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lsm6ds33.h
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00001 /** 00002 ****************************************************************************** 00003 * @file lsm6ds33.h 00004 * @author MEMS Application Team 00005 * @version V1.2.0 00006 * @date 28-May-2015 00007 * @brief This file contains definitions for the lsm6ds33.c firmware driver 00008 ****************************************************************************** 00009 * @attention 00010 * 00011 * <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2> 00012 * 00013 * Redistribution and use in source and binary forms, with or without modification, 00014 * are permitted provided that the following conditions are met: 00015 * 1. Redistributions of source code must retain the above copyright notice, 00016 * this list of conditions and the following disclaimer. 00017 * 2. Redistributions in binary form must reproduce the above copyright notice, 00018 * this list of conditions and the following disclaimer in the documentation 00019 * and/or other materials provided with the distribution. 00020 * 3. Neither the name of STMicroelectronics nor the names of its contributors 00021 * may be used to endorse or promote products derived from this software 00022 * without specific prior written permission. 00023 * 00024 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00025 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00026 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 00027 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE 00028 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL 00029 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR 00030 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00031 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, 00032 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 00033 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 00034 * 00035 ****************************************************************************** 00036 */ 00037 00038 /* Define to prevent recursive inclusion -------------------------------------*/ 00039 #ifndef _LSM6DS33_XG_H 00040 #define _LSM6DS33_XG_H 00041 00042 #ifdef __cplusplus 00043 extern "C" { 00044 #endif 00045 00046 /* Includes ------------------------------------------------------------------*/ 00047 #include "imu_6axes.h" 00048 00049 /** @addtogroup BSP 00050 * @{ 00051 */ 00052 00053 /** @addtogroup Components 00054 * @{ 00055 */ 00056 00057 /** @addtogroup LSM6DS33 00058 * @{ 00059 */ 00060 00061 /** @addtogroup LSM6DS33_Exported_Defines LSM6DS33_Exported_Defines 00062 * @{ 00063 */ 00064 #ifndef NULL 00065 #define NULL (void *) 0 00066 #endif 00067 00068 /******************************************************************************/ 00069 /*********** START ACCELEROMETER AND GYROSCOPE REGISTER MAPPING **************/ 00070 /******************************************************************************/ 00071 00072 00073 /***************************************** COMMON REGISTERS ********************************************/ 00074 00075 /** 00076 * @brief FIFO control register 00077 * \code 00078 * Read/write 00079 * Default value: 0x00 00080 * [7] FUNC_CFG_EN: Enable access to the embedded functions configuration registers (1) from address 02h to 32h. Default value: 0. 00081 * [6:0] This bit must be set to �0� for the correct operation of the device 00082 * \endcode 00083 */ 00084 #define LSM6DS33_XG_FUNC_CFG_ACCESS 0x01 00085 00086 00087 /** 00088 * @brief FIFO control register 00089 * \code 00090 * Read/write 00091 * Default value: 0x00 00092 * [7:0] FTH_7-0 FIFO threshold level setting - watermark flag is toggled when the number of bytes written to FIFO is greater or equal to threshold level. 00093 * \endcode 00094 */ 00095 #define LSM6DS33_XG_FIFO_CTRL1 0x06 00096 00097 /** 00098 * @brief FIFO control register 00099 * \code 00100 * Read/write 00101 * Default value: 0x00 00102 * [7] TIMER_PEDO_FIFO_EN: Enable Pedometer step counter and time stamp as 4th sensor FIFO data. Default: 0 disabled 00103 * [6] TIMER_PEDO_FIFO_DRDY : Pedometer FIFO write mode. Default: 0 disabled 00104 * [5:4] This bit must be set to �0� for the correct operation of the device 00105 * [3:0] FTH_[11:8] FIFO threshold level setting(1). Default value: 0000 00106 * \endcode 00107 */ 00108 #define LSM6DS33_XG_FIFO_CTRL2 0x07 00109 00110 /** 00111 * @brief FIFO control register 00112 * \code 00113 * Read/write 00114 * Default value: 0x00 00115 * [7:6] This bit must be set to �0� for the correct operation of the device 00116 * [5:3] DEC_FIFO_GYRO[2:0]: Gyro FIFO decimation setting. Default value: 000 00117 * [2:0] DEC_FIFO_XL[2:0]: XL FIFO decimation setting. Default value: 000 00118 * \endcode 00119 */ 00120 #define LSM6DS33_XG_FIFO_CTRL3 0x08 00121 00122 /** 00123 * @brief FIFO control register 00124 * \code 00125 * Read/write 00126 * Default value: 0x00 00127 * [7] This