lsm6ds0.h

00001 /**
00002  ******************************************************************************
00003  * @file    lsm6ds0.h
00004  * @author  MEMS Application Team
00005  * @version V1.3.0
00006  * @date    28-May-2015
00007  * @brief   This file contains definitions for the lsm6ds0.c
00008  *          firmware driver.
00009  ******************************************************************************
00010  * @attention
00011  *
00012  * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
00013  *
00014  * Redistribution and use in source and binary forms, with or without modification,
00015  * are permitted provided that the following conditions are met:
00016  *   1. Redistributions of source code must retain the above copyright notice,
00017  *      this list of conditions and the following disclaimer.
00018  *   2. Redistributions in binary form must reproduce the above copyright notice,
00019  *      this list of conditions and the following disclaimer in the documentation
00020  *      and/or other materials provided with the distribution.
00021  *   3. Neither the name of STMicroelectronics nor the names of its contributors
00022  *      may be used to endorse or promote products derived from this software
00023  *      without specific prior written permission.
00024  *
00025  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00026  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00027  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00028  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
00029  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
00030  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
00031  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00032  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
00033  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
00034  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00035  *
00036  ******************************************************************************
00037  */
00038 
00039 /* Define to prevent recursive inclusion -------------------------------------*/
00040 #ifndef __LSM6DS0_H
00041 #define __LSM6DS0_H
00042 
00043 #ifdef __cplusplus
00044 extern "C" {
00045 #endif
00046 
00047 /* Includes ------------------------------------------------------------------*/
00048 #include "imu_6axes.h"
00049 
00050 /** @addtogroup BSP
00051  * @{
00052  */
00053 
00054 /** @addtogroup Components
00055  * @{
00056  */
00057 
00058 /** @addtogroup LSM6DS0
00059  * @{
00060  */
00061 
00062 /** @defgroup LSM6DS0_Exported_Defines LSM6DS0_Exported_Defines
00063  * @{
00064  */
00065 #ifndef NULL
00066 #define NULL      (void *) 0
00067 #endif
00068 
00069 
00070 /******************************************************************************/
00071 /*********** START ACCELEROMETER AND GYROSCOPE REGISTER MAPPING  **************/
00072 /******************************************************************************/
00073 
00074 
00075 /***************************************** COMMON REGISTERS ********************************************/
00076 
00077 /**
00078  * @brief Interrupt config register
00079  * \code
00080  * Read/write
00081  * Default value: 0x00
00082  * [7] INT_IG_G:    Gyroscope interrupt enable on INT pin
00083  * [6] INT_IG_XL:   Accelerometer interrupt generator on INT pin
00084  * [5] INT_FSS5:    FSS5 interrupt enable on INT pin
00085  * [4] INT_OVR:     Overrun interrupt on INT pin
00086  * [3] INT_FTH:     Gyroscope interrupt enable on INT pin
00087  * [2] INT_BOOT:    Accelerometer interrupt generator on INT pin
00088  * [1] INT_DRDY_G:  FSS5 interrupt enable on INT pin
00089  * [0] INT_DRDY_XL: Overrun interrupt on INT pin
00090  * \endcode
00091  */
00092 #define LSM6DS0_XG_INT_CTRL                                 0x0C
00093 
00094 
00095 /**
00096   * @brief Device identifier register.
