_H_XL ((uint8_t)0x2B) // Accelerometer Y-axis high output register 00084 #define LSM6DS0_SUB_OUT_Z_L_XL ((uint8_t)0x2C) // Accelerometer Z-axis low output register 00085 #define LSM6DS0_SUB_OUT_Z_H_XL ((uint8_t)0x2D) // Accelerometer Z-axis high output register 00086 #define LSM6DS0_SUB_FIFO_CTRL ((uint8_t)0x2E) // FIFO control register 00087 #define LSM6DS0_SUB_FIFO_SRC ((uint8_t)0x2F) // FIFO status control register 00088 #define LSM6DS0_SUB_INT_GEN_CFG_G ((uint8_t)0x30) // Gyroscope interrupt generator configuration register 00089 #define LSM6DS0_SUB_INT_GEN_THS_XH_G ((uint8_t)0x31) // Gyroscope X-axis low interrupt generator threshold registers 00090 #define LSM6DS0_SUB_INT_GEN_THS_XL_G ((uint8_t)0x32) // Gyroscope X-axis high interrupt generator threshold registers 00091 #define LSM6DS0_SUB_INT_GEN_THS_YH_G ((uint8_t)0x33) // Gyroscope Y-axis low interrupt generator threshold registers 00092 #define LSM6DS0_SUB_INT_GEN_THS_YL_G ((uint8_t)0x34) // Gyroscope Y-axis high interrupt generator threshold registers 00093 #define LSM6DS0_SUB_INT_GEN_THS_ZH_G ((uint8_t)0x35) // Gyroscope Z-axis low interrupt generator threshold registers 00094 #define LSM6DS0_SUB_INT_GEN_THS_ZL_G ((uint8_t)0x36) // Gyroscope Z-axis high interrupt generator threshold registers 00095 #define LSM6DS0_SUB_INT_GEN_DUR_G ((uint8_t)0x37) // Gyroscope interrupt generator duration register 00096 00097 #define BIT_0 0 00098 #define BIT_1 1 00099 #define BIT_2 2 00100 #define BIT_3 3 00101 #define BIT_4 4 00102 #define BIT_5 5 00103 #define BIT_6 6 00104 #define BIT_7 7 00105 00106 #define FIFO_length_by_five 160 //The length of 5 FIFO depth 00107 00108 // Generic LSM6DS0 data structures and types 00109 00110 // FIFO mode 00111 typedef enum { 00112 LSM6DS0_FIFO_mode_BYPASS = 0x00, // LSM6DS0 work in BYPASS mode 00113 LSM6DS0_FIFO_mode_FIFO = 0x20, // LSM6DS0 work in FIFO mode 00114 LSM6DS0_FIFO_mode_CONTINUOUS = 0xC0, // LSM6DS0 work in CONTINUOUS mode 00115 LSM6DS0_FIFO_mode_CONTINUOUS_BYPASS = 0x60, // LSM6DS0 work in CONTINUOUS-to-BYPAS mode 00116 LSM6DS0_FIFO_mode_BYPASS_CONTINUOUS = 0x80, // LSM6DS0 work in BYPASS-to-CONTINUOUS mode 00117 }LSM6DS0_FIFO_mode_t; 00118 00119 00120 // Accelerometer and Gyroscope Slave Address 00121 typedef enum { 00122 LSM6DS0_SAD_GND = 0x6A, // LSM6DS0 Slave Address when SA1 is to GND 00123 LSM6DS0_SAD_VCC = 0x6B // LSM6DS0 Slave Address when SA1 is to VCC 00124 }LSM6DS0_SAD_t; 00125 00126 // Accelerometer and Gyroscope Block Data Update 00127 typedef enum 00128 { 00129 LSM6DS0_BDU_CONTINOUS = 0x00, // Continuos Update 00130 LSM6DS0_BDU_BLOCKED = 0x40 // Single Update: output registers not