bit must be set to �0� for the correct operation of the device 00128 * [6] ONLY_HIGH_DATA :8 bit data storing in FIFO. Default: 0 00129 * [5:3] DEC_SLV1_FIFO[2:0] Second external sensor FIFO decimation setting. Default: 000 00130 * [2:0] DEC_SLV1_FIFO[2:0] First external sensor FIFO decimation setting. Default: 000 00131 * \endcode 00132 */ 00133 #define LSM6DS33_XG_FIFO_CTRL4 0x09 00134 00135 00136 /** 00137 * @brief FIFO control register 00138 * \code 00139 * Read/write 00140 * Default value: 0x00 00141 * [7] This bit must be set to �0� for the correct operation of the device 00142 * [6:3] ODR_FIFO_[3:0]: FIFO ODR selection. Default: 0000 00143 * [2:0] FIFO_MODE_[2:0] : FIFO mode selection bits. Default value: 000 00144 * \endcode 00145 */ 00146 #define LSM6DS33_XG_FIFO_CTRL5 0x0A 00147 00148 00149 /** 00150 * @brief Angular rate sensor sign and orientation register 00151 * \code 00152 * Read/write 00153 * Default value: 0x00 00154 * [7:6] This bit must be set to �0� for the correct operation of the device 00155 * [5] SignX_G: Pitch axis (X) Angular rate sign. Default value: 0 00156 * [5] SignY_G: Roll axis (Y) Angular rate sign. Default value: 0 00157 * [5] SignZ_G: Pitch axis (Z) Angular rate sign. Default value: 0 00158 * [2:0] Orient[2:0] : Directional user orientation selection. Default Value: 000 00159 * \endcode 00160 */ 00161 #define LSM6DS33_XG_ORIENT_CFG_G 0x0B 00162 00163 /** 00164 * @brief INT1 pad control registrer 00165 * \code 00166 * Read/write 00167 * Default value: 0x00 00168 * [7] INT1_PEDO: Pedometer step recognition interrupt enable on INT1 pad. Default value: 0 00169 * [6] INT1_SIGN_MOT: Significant motion interrupt enable on INT1 pad. Default value: 0 00170 * [5] INT1_FULL_FLAG: Full flag Interrupt Enable on INT1 pad. Default value: 0 00171 * [4] INT1_OVR: Overrun Interrupt on INT1 pad. Default value: 0 00172 * [3] INT1_FTH: FIFO threshold interrupt on INT1 pad. Default value: 0 00173 * [2] INT1_BOOT: Overrun Interrupt on INT1 pad. Default value: 0 00174 * [1] INT1_DRDY_G: Gyroscope Data Ready on INT1 pad. Default value: 0. 00175 * [0] INT1_DRDY_XL: Accelerometer Data Ready on INT1 pad. Default value: 0 00176 * \endcode 00177 */ 00178 #define LSM6DS33_XG_INT1_CTRL 0x0D 00179 00180 00181 //new, done 00182 /** 00183 * @brief INT2 pad control registrer 00184 * \code 00185 * Read/write 00186 * Default value: 0x00 00187 * [7] INT2_PEDO: Pedometer step recognition interrupt enable on INT1 pad. Default value: 0 00188 * [6] INT2_SIGN_MOT: Significant motion interrupt enable on INT1 pad. Default value: 0 00189 * [5] INT2_FULL_FLAG: Full flag Interrupt Enable on INT1 pad. Default value: 0 00190 * [4] INT2_OVR: Overrun Interrupt on INT1 pad. Default value: 0 00191 * [3] INT2_FTH: FIFO threshold interrupt on INT1 pad. Default value: 0 00192 * [2] INT2_BOOT: Overrun Interrupt on INT1 pad. Default value: 0 00193 * [1] INT2_DRDY_G: Gyroscope Data Ready on INT1 pad. Default value: 0. 00194 * [0] INT2_DRDY_XL: Accelerometer Data Ready on INT1 pad. Default value: 0 00195 * \endcode 00196 */ 00197 #define LSM6DS33_XG_INT2_CTRL 0x0E 00198 00199 00200 /** 00201 * @brief Device identifier register. 00202 * \code 00203 * Read 00204 * Default value:69 00205 * [7:0] This read-only register contains the device identifier 00206 * \endcode 00207 */ 00208 #define LSM6DS33_XG_WHO_AM_I_ADDR 0x0F 00209 00210 00211 00212 /** 00213 * @brief Control Register 3 00214 * \code 00215 * Read/write 00216 * Default value: 0x00 00217 * [7] BOOT: Reboot memory content. Default value: 0 00218 * [6] BDU: Block Data Update. Default value: 0 00219 * [5] H_LACTIVE: Interrupt activation level. Default value: 0 00220 * [4] PP_OD: Push-pull/Open Drain selection on INT pad. Default value: 0 00221 * [3] SIM: SPI Serial Interface Mode selection. Default value: 0 00222 * [2] IF_INC: Register address automatically incremented during a multiple byte access with a serial interface (I2C or SPI). Default value: 0 00223 * [1] BLE: Big/Little Endian Data Selection. Default value: 0 00224 * [0] SW_RESET: Software Reset. Default value: 0 00225 * \endcode 00226 */ 00227 #define LSM6DS33_XG_CTRL3_C 0x12 00228 00229 /** 00230 * @brief Control Register 4 00231 * \code 00232 * Read/write 00233 * Default value: 0x00 00234 * [7] BW_SCAL_ODR: Accelerometer bandwidth selection. Default value: 0 00235 * [6] SLEEP_G: Gyroscope sleep mode enable. Default value: 0 00236 * [5] INT2_on_INT1: All interrupt signals available on INT1 pad enable. Default value: 0 00237 * [4] This bit must be set to �0� for the correct operation of the device 00238 * [3] DRDY_MASK: Configuration 1(3) Data Available Enable bit. Default Value: 0 00239 * [2] I2C_disable Disable I2C interface. Default value: 0 00240 * [1] MODE3_EN Enable auxiliary SPI interface (Mode3, refer to Table 1.). Default value: 0 00241 * [0] STOP_ON_FTH Enable FIFO threshold level use. Default value: 0. 