00097   * \code
00098   * Read
00099   * Default value:
00100   * [7:0] This read-only register contains the device identifier
00101   * \endcode
00102 */
00103 #define LSM6DS0_XG_WHO_AM_I_ADDR                            0x0F
00104 
00105 
00106 /**
00107   * @brief Control Register 4
00108   * \code
00109   * Read/write
00110   * Default value: 0x38
00111   * [5] Zen_G: Gyroscope�s Z-axis output enable
00112   * [4] Yen_G: Gyroscope�s Y-axis output enable
00113   * [3] Xen_G: Gyroscope�s X-axis output enable
00114   * \endcode
00115 */
00116 #define LSM6DS0_XG_CTRL_REG4                                0x1E
00117 
00118 
00119 /**
00120   * @brief Control Register 10
00121   * \code
00122   * Read/write
00123   * Default value: 0x00
00124   * [2] ST_G:  Gyro  selftest disable (0) / enable (1)
00125   * [0] ST_XL: Accel selftest disable (0) / enable (1)
00126   * \endcode
00127 */
00128 #define LSM6DS0_XG_CTRL_REG10                               0x24
00129 
00130 
00131 /***************************************** GYROSCOPE REGISTERS ********************************************/
00132 
00133 /**
00134  * @brief Angular rate sensor Control Register 1
00135  * \code
00136  * Read/write
00137  * Default value: 0x00
00138  * [7:5] ODR_G2-0: Gyroscope output data rate selection
00139  * [4:3] FS_G1-0: Gyroscope full-scale selection
00140  * [2] This bit must be set to �0� for the correct operation of the device
00141  * [1:0] BW_G1-0: Gyroscope bandwidth selection
00142  * \endcode
00143  */
00144 #define LSM6DS0_XG_CTRL_REG1_G                              0x10
00145 
00146 
00147 /**
00148  * @brief Gyroscope data (LSB)
00149  * \code
00150  * Read
00151  * \endcode
00152  */
00153 #define LSM6DS0_XG_OUT_X_L_G                                0x18
00154 
00155 
00156 /**
00157  * @brief Gyroscope data (MSB)
00158  * \code
00159  * Read
00160  * \endcode
00161  */
00162 #define LSM6DS0_XG_OUT_X_H_G                                0x19
00163 
00164 
00165 /**
00166  * @brief Gyroscope data (LSB)
00167  * \code
00168  * Read
00169  * \endcode
00170  */
00171 #define LSM6DS0_XG_OUT_Y_L_G                                0x1A
00172 
00173 
00174 /**
00175  * @brief Gyroscope data (MSB)
00176  * \code
00177  * Read
00178  * \endcode
00179  */
00180 #define LSM6DS0_XG_OUT_Y_H_G                                0x1B
00181 
00182 
00183 /**
00184  * @brief Gyroscope data (LSB)
00185  * \code
00186  * Read
00187  * \endcode
00188  */
00189 #define LSM6DS0_XG_OUT_Z_L_G                                0x1C
00190 
00191 
00192 /**
00193  * @brief Gyroscope data (MSB)
00194  * \code
00195  * Read
00196  * \endcode
00197  */
00198 #define LSM6DS0_XG_OUT_Z_H_G                                0x1D
00199 
00200 
00201 
00202 /*************************************** ACCELEROMETER REGISTERS *******************************************/
00203 
00204 /**
00205  * @brief Linear acceleration sensor Control Register 6
00206  * \code
00207  * Read/write
00208  * Default value: 0x00
00209  * [7:5] ODR_XL2-0: Accelerometer Output data rate and power mode selection
00210  * [4:3] FS1_XL-FS0_XL: Accelerometer full-scale selection
00211  * [2] BW_SCAL_ODR: Bandwidth selection
00212  * [1:0] BW_XL1-0: Anti-aliasing filter bandwidth selection
00213  * \endcode
00214  */
00215 #define LSM6DS0_XG_CTRL_REG6_XL                              0x20
00216 
00217 
00218 /**
00219  * @brief Linear acceleration sensor Control Register 5
00220  * \code
00221  * Read/write
00222  * Default value: 0x38
00223  * [7:6] DEC1-0: Decimation of acceleration data on OUT REG and FIFO
00224  * [5] Zen_XL: Accelerometer�s Z-axis output enable
00225  * [4] Yen_XL: Accelerometer�s Y-axis output enable
00226  * [3] Xen_XL: Accelerometer�s X-axis output enable
00227  * [2:0] These bits must be set to �0� for the correct operation of the device
00228  * \endcode
00229  */
00230 #define LSM6DS0_XG_CTRL_REG5_XL                              0x1F
00231 
00232 
00233 /**
00234  * @brief Accelerometer data (LSB)
00235  * \code
00236  * Read
00237  * \endcode
00238  */
00239 #define LSM6DS0_XG_OUT_X_L_XL                                0x28
00240 
00241 
00242 /**
00243  * @brief Accelerometer data (MSB)
00244  * \code
00245  * Read
00246  * \endcode
00247  */
00248 #define LSM6DS0_XG_OUT_X_H_XL                                0x29
00249 
00250 
00251 /**
00252  * @brief Accelerometer data (LSB)
00253  * \code
00254  * Read
00255  * \endcode
00256  */
00257 #define LSM6DS0_XG_OUT_Y_L_XL                                0x2A
00258 
00259 
00260 /**
00261  * @brief Accelerometer data (MSB)
00262  * \code
00263  * Read
00264  * \endcode
00265  */
00266 #define LSM6DS0_XG_OUT_Y_H_XL                                0x2B
00267 
00268 
00269 /**
00270  * @brief Accelerometer data (LSB)
00271  * \code
00272  * Read
00273  * \endcode
00274  */
00275 #define LSM6DS0_XG_OUT_Z_L_XL                                0x2C
00276 
00277 
00278 /**
00279  * @brief Accelerometer data (MSB)
00280  * \code
00281  * Read
00282  * \endcode
00283  */
00284 #define LSM6DS0_XG_OUT_Z_H_XL                                0x2D
00285 
00286 /******************************************************************************/
00287 /************* END ACCELEROMETER AND GYROSCOPE REGISTER MAPPING  **************/
00288 /******************************************************************************/
00289 
00290 /**
00291  * @brief Multiple Byte. Mask for enabling multiple byte read/write command.