updated until MSB and LSB reading 00131 }LSM6DS0_BDU_t; 00132 00133 // Accelerometer and Gyroscope Endianness 00134 typedef enum 00135 { 00136 LSM6DS0_END_LITTLE = 0x00, // Little Endian: data LSB @ lower address 00137 LSM6DS0_END_BIG = 0x20 // Big Endian: data MSB @ lower address 00138 }LSM6DS0_END_t; 00139 00140 // Accelerometer data structures and types 00141 00142 // Accelerometer Decimation Mode 00143 typedef enum { 00144 LSM6DS0_ACC_DEC_DISABLED = 0x00, // NO decimation 00145 LSM6DS0_ACC_DEC_X2 = 0x40, // Decimation update every 2 sample 00146 LSM6DS0_ACC_DEC_X4 = 0x80, // Decimation update every 4 sample 00147 LSM6DS0_ACC_DEC_X8 = 0xC0 // Decimation update every 8 sample 00148 }LSM6DS0_ACC_DEC_t; 00149 00150 // Accelerometer Axes Enabling 00151 typedef enum{ 00152 LSM6DS0_ACC_AE_DISABLED = 0x00, // Axes all disabled 00153 LSM6DS0_ACC_AE_X = 0x08, // Only X-axis enabled 00154 LSM6DS0_ACC_AE_Y = 0x10, // Only Y-axis enabled 00155 LSM6DS0_ACC_AE_XY = 0x18, // X & Y axes enabled 00156 LSM6DS0_ACC_AE_Z = 0x20, // Only Z-axis enabled 00157 LSM6DS0_ACC_AE_XZ = 0x28, // X & Z axes enabled 00158 LSM6DS0_ACC_AE_YZ = 0x30, // Y & Z axes enabled 00159 LSM6DS0_ACC_AE_XYZ = 0x38 // All axes enabled 00160 }LSM6DS0_ACC_AE_t; 00161 00162 // Accelerometer Output Data Rate 00163 typedef enum { 00164 LSM6DS0_ACC_ODR_PD = 0x00, // Power down 00165 LSM6DS0_ACC_ODR_10Hz = 0x20, // Output Data Rate = 10 Hz 00166 LSM6DS0_ACC_ODR_50Hz = 0x40, // Output Data Rate = 50 Hz 00167 LSM6DS0_ACC_ODR_119Hz = 0x60, // Output Data Rate = 119 Hz 00168 LSM6DS0_ACC_ODR_238Hz = 0x80, // Output Data Rate = 238 Hz 00169 LSM6DS0_ACC_ODR_476Hz = 0xA0, // Output Data Rate = 476 Hz 00170 LSM6DS0_ACC_ODR_952Hz = 0xC0 // Output Data Rate = 952 Hz 00171 }LSM6DS0_ACC_ODR_t; 00172 00173 // Accelerometer Full Scale 00174 typedef enum { 00175 LSM6DS0_ACC_FS_2G = 0x00, // 2 g m/s^2 00176 LSM6DS0_ACC_FS_4G = 0x10, // 4 g m/s^2 00177 LSM6DS0_ACC_FS_8G = 0x18, // 8 g m/s^2 00178 LSM6DS0_ACC_FS_16G = 0x08 // 16 g m/s^2 00179 }LSM6DS0_ACC_FS_t; 00180 00181 // Accelerometer Antialiasing filter Bandwidth Selection 00182 typedef enum { 00183 LSM6DS0_ACC_BW_408Hz = 0x00, // AA filter bandwidth = 408 Hz 00184 LSM6DS0_ACC_BW_211Hz = 0x01, // AA filter bandwidth = 211 Hz 00185 LSM6DS0_ACC_BW_105Hz = 0x02, // AA filter bandwidth = 105 Hz 00186 LSM6DS0_ACC_BW_50Hz = 0x03, // AA filter bandwidth = 50 Hz 00187 LSM6DS0_ACC_BW_ACCORDED = 0x04, // AA filter bandwidth chosen by ODR selection 00188 }LSM6DS0_ACC_BW_t; 00189 00190 // Accelerometer High Resolution mode 00191 typedef enum 00192 { 00193 LSM6DS0_ACC_HR_Disabled = 0x00, // High resolution output mode