00242 00243 * \endcode 00244 */ 00245 #define LSM6DS33_XG_CTRL4_C 0x13 00246 00247 /** 00248 * @brief Control Register 4 00249 * \code 00250 * Read/write 00251 * Default value: 0x00 00252 * [7:4] This bit must be set to �0� for the correct operation of the device 00253 * [3:2] ST_G[1:0]: Angular rate sensor Self Test Enable. Default value: 00 00254 * [1:0] ST_XL[1:0]: Linear acceleration sensor Self Test Enable. Default value: 00 00255 * \endcode 00256 */ 00257 #define LSM6DS33_XG_CTRL5_C 0x14 00258 00259 00260 /** 00261 * @brief Control Register 10 00262 * \code 00263 * Read/write 00264 * Default value: 0x38 00265 * [7:6] These bits must be set to �0� for the correct operation of the device 00266 * [5] Zen_G: Gyroscope�s Z-axis output enable. Default value: 1 00267 * [4] Yen_G: Gyroscope�s Y-axis output enable. Default value: 1 00268 * [3] Xen_G: Gyroscope�s X-axis output enable. Default value: 1 00269 * [2] FUNC_EN: Enable embedded functionalities (pedometer, tilt and significant motion) . Default value: 0 00270 * [1] PEDO_RST_STEP: Reset pedometer step counter . Default value: 0 00271 * [0] SIGN_MOTION_EN: Enable significant motion function. For a correct functionality of significant motion function, TILT_EN bit in FUNC_SRC (53h) register must be set to 1 . Default value: 1 00272 * \endcode 00273 */ 00274 #define LSM6DS33_XG_CTRL10_C 0x19 00275 00276 00277 00278 /** 00279 * @brief Wake up interrupt source register 00280 * \code 00281 * Read 00282 * Default value: output 00283 * [7:6] This bit must be set to �0� for the correct operation of the device 00284 * [5] FF_IA: Free fall event detection status. Default: 0 00285 * [4] SLEEP_STATE_IA: Sleep event status. Default value: 0 00286 * [3] WU_IA: Wake up event detection status. Default 00287 * [2] X_WU: detection status on X axis. Default value: 0 00288 * [1] Y_WU: detection status on Y axis. Default value: 0 00289 * [0] Z_WU: detection status on Z axis. Default value: 0 00290 * \endcode 00291 */ 00292 #define LSM6DS33_XG_WAKE_UP_SRC 0x1B 00293 00294 /** 00295 * @brief Tap source register 00296 * \code 00297 * Read 00298 * Default value: output 00299 * [7] This bit must be set to �0� for the correct operation of the device 00300 * [6] TAP_IA: Tap event detection status. Default: 0 00301 * [5] SINGLE_TAP: Single tap event status. Default value: 0 00302 * [4] DOUBLE_TAP: Double tap event detection status. Default value: 0 00303 * [3] TAP_SIGN: Sign of acceleration detected by tap event. Default: 0 00304 * [2] X_TAP: Tap event detection status on X axis. Default value: 0 00305 * [1] Y_TAP: Tap event detection status on Y axis. Default value: 0 00306 * [0] Z_TAP: Tap event detection status on Z axis. Default value: 0 00307 * \endcode 00308 */ 00309 #define LSM6DS33_XG_TAP_SRC 0x1C 00310 00311 /** 00312 * @brief Portrait, landscape face-up and face-down source register 00313 * \code 00314 * Read 00315 * Default value: output 00316 * [7] This bit must be set to �0� for the correct operation of the device 00317 * [6] D6D_IA: Interrupt active for change position portrait, landscape, face-up, face-down. Default value: 0 00318 * [5] ZH: Z-axis high event (over-threshold). Default value: 0 00319 * [4] ZL: Z-axis low event (under-threshold). Default value: 0 00320 * [5] YH: Y-axis high event (over-threshold). Default value: 0 00321 * [4] YL: Y-axis low event (under-threshold). Default value: 0 00322 * [5] X_H: X-axis high event (over-threshold). Default value: 0 00323 * [4] X_L: X-axis low event (under-threshold). Default value: 0 00324 * \endcode 00325 */ 00326 #define LSM6DS33_XG_D6D_SRC 0x1D 00327 00328 /** 00329 * @brief Status register 00330 * \code 00331 * Read 00332 * Default value: output 00333 * [7:4] No meaning set 00334 * [3] EV_BOOT: Boot running flag signal. Default value: 0 00335 * [2] No meaning set 00336 * [1] GDA: Gyroscope new data avaialble. Default value: 0 00337 * [0] XLDA: Accelerometer new data avaialble. Default value: 0 00338 * \endcode 00339 */ 00340 #define LSM6DS33_XG_STATUS_REG 0x1E 00341 00342 #define LSM6DS33_XG_OUT_TEMP_L 0x20 00343 #define LSM6DS33_XG_OUT_TEMP_H 0x21 00344 00345 /** 00346 * @brief FIFO status control register 00347 * \code 00348 * Read 00349 * Default value: 0x00 00350 * [7:0] DIFF_FIFO_[7:0]: Number of unread words (16 bit axes) stored in FIFO . For a complete number of unread samples, consider DIFF_FIFO [11:8] in FIFO_STATUS2 (3Bh) 00351 * \endcode 00352 */ 00353 #define LSM6DS33_XG_FIFO_STATUS1 0x3A 00354 00355 /** 00356 * @brief FIFO status control register (r). For a proper reading of the register it is suggested to set BDU bit in CTRL3_C (12h) to 0. 