00292  */
00293 #define LSM6DS0_I2C_MULTIPLEBYTE_CMD                      ((uint8_t)0x80)
00294 
00295 /**
00296 * @brief Device Address
00297 */
00298 #define LSM6DS0_ADDRESS_LOW                                 0xD4    // SAD[0] = 0
00299 #define LSM6DS0_ADDRESS_HIGH                                0xD6    // SAD[0] = 1
00300 #define LSM6DS0_XG_MEMS_ADDRESS                             LSM6DS0_ADDRESS_HIGH    // SAD[0] = 1
00301 
00302 /**
00303  * @brief Device Identifier. Default value of the WHO_AM_I register.
00304  */
00305 #define I_AM_LSM6DS0_XG                                 ((uint8_t)0x68)
00306 
00307 
00308 
00309 /************************************** GYROSCOPE REGISTERS VALUE *******************************************/
00310 
00311 
00312 /** @defgroup LSM6DS0_XG_Gyroscope_Output_Data_Rate_Selection_CTRL_REG1_G LSM6DS0_XG_Gyroscope_Output_Data_Rate_Selection_CTRL_REG1_G
00313  * @{
00314  */
00315 #define LSM6DS0_G_ODR_PD                                ((uint8_t)0x00) /*!< Output Data Rate: Power-down*/
00316 #define LSM6DS0_G_ODR_14_9HZ                            ((uint8_t)0x20) /*!< Output Data Rate: 14.9 Hz, cutoff 5Hz */
00317 #define LSM6DS0_G_ODR_59_5HZ                            ((uint8_t)0x40) /*!< Output Data Rate: 59.5 Hz, cutoff 19Hz */
00318 #define LSM6DS0_G_ODR_119HZ                             ((uint8_t)0x60) /*!< Output Data Rate: 119 Hz, cutoff 38Hz*/
00319 #define LSM6DS0_G_ODR_238HZ                             ((uint8_t)0x80) /*!< Output Data Rate: 238 Hz, cutoff 76Hz*/
00320 #define LSM6DS0_G_ODR_476HZ                             ((uint8_t)0xA0) /*!< Output Data Rate: 476 Hz, cutoff 100Hz*/
00321 #define LSM6DS0_G_ODR_952HZ                             ((uint8_t)0xC0) /*!< Output Data Rate: 952 Hz, cutoff 100Hz*/
00322 
00323 #define LSM6DS0_G_ODR_MASK                              ((uint8_t)0xE0)
00324 /**
00325  * @}
00326  */
00327 
00328 
00329 /** @defgroup LSM6DS0_XG_Gyroscope_Bandwidth_Selection_CTRL_REG1_G LSM6DS0_XG_Gyroscope_Bandwidth_Selection_CTRL_REG1_G
00330  * @{
00331  */
00332 #define LSM6DS0_G_BW_00                          ((uint8_t)0x00) /*!< Bandwidth selection:  - cutoff = n.a. when ODR = Power-down
00333                                                                                             - cutoff = n.a. when ODR = 14.9
00334                                                                                             - cutoff = 16 when ODR = 59.5
00335                                                                                             - cutoff = 14 when ODR = 119
00336                                                                                             - cutoff = 14 when ODR = 238
00337                                                                                             - cutoff = 21 when ODR = 476
00338                                                                                             - cutoff = 33 when ODR = 952  */
00339 #define LSM6DS0_G_BW_01                          ((uint8_t)0x01) /*!< Bandwidth selection:  - cutoff = n.a. when ODR = Power-down
00340                                                                                             - cutoff = n.a. when ODR = 14.9
00341                                                                                             - cutoff = 16 when ODR = 59.5