disabled, FDS bypassed 00194 LSM6DS0_ACC_HR_EN_9 = 0xC4, // High resolution output mode enabled, LP cutoff = ODR/9, FDS enabled 00195 LSM6DS0_ACC_HR_EN_50 = 0x84, // High resolution output mode enabled, LP cutoff = ODR/50, FDS enabled 00196 LSM6DS0_ACC_HR_EN_100 = 0xA4, // High resolution output mode enabled, LP cutoff = ODR/100, FDS enabled 00197 LSM6DS0_ACC_HR_EN_400 = 0xE4, // High resolution output mode enabled, LP cutoff = ODR/400, FDS enabled 00198 }LSM6DS0_ACC_HR_t; 00199 00200 // HP filter for interrupt 00201 typedef enum 00202 { 00203 LSM6DS0_ACC_HPIS1_BYPASSED = 0x00, // High-pass filter bypassed 00204 LSM6DS0_ACC_HPIS1_ENABLED = 0x01 // High-pass filter enabled for accelerometer interrupt function on interrupt 00205 }LSM6DS0_ACC_HPIS1_t; 00206 00207 // Accelerometer configuration structure. 00208 typedef struct { 00209 LSM6DS0_SAD_t slaveaddress; // LSM6DS0 Slave Address 00210 LSM6DS0_ACC_DEC_t decimation; // Accelerometer Decimation Mode 00211 LSM6DS0_ACC_ODR_t outputdatarate; // Accelerometer Output Data Rate 00212 LSM6DS0_ACC_BW_t bandwidth; // Accelerometer Antialiasing filter Bandwidth Selection 00213 LSM6DS0_ACC_FS_t fullscale; // Accelerometer Full Scale 00214 LSM6DS0_ACC_AE_t axesenabling; // Accelerometer Axes Enabling 00215 LSM6DS0_ACC_HR_t highresmode; // Accelerometer High Resolution mode 00216 LSM6DS0_ACC_HPIS1_t hpfirq; // HP filter for interrupt 00217 LSM6DS0_END_t endianess; // LSM6DS0 Endianness 00218 LSM6DS0_BDU_t blockdataupdate; // LSM6DS0 Block Data Update 00219 } LSM6DS0_ACC_Config; 00220 00221 00222 // Gyroscope data structures and types 00223 00224 // Gyroscope Output Data Rate 00225 typedef enum { 00226 LSM6DS0_GYRO_ODR_PD = 0x00, // Power down 00227 LSM6DS0_GYRO_ODR_14_9Hz_CO_5Hz = 0x20, // Output Data Rate = 14.9 Hz, CutOff = 5Hz 00228 LSM6DS0_GYRO_ODR_59_5Hz_CO_16Hz = 0x40, // Output Data Rate = 59.5 Hz, CutOff = 16Hz 00229 LSM6DS0_GYRO_ODR_119Hz_CO_14Hz = 0x60, // Output Data Rate = 119 Hz, CutOff = 14Hz 00230 LSM6DS0_GYRO_ODR_119Hz_CO_31Hz = 0x61, // Output Data Rate = 119 Hz, CutOff = 31Hz 00231 LSM6DS0_GYRO_ODR_238Hz_CO_14Hz = 0x80, // Output Data Rate = 238 Hz, CutOff = 14Hz 00232 LSM6DS0_GYRO_ODR_238Hz_CO_29Hz = 0x81, // Output Data Rate = 328 Hz, CutOff = 29Hz 00233 LSM6DS0_GYRO_ODR_238Hz_CO_63Hz = 0x82, // Output Data Rate = 238 Hz, CutOff = 63Hz 00234 LSM6DS0_GYRO_ODR_238Hz_CO_78Hz = 0x83, // Output Data Rate = 476 Hz, CutOff = 78Hz 00235 LSM6DS0_GYRO_ODR_476Hz_CO_21Hz = 0xA0, // Output Data Rate = 476 Hz, CutOff = 21Hz 00236 LSM6DS0_GYRO_ODR_476Hz_CO_28Hz = 0xA1, // Output Data Rate = 238 Hz, CutOff = 28Hz 00237 LSM6DS0_GYRO_ODR_476Hz_CO_57Hz = 