00357 * \code 00358 * Read 00359 * Default value: 0x00 00360 * [7] FTH FIFO watermark status. Deafult value: 0 00361 * [6] OVER_RUN: FIFO overrun status. Default value: 0 00362 * [5] FIFO_FULL: FIFO full status. Default value: 0 00363 * [5] FIFO_EMPTY: FIFO empty bit. Default value: 0; 0: FIFO contains data; 1: FIFO is empty 00364 * [3:0] DIFF_FIFO_[11:8] Number of unread words (16 bit axes) stored in FIFO : For a complete number of unread samples, consider DIFF_FIFO [11:8] in FIFO_STATUS1 (3Ah) 00365 * \endcode 00366 */ 00367 #define LSM6DS33_XG_FIFO_STATUS2 0x3B 00368 00369 /** 00370 * @brief FIFO status control register (r). For a proper reading of the register it is suggested to set BDU bit in CTRL3_C (12h) to 0 00371 * \code 00372 * Read 00373 * Default value: 0x00 00374 * [7:0] FIFO_PATTERN_[7:0] : Word of recursive pattern read at the next reading 00375 * \endcode 00376 */ 00377 #define LSM6DS33_XG_FIFO_STATUS3 0x3C 00378 00379 /** 00380 * @brief FIFO status control register (r). For a proper reading of the register it is suggested to set BDU bit in CTRL3_C (12h) to 0 00381 * \code 00382 * Read 00383 * Default value: 0x00 00384 * [1:0] FIFO_PATTERN_[9:8] : Word of recursive pattern read at the next reading 00385 * \endcode 00386 */ 00387 #define LSM6DS33_XG_FIFO_STATUS4 0x3D 00388 00389 /** 00390 * @brief FIFO status control register (r). For a proper reading of the register it is suggested to set BDU bit in CTRL3_C (12h) to 0. 00391 * \code 00392 * Read 00393 * Default value: 0x00 00394 * [4:0] FIFO_PATTERN_[9:8] : Word of recursive pattern read at the next reading 00395 * \endcode 00396 */ 00397 #define LSM6DS33_XG_FIFO_STATUS4 0x3D 00398 00399 /** 00400 * @brief FIFO data output register (r). For a proper reading of the register it is suggested to set BDU bit in CTRL3_C (12h) to 0. 00401 * \code 00402 * Read 00403 * Default value: 0x00 00404 * [7:0] DATA_OUT_FIFO_L_[7:0]: FIFO data output (First byte) 00405 * \endcode 00406 */ 00407 #define LSM6DS33_XG_FIFO_DATA_OUT_L 0x3E 00408 00409 /** 00410 * @brief FIFO data output register (r). For a proper reading of the register it is suggested to set BDU bit in CTRL3_C (12h) to 0. 00411 * \code 00412 * Read 00413 * Default value: 0x00 00414 * [7:0] DATA_OUT_FIFO_H_[7:0]: FIFO data output (second byte) 00415 * \endcode 00416 */ 00417 #define LSM6DS33_XG_FIFO_DATA_OUT_H 0x3F 00418 00419 /** 00420 * @brief Time stamp first byte data output register (r). The value is expressed as 24 bit and the bit resolution is defined by setting value in WAKE_UP_DUR (5Ch). 00421 * \code 00422 * Read 00423 * Default value: output 00424 * [7:0] TIMESTAMP0_[7:0]: FIFO first byte data output 00425 * \endcode 00426 */ 00427 #define LSM6DS33_XG_TIMESTAMP0_REG 0x40 00428 00429 /** 00430 * @brief Time stamp second byte data output register (r). The value is expressed as 24 bit and the bit resolution is defined by setting value in WAKE_UP_DUR (5Ch). 00431 * \code 00432 * Read 00433 * Default value: output 00434 * [7:0] TIMESTAMP1_[7:0]: FIFO second byte data output 00435 * \endcode 00436 */ 00437 #define LSM6DS33_XG_TIMESTAMP1_REG 0x41 00438 00439 /** 00440 * @brief Time stamp third byte data output register (r). The value is expressed as 24 bit and the bit resolution is defined by setting value in WAKE_UP_DUR (5Ch). 00441 * \code 00442 * Read 00443 * Default value: output 00444 * [7:0] TIMESTAMP2_[7:0]: FIFO third byte data output 00445 * \endcode 00446 */ 00447 #define LSM6DS33_XG_TIMESTAMP2_REG 0x42 00448 00449 #define LSM6DS33_XG_STEP_TIMESTAMP_L 0x49 00450 #define LSM6DS33_XG_STEP_TIMESTAMP_H 0x4A 00451 /** 00452 * @brief Step counter output register (r). 00453 * \code 00454 * Read 00455 * Default value: output 00456 * [7:0] STEP_COUNTER_L_[7:0]: Step counter output (LSbyte) 00457 * \endcode 00458 */ 00459 #define LSM6DS33_XG_STEP_COUNTER_L 0x4B 00460 00461 /** 00462 * @brief Step counter output register (r). 00463 * \code 00464 * Read 00465 * Default value: output 00466 * [7:0] STEP_COUNTER_H_[7:0]: Step counter output (MSbyte) 00467 * \endcode 00468 */ 00469 #define LSM6DS33_XG_STEP_COUNTER_H 0x4C 00470 00471 /** 00472 * @brief Significant motion, tilt, step detector, soft iron and sensor hub interrupt source register 00473 * \code 00474 * Read 00475 * Default value: output 00476 * [7] This bit must be set to �0� for the correct operation of the device 00477 * [6] SIGN_MOTION_IA: Significant motion event detection status. Default value: 0 00478 * [5] TILT_IA: Tilt event detection status. Default value: 0 00479 * [5] STEP_DETECTED: Step detector event detection status. Default value: 0 00480 * [3:2] This bit must be set to �0� for the correct operation of the device 00481 * [1] SI_END_OP:Soft iron calculation status. Default value: 0 00482 * [0] SENSORHUB_END_OP:Senso hub communication status. Default value: 0 00483 * \endcode 00484 */ 00485 #define LSM6DS33_XG_FUNC_SRC 0x53 00486 00487 /** 00488 * @brief Time stamp, pedometer, tilt, filtering, and tap recognition functions configuration register 00489 * \code 00490 * Read/write 00491 * Default value: 0x00 00492 * [7] TIMER_EN: Time stamp count enable, output data are collected in TIMESTAMP0_REG (40h), TIMESTAMP1_REG (41h), TIMESTAMP2_REG (42h) register. Default: 0 00493 * [6] PEDO_EN: Pedometer algorithm enable(1). Default value: 0 00494 * [5] TILT_EN: Tilt calculation enable.