00342                                                                                             - cutoff = 31 when ODR = 119
00343                                                                                             - cutoff = 29 when ODR = 238
00344                                                                                             - cutoff = 28 when ODR = 476
00345                                                                                             - cutoff = 40 when ODR = 952  */
00346 #define LSM6DS0_G_BW_10                          ((uint8_t)0x02) /*!< Bandwidth selection:  - cutoff = n.a. when ODR = Power-down
00347                                                                                             - cutoff = n.a. when ODR = 14.9
00348                                                                                             - cutoff = 16 when ODR = 59.5
00349                                                                                             - cutoff = 31 when ODR = 119
00350                                                                                             - cutoff = 63 when ODR = 238
00351                                                                                             - cutoff = 57 when ODR = 476
00352                                                                                             - cutoff = 58 when ODR = 952  */
00353 #define LSM6DS0_G_BW_11                          ((uint8_t)0x03) /*!< Bandwidth selection:  - cutoff = n.a. when ODR = Power-down
00354                                                                                             - cutoff = n.a. when ODR = 14.9
00355                                                                                             - cutoff = 16 when ODR = 59.5
00356                                                                                             - cutoff = 31 when ODR = 119
00357                                                                                             - cutoff = 78 when ODR = 238
00358                                                                                             - cutoff = 100 when ODR = 476
00359                                                                                             - cutoff = 100 when ODR = 952  */
00360 
00361 #define LSM6DS0_G_BW_MASK                              ((uint8_t)0x03)
00362 /**
00363  * @}
00364  */
00365 
00366 /** @defgroup LSM6DS0_XG_Gyroscope_Full_Scale_Selection_CTRL_REG1_G LSM6DS0_XG_Gyroscope_Full_Scale_Selection_CTRL_REG1_G
00367  * @{
00368  */
00369 #define LSM6DS0_G_FS_245                               ((uint8_t)0x00) /*!< Full scale: 245 dps*/
00370 #define LSM6DS0_G_FS_500                               ((uint8_t)0x08) /*!< Full scale: 500 dps */
00371 #define LSM6DS0_G_FS_2000                              ((uint8_t)0x18) /*!< Full scale: 2000 dps */
00372 
00373 #define LSM6DS0_G_FS_MASK                              ((uint8_t)0x18)
00374 /**
00375  * @}
00376  */
00377 
00378 /** @defgroup LSM6DS0_XG_Gyroscope_Z_Axis_Output_Enable_Selection_CTRL_REG4 LSM6DS0_XG_Gyroscope_Z_Axis_Output_Enable_Selection_CTRL_REG4
00379  * @{
00380  */
00381 #define LSM6DS0_G_ZEN_DISABLE                          ((uint8_t)0x00) /*!< Gyroscope�s Z-axis output enable: disable */
00382 #define LSM6DS0_G_ZEN_ENABLE                           ((uint8_t)0x20) /*!< Gyroscope�s Z-axis output enable: enable */
00383 