0xA2, // Output Data Rate = 476 Hz, CutOff = 57Hz 00238 LSM6DS0_GYRO_ODR_476Hz_CO_100Hz = 0xA3, // Output Data Rate = 476 Hz, CutOff = 100Hz 00239 LSM6DS0_GYRO_ODR_952Hz_CO_33Hz = 0xC0, // Output Data Rate = 952 Hz, CutOff = 33Hz 00240 LSM6DS0_GYRO_ODR_952Hz_CO_40Hz = 0xC1, // Output Data Rate = 952 Hz, CutOff = 40Hz 00241 LSM6DS0_GYRO_ODR_952Hz_CO_58Hz = 0xC2, // Output Data Rate = 952 Hz, CutOff = 58Hz 00242 LSM6DS0_GYRO_ODR_952Hz_CO_100Hz = 0xC3 // Output Data Rate = 952 Hz, CutOff = 100Hz 00243 }LSM6DS0_GYRO_ODR_t; 00244 00245 // Gyroscope Full Scale 00246 typedef enum { 00247 LSM6DS0_GYRO_FS_245DSP = 0x00, // 245 degrees per second 00248 LSM6DS0_GYRO_FS_500DSP = 0x08, // 500 degrees per second 00249 LSM6DS0_GYRO_FS_2000DSP = 0x18 // 2000 degrees per second 00250 }LSM6DS0_GYRO_FS_t; 00251 00252 // Gyroscope Output Selection 00253 typedef enum { 00254 LSM6DS0_GYRO_OUT_SEL_BYPASS = 0x00, // Output not filtered 00255 LSM6DS0_GYRO_OUT_SEL_FILTERED = 0x01, // Output filtered 00256 }LSM6DS0_GYRO_OUT_SEL_t; 00257 00258 // Gyroscope Interrupt Selection 00259 typedef enum { 00260 LSM6DS0_GYRO_INT_SEL_BYPASS = 0x00, // Interrupt generator signal not filtered 00261 LSM6DS0_GYRO_INT_SEL_FILTERED = 0x08, // Interrupt generator signal filtered 00262 }LSM6DS0_GYRO_INT_SEL_t; 00263 00264 // Gyroscope Low Power Mode 00265 typedef enum { 00266 LSM6DS0_GYRO_LP_MODE_HIGH_PERFORMANCE = 0x00, // High performance 00267 LSM6DS0_GYRO_LP_MODE_LOW_POWER = 0x80, // Low power 00268 }LSM6DS0_GYRO_LP_MODE_t; 00269 00270 // Gyroscope High Pass Filter Cutoff Selection 00271 typedef enum { 00272 LSM6DS0_GYRO_HPCF_DISABLED = 0x00, // HP filter disabled 00273 LSM6DS0_GYRO_HPCF_0 = 0x40, // Config 0 refer to table 48 of DOcID025604 Rev 3 00274 LSM6DS0_GYRO_HPCF_1 = 0x41, // Config 1 refer to table 48 of DOcID025604 Rev 3 00275 LSM6DS0_GYRO_HPCF_2 = 0x42, // Config 2 refer to table 48 of DOcID025604 Rev 3 00276 LSM6DS0_GYRO_HPCF_3 = 0x43, // Config 3 refer to table 48 of DOcID025604 Rev 3 00277 LSM6DS0_GYRO_HPCF_4 = 0x44, // Config 4 refer to table 48 of DOcID025604 Rev 3 00278 LSM6DS0_GYRO_HPCF_5 = 0x45, // Config 5 refer to table 48 of DOcID025604 Rev 3 00279 LSM6DS0_GYRO_HPCF_6 = 0x46, // Config 6 refer to table 48 of DOcID025604 Rev 3 00280 LSM6DS0_GYRO_HPCF_7 = 0x47, // Config 7 refer to table 48 of DOcID025604 Rev 3 00281 LSM6DS0_GYRO_HPCF_8 = 0x48, // Config 8 refer to table 48 of DOcID025604 Rev 3 00282 LSM6DS0_GYRO_HPCF_9 = 0x49, // Config 9 refer to table 48 of DOcID025604 Rev 3 00283 LSM6DS0_GYRO_HPCF_10 = 0x4A // Config 10 refer to table 48 of DOcID025604 Rev 3 00284 }LSM6DS0_GYRO_HPCF_t; 00285 00286 // Gyroscope Axes