(2) Default value: 0 00495 * [4] This bit must be set to �0� for the correct operation of the device 00496 * [3] TAP_X_EN: Enable X direction in tap recognition. Default value: 0 00497 * [2] TAP_Y_EN: Enable Z direction in tap recognition. Default value: 0 00498 * [1] TAP_Z_EN: Enable Z direction in tap recognition. Default value: 0 00499 * [0] LIR: Relatch of the time stamp, pedometer, tilt, filtering, and tap recognition functions routed to PINs. 00500 * \endcode 00501 */ 00502 #define LSM6DS33_XG_TAP_CFG 0x58 00503 00504 /** 00505 * @brief Portrait/landscape position and tap function threshold register 00506 * \code 00507 * Read/write 00508 * Default value: 0x00 00509 * [7] This bit must be set to �0� for the correct operation of the device 00510 * [6:5] SIXD_THS[1:0]: Threshold for D6D function. Default value: 00 00511 * [4:0] TAP_THS[4:0]: Threshold for tap recognition. Default value: 0000 00512 * \endcode 00513 */ 00514 #define LSM6DS33_XG_TAP_THS_6D 0x59 00515 00516 /** 00517 * @brief Tap recognition function setting register (r/w) 00518 * \code 00519 * Read/write 00520 * Default value: 0x00 00521 * [7:4] DUR[3:0]: Duration of maximum time gap for double tap recognition. Default: 0000 00522 * [3:2] QUIET[1:0]: Expected quiet time after a tap detection. Default value: 00 00523 * [1:0] SHOCK[1:0]: Maximum duration of over-threshold event. Default value: 00 00524 * \endcode 00525 */ 00526 #define LSM6DS33_XG_INT_DUR2 0x5A 00527 00528 /** 00529 * @brief Tap recognition function setting register 00530 * \code 00531 * Read/write 00532 * Default value: 0x00 00533 * [7] SINGLE_DOUBLE_TAP: Single/double tap event detection. Default: 0 00534 * [6] INACTIVITY: Inactivity event enable. Default value: 0 00535 * [5:0] WK_THS[5:0]:Threshold for wake-up. Default value: 0000 00536 * \endcode 00537 */ 00538 #define LSM6DS33_XG_WAKE_UP_THS 0x5B 00539 00540 /** 00541 * @brief Free-fall, wake-up, time stamp and sleep mode functions duration setting register (r/w). 00542 * \code 00543 * Read/write 00544 * Default value: 0x00 00545 * [7] FF_DUR5:Free fall duration event. Default: 0 00546 * [6:5] WAKE_DUR[1:0]: Wake up duration event. Default: 00 00547 * [4] TIMER_HR: Time stamp register resolution setting(1). Default value: 0 00548 * [3:0] SLEEP_DUR[3:0] : Duration to go in sleep mode. Default value: 0000 00549 * \endcode 00550 */ 00551 #define LSM6DS33_XG_WAKE_UP_DUR 0x5C 00552 00553 /** 00554 * @brief Free-fall function duration setting register 00555 * \code 00556 * Read/write 00557 * Default value: 0x00 00558 * [7:3] FF_DUR[4:0]: Free fall duration event. Default: 0. For the complete configuration of the free fall duration, refer to FF_DUR5 in WAKE_UP_DUR (5Ch) configuration 00559 * [2:0] FF_THS[2:0]: Free fall threshold setting. Default: 000. 00560 * \endcode 00561 */ 00562 #define LSM6DS33_XG_WAKE_FREE_FALL 0x5D 00563 00564 /** 00565 * @brief Functions routing on INT1 register 00566 * \code 00567 * Read/write 00568 * Default value: 0x00 00569 * [7] INT1_INACT_STATE: Routing on INT1 of inactivity mode. Default: 0 00570 * [6] INT1_SINGLE_TAP: Single tap recognition routing on INT1. Default: 0 00571 * [5] INT1_WU: Routing of wake-up event on INT1. Default value: 0 00572 * [4] INT1_FF: Routing of free-fall event on INT1. Default value: 0 00573 * [3] INT1_TAP: Routing of tap event on INT1. Default value: 0 00574 * [2] INT1_6D: Routing of 6D event on INT1. Default value: 0 00575 * [1] INT1_TILT: Routing of tilt event on INT1. Default value: 0 00576 * [0] INT1_TIMER: Routing of end counter event of timer on INT1. Default value: 0 00577 * \endcode 00578 */ 00579 #define LSM6DS33_XG_MD1_CFG 0x5E 00580 00581 /** 00582 * @brief Functions routing on INT2 register 00583 * \code 00584 * Read/write 00585 * Default value: 0x00 00586 * [7] INT2_INACT_STATE: Routing on INT1 of inactivity mode. Default: 0 00587 * [6] INT2_SINGLE_TAP: Single tap recognition routing on INT1. Default: 0 00588 * [5] INT2_WU: Routing of wake-up event on INT1. Default value: 0 00589 * [4] INT2_FF: Routing of free-fall event on INT1. Default value: 0 00590 * [3] INT2_TAP: Routing of tap event on INT1. Default value: 0 00591 * [2] INT2_6D: Routing of 6D event on INT1. Default value: 0 00592 * [1] INT2_TILT: Routing of tilt event on INT1. Default value: 0 00593 * [0] INT2_TIMER: Routing of end counter event of timer on INT1. Default value: 0 00594 * \endcode 00595 */ 00596 #define LSM6DS33_XG_MD2_CFG 0x5F 00597 00598 /***************************************** SENSORHUB REGISTERS ********************************************/ 00599 00600 00601 00602 00603 /***************************************** GYROSCOPE REGISTERS ********************************************/ 00604 00605 /** 00606 * @brief Angular rate sensor Control Register 2 00607 * \code 00608 * Read/write 00609 * Default value: 0x00 00610 * [7:4] ODR_G[3:0]: Gyroscope output data rate selection 00611 * [3:2] FS_G[1-0]: Gyroscope full-scale selection 00612 * [1] FS_125: Gyroscope full-scale at 125 dps 00613 * [0] This bit must be set to �0� for the correct operation of the device 00614 * \endcode 00615 */ 00616 #define LSM6DS33_XG_CTRL2_G 0x11 00617 00618 00619 /** 00620 * @brief Angular rate sensor Control Register 6 00621 * \code 00622 * Read/write 00623 * Default value: 0x00 00624 * [7] TRIG_EN: Data edge sensitive trigger Enable. Default value: 0 00625 * [6] LVLen: Data level sensitive trigger Enable. Default value: 0 00626 * [5] LVL2en: Level sensitive latched Enable. Default value: 0 00627 * [4] XL_H_MODE: High Performance operating mode disable for accelerometer(1). Default value: 0 00628 * [3:0] This bit must be set to �0� for the correct operation of the device 00629 * \endcode 00630 */ 00631 #define LSM6DS33_XG_CTRL6_G 0x15 00632 00633 00634 /** 00635 * @brief Angular rate sensor Control Register 7 00636 * \code 00637 * Read/write 00638 * Default value: 0x00 00639 * [7] G_H_MODE: High Performance operating mode disable for Gyroscope(1) . Default: 0 00640 * [6] HP_EN: High Pass filter Enable. Default Value: 0 00641 * [5:4] HPCF_G[1:0]: Gyroscope High Pass filter Cut Off frequency selection. Default value: 00 00642 * [3:0] This bit must be set to �0� for the correct operation of the device 00643 * \endcode 00644 */ 00645 #define LSM6DS33_XG_CTRL7_G 0x16 00646 00647 /** 00648 * @brief Gyroscope data (LSB) 00649 * \code 00650 * Read 00651 * \endcode 00652 */ 00653 #define LSM6DS33_XG_OUT_X_L_G 0x22 00654 00655 00656 /** 00657 * @brief Gyroscope data (MSB) 00658 * \code 00659 * Read 00660 * \endcode 00661 */ 00662 #define LSM6DS33_XG_OUT_X_H_G 0x23 00663 00664 00665 /** 00666 * @brief Gyroscope data (LSB) 00667 * \code 00668 * Read 00669 * \endcode 00670 */ 00671 #define LSM6DS33_XG_OUT_Y_L_G 0x24 00672 00673 00674 /** 00675 * @brief Gyroscope data (MSB) 00676 * \code 00677 * Read 00678 * \endcode 00679 */ 00680 #define LSM6DS33_XG_OUT_Y_H_G 0x25 00681 00682 00683 /** 00684 * @brief Gyroscope data (LSB) 00685 * \code 00686 * Read 00687 * \endcode 00688 */ 00689 #define LSM6DS33_XG_OUT_Z_L_G 0x26 00690 00691 00692 /** 00693 * @brief Gyroscope data (MSB) 00694 * \code 00695 * Read 00696 * \endcode 00697 */ 00698 #define LSM6DS33_XG_OUT_Z_H_G 0x27 00699 00700 00701 00702 /*************************************** ACCELEROMETER REGISTERS *******************************************/ 00703 00704 /** 00705 * @brief Linear acceleration sensor Control Register 1 00706 * \code 00707 * Read/write 00708 * Default value: 0x00 00709 * [7:4] ODR_XL3-0: Accelerometer Output data rate and power mode selection 00710 * [3:2] FS_XL1-0: Accelerometer full-scale selection 00711 * [1:0] BW_XL1-0: Anti-aliasing filter bandwidth selection 00712 * \endcode 00713 */ 00714 #define LSM6DS33_XG_CTRL1_XL 0x10 00715 00716 /** 00717 * @brief XL sensor Control Register 8 00718 * \code 00719 * Read/write 00720 * Default value: 0x00 00721 * [7:3] This bit must be set to �0� for the correct operation of the device 00722 * [2] SLOPE_FDS: Enable HP filter on output registers and FIFO. Default value: 0 00723 * [1:0] This bit must be set to �0� for the correct operation of the device 00724 * \endcode 00725 */ 00726 #define LSM6DS33_XG_CTRL8_XL 0x17 00727 00728 /** 00729 * @brief Linear acceleration sensor Control Register 9 00730 * \code 00731 * Read/write 00732 * Default value: 0x38 00733 * [7:6] These bits must be set to �0� for the correct operation of the device 00734 * [5] Zen_XL: Accelerometers�s Z-axis output enable 00735 * [4] Yen_XL: Accelerometers�s Y-axis output enable 00736 * [3] Xen_XL: Accelerometers�s X-axis output enable 00737 * [2:0] These bits must be set to �0� for the correct operation of the device 00738 * \endcode 00739 */ 00740 #define LSM6DS33_XG_CTRL9_XL 0x18 00741 00742 00743 /** 00744 * @brief Accelerometer data (LSB) 00745 * \code 00746 * Read 00747 * \endcode 00748 */ 00749 #define LSM6DS33_XG_OUT_X_L_XL 0x28 00750 00751 00752 /** 00753 * @brief Accelerometer data (MSB) 00754 * \code 00755 * Read 00756 * \endcode 00757 */ 00758 #define LSM6DS33_XG_OUT_X_H_XL 0x29 00759 00760 00761 /** 00762 * @brief Accelerometer data (LSB) 00763 * \code 00764 * Read 00765 * \endcode 00766 */ 00767 #define LSM6DS33_XG_OUT_Y_L_XL 0x2A 00768 00769 00770 /** 00771 * @brief Accelerometer data (MSB) 00772 * \code 00773 * Read 00774 * \endcode 00775 */ 00776 #define LSM6DS33_XG_OUT_Y_H_XL 0x2B 00777 00778 00779 /** 00780 * @brief Accelerometer data (LSB) 00781 * \code 00782 * Read 00783 * \endcode 00784 */ 00785 #define LSM6DS33_XG_OUT_Z_L_XL 0x2C 00786 00787 00788 /** 00789 * @brief Accelerometer data (MSB) 00790 * \code 00791 * Read 00792 * \endcode 00793 */ 00794 #define LSM6DS33_XG_OUT_Z_H_XL 0x2D 00795 00796 /******************************************************************************/ 00797 /************* END ACCELEROMETER AND GYROSCOPE REGISTER MAPPING **************/ 00798 /******************************************************************************/ 00799 00800 00801 /************************************** COMMON REGISTERS VALUE *******************************************/ 00802 00803 /** 00804 * @brief Device Address 00805 */ 00806 #define LSM6DS33_ADDRESS_LOW 0xD4 // SAD[0] = 0 00807 #define LSM6DS33_ADDRESS_HIGH 0xD6 // SAD[0] = 1 00808 #define LSM6DS33_XG_MEMS_ADDRESS LSM6DS33_ADDRESS_HIGH // SAD[0] = 1 00809 00810 00811 /** 00812 * @brief Device Identifier. Default value of the WHO_AM_I register. 