00384 #define LSM6DS0_G_ZEN_MASK                             ((uint8_t)0x20)
00385 /**
00386  * @}
00387  */
00388 
00389 /** @defgroup LSM6DS0_XG_Gyroscope_Y_Axis_Output_Enable_Selection_CTRL_REG4 LSM6DS0_XG_Gyroscope_Y_Axis_Output_Enable_Selection_CTRL_REG4
00390  * @{
00391  */
00392 #define LSM6DS0_G_YEN_DISABLE                          ((uint8_t)0x00) /*!< Gyroscope�s Y-axis output enable: disable */
00393 #define LSM6DS0_G_YEN_ENABLE                           ((uint8_t)0x10) /*!< Gyroscope�s Y-axis output enable: enable */
00394 
00395 #define LSM6DS0_G_YEN_MASK                             ((uint8_t)0x10)
00396 /**
00397  * @}
00398  */
00399 
00400 /** @defgroup LSM6DS0_XG_Gyroscope_X_Axis_Output_Enable_Selection_CTRL_REG4 LSM6DS0_XG_Gyroscope_X_Axis_Output_Enable_Selection_CTRL_REG4
00401  * @{
00402  */
00403 #define LSM6DS0_G_XEN_DISABLE                          ((uint8_t)0x00) /*!< Gyroscope�s X-axis output enable: disable */
00404 #define LSM6DS0_G_XEN_ENABLE                           ((uint8_t)0x08) /*!< Gyroscope�s X-axis output enable: enable */
00405 
00406 #define LSM6DS0_G_XEN_MASK                             ((uint8_t)0x08)
00407 /**
00408  * @}
00409  */
00410 
00411 /** @defgroup LSM6DS0_XG_Gyroscope_Selftest_Enable_Selection_CTRL_REG10 LSM6DS0_XG_Gyroscope_Selftest_Enable_Selection_CTRL_REG10
00412  * @{
00413  */
00414 #define LSM6DS0_G_ST_DISABLE                            ((uint8_t)0x00) /*!< Gyro selftest disable */
00415 #define LSM6DS0_G_ST_ENABLE                             ((uint8_t)0x04) /*!< Gyro selftest enable */
00416 
00417 #define LSM6DS0_G_ST_MASK                               ((uint8_t)0x04)
00418 /**
00419  * @}
00420  */
00421 
00422 
00423 /************************************ ACCELEROMETER REGISTERS VALUE *****************************************/
00424 
00425 /** @defgroup LSM6DS0_XG_Accelerometer_Output_Data_Rate_Selection_CTRL_REG6_XL LSM6DS0_XG_Accelerometer_Output_Data_Rate_Selection_CTRL_REG6_XL
00426  * @{
00427  */
00428 #define LSM6DS0_XL_ODR_PD                               ((uint8_t)0x00) /*!< Output Data Rate: Power-down*/
00429 #define LSM6DS0_XL_ODR_10HZ                             ((uint8_t)0x20) /*!< Output Data Rate: 10 Hz*/
00430 #define LSM6DS0_XL_ODR_50HZ                             ((uint8_t)0x40) /*!< Output Data Rate: 50 Hz */
00431 #define LSM6DS0_XL_ODR_119HZ                            ((uint8_t)0x60) /*!< Output Data Rate: 119 Hz */
00432 #define LSM6DS0_XL_ODR_238HZ                            ((uint8_t)0x80) /*!< Output Data Rate: 238 Hz */
00433 #define LSM6DS0_XL_ODR_476HZ                            ((uint8_t)0xA0) /*!< Output Data Rate: 476 Hz */
00434 #define LSM6DS0_XL_ODR_952HZ                            ((uint8_t)0xC0) /*!< Output Data Rate: 952 Hz */
00435 
00436 #define LSM6DS0_XL_ODR_MASK                             ((uint8_t)0xE0)
00437 /**
00438  * @}
00439  */
00440 
00441 /** @defgroup LSM6DS0_XG_Accelerometer_Full_Scale_Selection_CTRL_REG6_XL LSM6DS0_XG_Accelerometer_Full_Scale_Selection_CTRL_REG6_XL
00442  * @{
00443  */
00444 #define LSM6DS0_XL_FS_2G                                ((uint8_t)0x00) /*!< Full scale: +- 2g */
00445 #define LSM6DS0_XL_FS_4G                                ((uint8_t)0x10) /*!< Full scale: +- 4g */
00446 #define LSM6DS0_XL_FS_8G                                ((uint8_t)0x18) /*!< Full scale: +- 8g */