Enabling 00287 typedef enum{ 00288 LSM6DS0_GYRO_AE_DISABLED = 0x00, // Axes all disabled 00289 LSM6DS0_GYRO_AE_X = 0x08, // Only X-axis enabled 00290 LSM6DS0_GYRO_AE_Y = 0x10, // Only Y-axis enabled 00291 LSM6DS0_GYRO_AE_XY = 0x18, // X & Y axes enabled 00292 LSM6DS0_GYRO_AE_Z = 0x20, // Only Z-axis enabled 00293 LSM6DS0_GYRO_AE_XZ = 0x28, // X & Z axes enabled 00294 LSM6DS0_GYRO_AE_YZ = 0x30, // Y & Z axes enabled 00295 LSM6DS0_GYRO_AE_XYZ = 0x38 // All axes enabled 00296 }LSM6DS0_GYRO_AE_t; 00297 00298 // Gyroscope Decimation Mode 00299 typedef enum { 00300 LSM6DS0_GYRO_DEC_DISABLED = 0x00, // NO decimation 00301 LSM6DS0_GYRO_DEC_X2 = 0x40, // Decimation update every 2 sample 00302 LSM6DS0_GYRO_DEC_X4 = 0x80, // Decimation update every 4 sample 00303 LSM6DS0_GYRO_DEC_X8 = 0xC0 // Decimation update every 8 sample 00304 }LSM6DS0_GYRO_DEC_t; 00305 00306 //Gyroscope Sleep Mode 00307 typedef enum { 00308 LSM6DS0_GYRO_SLP_DISABLED = 0x00, // Gyroscope sleep mode disabled 00309 LSM6DS0_GYRO_SLP_ENABLED = 0x40 // Gyroscope sleep mode enabled 00310 }LSM6DS0_GYRO_SLP_t; 00311 00312 // Gyroscope configuration structure 00313 typedef struct { 00314 LSM6DS0_SAD_t slaveaddress; //LSM6DS0 Slave Address 00315 LSM6DS0_GYRO_ODR_t outputdatarate; // Gyroscope Output Data Rate 00316 LSM6DS0_GYRO_FS_t fullscale; // Gyroscope Full Scale 00317 LSM6DS0_GYRO_OUT_SEL_t outputselect; // Gyroscope Output Selection 00318 LSM6DS0_GYRO_INT_SEL_t irqselect; // Gyroscope Interrupt Selection 00319 LSM6DS0_GYRO_LP_MODE_t lowpowermode; // Gyroscope Low Power Mode 00320 LSM6DS0_GYRO_HPCF_t HPCfrequency; // Gyroscope High Pass Filter Cutoff Selection 00321 LSM6DS0_GYRO_AE_t axesenabling; // Gyroscope Axes Enabling 00322 LSM6DS0_GYRO_DEC_t decimation; // Gyroscope Decimation Mode 00323 LSM6DS0_END_t endianess; // LSM6DS0 Endianness 00324 LSM6DS0_BDU_t blockdataupdate; // LSM6DS0 Block Data Update 00325 } LSM6DS0_GYRO_Config; 00326 00327 typedef struct{ 00328 int16_t x; 00329 int16_t y; 00330 int16_t z; 00331 } xl_output; 00332 00333 class LSM6DS0{ 00334 public: 00335 00336 00337 /* Public Methods */ 00338 00339 void setFIFO(LSM6DS0_FIFO_mode_t work_mode); 00340 void getFIFO(void); 00341 void resetFIFO(void); 00342 void Init(LSM6DS0_ACC_ODR_t odr, LSM6DS0_ACC_HR_t high_res, LSM6DS0_FIFO_mode_t work_mode); 00343 float getSensitivity(void); 00344 void LSM6DS0_reset(void); 00345 void storeFIFO(int *offset, xl_output *data_FIFO); 00346 void computeValue(xl_output *data_FIFO); 00347 void printValue(xl_output *data_FIFO); 00348 void printReg(void); 00349 00350 00351 }; 00352 #endif
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