00813 */ 00814 #define I_AM_LSM6DS33_XG ((uint8_t)0x69) 00815 00816 00817 /** 00818 * @brief Register address automatically incremented during a multiple byte 00819 * access with a serial interface (I2C or SPI). Default value of the 00820 * LSM6DS33_XG_CTRL3_C register. 00821 */ 00822 #define LSM6DS33_XG_IF_INC ((uint8_t)0x04) 00823 00824 #define LSM6DS33_XG_IF_INC_MASK ((uint8_t)0x04) 00825 00826 /** @defgroup LSM6DS33_XG_FIFO_Output_Data_Rate_Selection_FIFO_CTRL5 LSM6DS33_XG_FIFO_Output_Data_Rate_Selection_FIFO_CTRL5 00827 * @{ 00828 */ 00829 #define LSM6DS33_XG_FIFO_ODR_NA ((uint8_t)0x00) /*!< FIFO ODR NA */ 00830 #define LSM6DS33_XG_FIFO_ODR_10HZ ((uint8_t)0x08) /*!< FIFO ODR 10Hz */ 00831 #define LSM6DS33_XG_FIFO_ODR_25HZ ((uint8_t)) /*!< FIFO ODR 25Hz */ 00832 #define LSM6DS33_XG_FIFO_ODR_50HZ ((uint8_t)0x18) /*!< FIFO ODR 50Hz */ 00833 #define LSM6DS33_XG_FIFO_ODR_100HZ ((uint8_t)0x20) /*!< FIFO ODR 100Hz */ 00834 #define LSM6DS33_XG_FIFO_ODR_200HZ ((uint8_t)0x28) /*!< FIFO ODR 200Hz */ 00835 #define LSM6DS33_XG_FIFO_ODR_400HZ ((uint8_t)0x30) /*!< FIFO ODR 400Hz */ 00836 #define LSM6DS33_XG_FIFO_ODR_800HZ ((uint8_t)0x38) /*!< FIFO ODR 800Hz */ 00837 #define LSM6DS33_XG_FIFO_ODR_1600HZ ((uint8_t)0x40) /*!< FIFO ODR 1600Hz */ 00838 #define LSM6DS33_XG_FIFO_ODR_3300HZ ((uint8_t)0x48) /*!< FIFO ODR 3300Hz */ 00839 #define LSM6DS33_XG_FIFO_ODR_6600HZ ((uint8_t)0x50) /*!< FIFO ODR 6600Hz */ 00840 00841 #define LSM6DS33_XG_FIFO_ODR_MASK ((uint8_t)0x78) 00842 /** 00843 * @} 00844 */ 00845 00846 /** @defgroup LSM6DS33_XG_FIFO_Mode_Selection_FIFO_CTRL5 LSM6DS33_XG_FIFO_Mode_Selection_FIFO_CTRL5 00847 * @{ 00848 */ 00849 #define LSM6DS33_XG_FIFO_MODE_BYPASS ((uint8_t)0x00) /*!< BYPASS Mode. FIFO turned off */ 00850 #define LSM6DS33_XG_FIFO_MODE_FIFO ((uint8_t)0x01) /*!< FIFO Mode. Stop collecting data when FIFO is full */ 00851 #define LSM6DS33_XG_FIFO_MODE_CONTINUOUS_THEN_FIFO ((uint8_t)0x03) /*!< CONTINUOUS mode until trigger is deasserted, then FIFO mode */ 00852 #define LSM6DS33_XG_FIFO_MODE_BYPASS_THEN_CONTINUOUS ((uint8_t)0x04) /*!< BYPASS mode until trigger is deasserted, then CONTINUOUS mode */ 00853 #define LSM6DS33_XG_FIFO_MODE_CONTINUOUS_OVERWRITE ((uint8_t)0x06) /*!< CONTINUOUS mode. If the FIFO is full the new sample overwrite the older one */ 00854 00855 #define LSM6DS33_XG_FIFO_MODE_MASK ((uint8_t)0x07) 00856 /** 00857 * @} 00858 */ 00859 00860 00861 /************************************** GYROSCOPE REGISTERS VALUE *******************************************/ 00862 00863 00864 /** @addtogroup LSM6DS33_XG_Gyroscope_Output_Data_Rate_Selection_CTRL_REG1_G LSM6DS33_XG_Gyroscope_Output_Data_Rate_Selection_CTRL_REG1_G 00865 * @{ 00866 */ 00867 #define LSM6DS33_G_ODR_PD ((uint8_t)0x00) /*!< Output Data Rate: Power-down*/ 00868 #define LSM6DS33_G_ODR_13HZ ((uint8_t)0x10) /*!< Output Data Rate: 13 Hz*/ 00869 #define LSM6DS33_G_ODR_26HZ ((uint8_t)0x20) /*!< Output Data Rate: 26 Hz*/ 00870 #define LSM6DS33_G_ODR_52HZ ((uint8_t)0x30) /*!< Output Data Rate: 52 Hz */ 00871 #define LSM6DS33_G_ODR_104HZ ((uint8_t)0x40) /*!< Output Data Rate: 104 Hz */ 00872 #define LSM6DS33_G_ODR_208HZ ((uint8_t)0x50) /*!< Output Data Rate: 208 Hz */ 00873 #define LSM6DS33_G_ODR_416HZ ((uint8_t)0x60) /*!< Output Data Rate: 416 Hz */ 00874 #define LSM6DS33_G_ODR_833HZ ((uint8_t)0x70) /*!< Output Data Rate: 833 Hz */ 00875 #define LSM6DS33_G_ODR_1660HZ ((uint8_t)0x80) /*!< Output Data Rate: 1.66 kHz */ 00876 00877 #define LSM6DS33_G_ODR_MASK ((uint8_t)0xF0) 00878 00879 /** 00880 * @} 00881 */ 00882 00883 00884 /** @addtogroup LSM6DS33_XG_Gyroscope_Full_Scale_Selection_CTRL2_G LSM6DS33_XG_Gyroscope_Full_Scale_Selection_CTRL2_G 00885 * @{ 00886 */ 00887 #define LSM6DS33_G_FS_125_DISABLE ((uint8_t)0x00) /*!< Full scale: 125 dps enable: disable */ 00888 #define LSM6DS33_G_FS_125_ENABLE ((uint8_t)0x02) /*!< Full scale: 125 dps enable: enable */ 00889 00890 #define LSM6DS33_G_FS_125_MASK ((uint8_t)0x02) 00891 00892 #define LSM6DS33_G_FS_245 ((uint8_t)0x00) /*!< Full scale: 245 dps*/ 00893 #define LSM6DS33_G_FS_500 ((uint8_t)0x04) /*!< Full scale: 500 dps */ 00894 #define LSM6DS33_G_FS_1000 ((uint8_t)0x08) /*!< Full scale: 1000 dps */ 00895 #define LSM6DS33_G_FS_2000 ((uint8_t)0x0C) /*!< Full scale: 2000 dps */ 00896 00897 #define LSM6DS33_G_FS_MASK ((uint8_t)0x0C) 00898 00899 /** 00900 * @} 00901 */ 00902 00903 00904 /** @addtogroup LSM6DS33_XG_Gyroscope_Z_Axis_Output_Enable_Selection_CTRL10_C LSM6DS33_XG_Gyroscope_Z_Axis_Output_Enable_Selection_CTRL10_C 00905 * @{ 00906 */ 00907 #define LSM6DS33_G_ZEN_DISABLE ((uint8_t)0x00) /*!