00447 #define LSM6DS0_XL_FS_16G                               ((uint8_t)0x08) /*!< Full scale: +- 16g */
00448 
00449 #define LSM6DS0_XL_FS_MASK                              ((uint8_t)0x18)
00450 /**
00451  * @}
00452  */
00453 
00454 /** @defgroup LSM6DS0_XG_Accelerometer_Bandwidth_Selection_CTRL_REG6_XL LSM6DS0_XG_Accelerometer_Bandwidth_Selection_CTRL_REG6_XL
00455  * @{
00456  */
00457 #define LSM6DS0_XL_BW_SCAL_ODR                          ((uint8_t)0x00) /*!< Bandwidth selection: determined by ODR:
00458                                                                                                   - BW = 408Hz when ODR = 952Hz, 50Hz, 10Hz
00459                                                                                                   - BW = 211Hz when ODR = 476Hz
00460                                                                                                   - BW = 105Hz when ODR = 238Hz
00461                                                                                                   - BW = 50Hz when ODR = 119Hz */
00462 #define LSM6DS0_XL_BW_SCAL_BW                           ((uint8_t)0x04) /*!< Bandwidth selection: selected according to Anti aliasing filter bandwidth */
00463 
00464 #define LSM6DS0_XL_BW_SCAL_MASK                         ((uint8_t)0x04)
00465 /**
00466  * @}
00467  */
00468 
00469 
00470 /** @defgroup LSM6DS0_XG_Accelerometer_Anti_Aliasing_Filter_Bandwidth_Selection_CTRL_REG6_XL LSM6DS0_XG_Accelerometer_Anti_Aliasing_Filter_Bandwidth_Selection_CTRL_REG6_XL
00471  * @{
00472  */
00473 #define LSM6DS0_XL_BW_408HZ                             ((uint8_t)0x00) /*!< Anti-aliasing filter bandwidht: 408 Hz */
00474 #define LSM6DS0_XL_BW_211HZ                             ((uint8_t)0x01) /*!< Anti-aliasing filter bandwidht: 211 Hz */
00475 #define LSM6DS0_XL_BW_105HZ                             ((uint8_t)0x02) /*!< Anti-aliasing filter bandwidht: 105 Hz */
00476 #define LSM6DS0_XL_BW_50HZ                              ((uint8_t)0x03) /*!< Anti-aliasing filter bandwidht: 50 Hz */
00477 
00478 #define LSM6DS0_XL_BW_MASK                              ((uint8_t)0x03)
00479 /**
00480  * @}
00481  */
00482 
00483 /** @defgroup LSM6DS0_XG_Accelerometer_Decimation_Acceleration_Data_Selection_CTRL_REG5_XL LSM6DS0_XG_Accelerometer_Decimation_Acceleration_Data_Selection_CTRL_REG5_XL
00484  * @{
00485  */
00486 #define LSM6DS0_XL_DEC_NO                               ((uint8_t)0x00) /*!< Decimation of acceleration data: no decimation */
00487 #define LSM6DS0_XL_DEC_EVERY_2S                         ((uint8_t)0x40) /*!< Decimation of acceleration data: update every 2 samples */
00488 #define LSM6DS0_XL_DEC_EVERY_4S                         ((uint8_t)0x80) /*!< Decimation of acceleration data: update every 4 samples */
00489 #define LSM6DS0_XL_DEC_EVERY_8S                         ((uint8_t)0xC0) /*!< Decimation of acceleration data: update every 8 samples */
00490 
00491 #define LSM6DS0_XL_DEC_MASK                             ((uint8_t)0xC0)
00492 /**
00493  * @}
00494  */
00495 
00496 
00497 /** @defgroup LSM6DS0_XG_Accelerometer_Z_Axis_Output_Enable_Selection_CTRL_REG5_XL LSM6DS0_XG_Accelerometer_Z_Axis_Output_Enable_Selection_CTRL_REG5_XL
00498  * @{
00499  */
00500 #define LSM6DS0_XL_ZEN_DISABLE                          ((uint8_t)0x00) /*!< Accelerometer�s Z-axis output enable: disable */
00501 #define LSM6DS0_XL_ZEN_ENABLE                           ((uint8_t)0x20) /*!< Accelerometer�s Z-axis output enable: enable */
00502 
00503 #define LSM6DS0_XL_ZEN_MASK                             ((uint8_t)0x20)
00504 /**
00505  * @}
00506  */
00507 
00508 /** @defgroup LSM6DS0_XG_Accelerometer_Y_Axis_Output_Enable_Selection_CTRL_REG5_XL LSM6DS0_XG_Accelerometer_Y_Axis_Output_Enable_Selection_CTRL_REG5_XL
00509  * @{
00510  */
00511 #define LSM6DS0_XL_YEN_DISABLE                          ((uint8_t)0x00) /*!< Accelerometer�s Y-axis output enable: disable */
00512 #define LSM6DS0_XL_YEN_ENABLE                           ((uint8_t)0x10) /*!< Accelerometer�s Y-axis output enable: enable */
00513 
00514 #define LSM6DS0_XL_YEN_MASK                             ((uint8_t)0x10)
00515 /**
00516  * @}
00517  */
00518 
00519 
00520 /** @defgroup LSM6DS0_XG_Accelerometer_X_Axis_Output_Enable_Selection_CTRL_REG5_XL LSM6DS0_XG_Accelerometer_X_Axis_Output_Enable_Selection_CTRL_REG5_XL
00521  * @{
00522  */
00523 #define LSM6DS0_XL_XEN_DISABLE                          ((uint8_t)0x00) /*!< Accelerometer�s X-axis output enable: disable */
00524 #define LSM6DS0_XL_XEN_ENABLE                           ((uint8_t)0x08) /*!< Accelerometer�s X-axis output enable: enable */
00525 
00526 #define LSM6DS0_XL_XEN_MASK                             ((uint8_t)0x08)
00527 
00528 /**
00529  * @}
00530  */
00531 
00532 
00533 /** @defgroup LSM6DS0_XG_Accelerometer_Selftest_Enable_Selection_CTRL_REG10 LSM6DS0_XG_Accelerometer_Selftest_Enable_Selection_CTRL_REG10
00534  * @{
00535  */
00536 #define LSM6DS0_XL_ST_DISABLE                           ((uint8_t)0x00) /*!< Accel selftest disable */
00537 #define LSM6DS0_XL_ST_ENABLE                            ((uint8_t)0x01) /*!< Accel selftest enable */
00538 
00539 #define LSM6DS0_XL_ST_MASK                              ((uint8_t)0x01)
00540 
00541 /**
00542  * @}
00543  */
00544 
00545 /**
00546  * @}
00547  */
00548 
00549 
00550 /** @defgroup LSM6DS0_Imported_Functions LSM6DS0_Imported_Functions
00551  * @{
00552  */
00553 
00554 /* Six axes sensor IO functions */
00555 extern IMU_6AXES_StatusTypeDef LSM6DS0_IO_Init(void);
00556 extern IMU_6AXES_StatusTypeDef LSM6DS0_IO_Write(uint8_t* pBuffer, uint8_t DeviceAddr, uint8_t RegisterAddr,
00557     uint16_t NumByteToWrite);
00558 extern IMU_6AXES_StatusTypeDef LSM6DS0_IO_Read(uint8_t* pBuffer, uint8_t DeviceAddr, uint8_t RegisterAddr,
00559     uint16_t NumByteToRead);
00560 extern void LSM6DS0_IO_ITConfig( void );
00561 
00562 /**
00563  * @}
00564  */
00565 
00566 /* ------------------------------------------------------- */
00567 /* Here you should declare the internal struct of          */
00568 /* extended features of LIS3MDL. See the example of        */
00569 /* LSM6DS3 in lsm6ds3.h                                    */
00570 /* ------------------------------------------------------- */
00571 
00572 /** @addtogroup LSM6DS0_Exported_Variables LSM6DS0_Exported_Variables
00573  * @{
00574  */
00575 
00576 /* Six axes sensor driver structure */
00577 extern IMU_6AXES_DrvTypeDef LSM6DS0Drv;
00578 extern IMU_6AXES_DrvExtTypeDef LSM6DS0Drv_ext;
00579 
00580 /**
00581  * @}
00582  */
00583 
00584 /**
00585  * @}
00586  */
00587 
00588 /**
00589  * @}
00590  */
00591 
00592 /**
00593  * @}
00594  */
00595 
00596 #ifdef __cplusplus
00597 }
00598 #endif
00599 
00600 #endif /* __LSM6DS0_H */
00601 
00602 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/