< Gyroscope�s Z-axis output enable: disable */ 00908 #define LSM6DS33_G_ZEN_ENABLE ((uint8_t)0x20) /*!< Gyroscope�s Z-axis output enable: enable */ 00909 00910 #define LSM6DS33_G_ZEN_MASK ((uint8_t)0x20) 00911 00912 /** 00913 * @} 00914 */ 00915 00916 00917 /** @addtogroup LSM6DS33_XG_Gyroscope_Y_Axis_Output_Enable_Selection_CTRL10_C LSM6DS33_XG_Gyroscope_Y_Axis_Output_Enable_Selection_CTRL10_C 00918 * @{ 00919 */ 00920 #define LSM6DS33_G_YEN_DISABLE ((uint8_t)0x00) /*!< Gyroscope�s Y-axis output enable: disable */ 00921 #define LSM6DS33_G_YEN_ENABLE ((uint8_t)0x10) /*!< Gyroscope�s Y-axis output enable: enable */ 00922 00923 #define LSM6DS33_G_YEN_MASK ((uint8_t)0x10) 00924 00925 /** 00926 * @} 00927 */ 00928 00929 00930 /** @addtogroup LSM6DS33_XG_Gyroscope_X_Axis_Output_Enable_Selection_CTRL10_C LSM6DS33_XG_Gyroscope_X_Axis_Output_Enable_Selection_CTRL10_C 00931 * @{ 00932 */ 00933 #define LSM6DS33_G_XEN_DISABLE ((uint8_t)0x00) /*!< Gyroscope�s X-axis output enable: disable */ 00934 #define LSM6DS33_G_XEN_ENABLE ((uint8_t)0x08) /*!< Gyroscope�s X-axis output enable: enable */ 00935 00936 #define LSM6DS33_G_XEN_MASK ((uint8_t)0x08) 00937 00938 /** 00939 * @} 00940 */ 00941 00942 00943 /************************************ ACCELEROMETER REGISTERS VALUE *****************************************/ 00944 00945 /** @addtogroup LSM6DS33_XG_Accelerometer_Output_Data_Rate_Selection_CTRL1_XL LSM6DS33_XG_Accelerometer_Output_Data_Rate_Selection_CTRL1_XL 00946 * @{ 00947 */ 00948 #define LSM6DS33_XL_ODR_PD ((uint8_t)0x00) /*!< Output Data Rate: Power-down*/ 00949 #define LSM6DS33_XL_ODR_13HZ ((uint8_t)0x10) /*!< Output Data Rate: 13 Hz*/ 00950 #define LSM6DS33_XL_ODR_26HZ ((uint8_t)0x20) /*!< Output Data Rate: 26 Hz*/ 00951 #define LSM6DS33_XL_ODR_52HZ ((uint8_t)0x30) /*!< Output Data Rate: 52 Hz */ 00952 #define LSM6DS33_XL_ODR_104HZ ((uint8_t)0x40) /*!< Output Data Rate: 104 Hz */ 00953 #define LSM6DS33_XL_ODR_208HZ ((uint8_t)0x50) /*!< Output Data Rate: 208 Hz */ 00954 #define LSM6DS33_XL_ODR_416HZ ((uint8_t)0x60) /*!< Output Data Rate: 416 Hz */ 00955 #define LSM6DS33_XL_ODR_833HZ ((uint8_t)0x70) /*!< Output Data Rate: 833 Hz */ 00956 #define LSM6DS33_XL_ODR_1660HZ ((uint8_t)0x80) /*!< Output Data Rate: 1.66 kHz */ 00957 #define LSM6DS33_XL_ODR_3330HZ ((uint8_t)0x90) /*!< Output Data Rate: 3.33 kHz */ 00958 #define LSM6DS33_XL_ODR_6660HZ ((uint8_t)0xA0) /*!< Output Data Rate: 6.66 kHz */ 00959 00960 #define LSM6DS33_XL_ODR_MASK ((uint8_t)0xF0) 00961 00962 /** 00963 * @} 00964 */ 00965 00966 00967 /** @addtogroup LSM6DS33_XG_Accelerometer_Full_Scale_Selection_CTRL1_XL LSM6DS33_XG_Accelerometer_Full_Scale_Selection_CTRL1_XL 00968 * @{ 00969 */ 00970 #define LSM6DS33_XL_FS_2G ((uint8_t)0x00) /*!< Full scale: +- 2g */ 00971 #define LSM6DS33_XL_FS_4G ((uint8_t)0x08) /*!< Full scale: +- 4g */ 00972 #define LSM6DS33_XL_FS_8G ((uint8_t)0x0C) /*!< Full scale: +- 8g */ 00973 #define LSM6DS33_XL_FS_16G ((uint8_t)0x04) /*!< Full scale: +- 16g */ 00974 00975 #define LSM6DS33_XL_FS_MASK ((uint8_t)0x0C) 00976 00977 /** 00978 * @} 00979 */ 00980 00981 00982 /** @addtogroup LSM6DS33_XG_Accelerometer_Anti_Aliasing_Filter_Bandwidth_Selection_CTRL1_XL LSM6DS33_XG_Accelerometer_Anti_Aliasing_Filter_Bandwidth_Selection_CTRL1_XL 00983 * @{ 00984 */ 00985 #define LSM6DS33_XL_BW_400HZ ((uint8_t)0x00) /*!< Anti-aliasing filter bandwidht: 400 Hz */ 00986 #define LSM6DS33_XL_BW_200HZ ((uint8_t)0x01) /*!< Anti-aliasing filter bandwidht: 200 Hz */ 00987 #define LSM6DS33_XL_BW_100HZ ((uint8_t)0x02) /*!< Anti-aliasing filter bandwidht: 100 Hz */ 00988 #define LSM6DS33_XL_BW_50HZ ((uint8_t)0x03) /*!< Anti-aliasing filter bandwidht: 50 Hz */ 00989 00990 #define LSM6DS33_XL_BW_MASK ((uint8_t)0x03) 00991 00992 /** 00993 * @} 00994 */ 00995 00996 00997 /** @addtogroup LSM6DS33_XG_Accelerometer_Z_Axis_Output_Enable_Selection_CTRL9_XL LSM6DS33_XG_Accelerometer_Z_Axis_Output_Enable_Selection_CTRL9_XL 00998 * @{ 00999 */ 01000 #define LSM6DS33_XL_ZEN_DISABLE ((uint8_t)0x00) /*!< Accelerometer�s Z-axis output enable: disable */ 01001 #define LSM6DS33_XL_ZEN_ENABLE ((uint8_t)0x20) /*!< Accelerometer�s Z-axis output enable: enable */ 01002 01003 #define LSM6DS33_XL_ZEN_MASK ((uint8_t)0x20) 01004 01005 /** 01006 * @} 01007 */ 01008 01009 01010 /** @addtogroup LSM6DS33_XG_Accelerometer_Y_Axis_Output_Enable_Selection_CTRL9_XL LSM6DS33_XG_Accelerometer_Y_Axis_Output_Enable_Selection_CTRL9_XL 01011 * @{ 01012 */ 01013 #define LSM6DS33_XL_YEN_DISABLE ((uint8_t)0x00) /*!< Accelerometer�s Y-axis output enable: disable */ 01014 #define LSM6DS33_XL_YEN_ENABLE ((uint8_t)0x10) /*!< Accelerometer�s Y-axis output enable: enable */ 01015 01016 #define LSM6DS33_XL_YEN_MASK ((uint8_t)0x10) 01017 01018 /** 01019 * @} 01020 */ 01021 01022 01023 /** @addtogroup LSM6DS33_XG_Accelerometer_X_Axis_Output_Enable_Selection_CTRL9_XL LSM6DS33_XG_Accelerometer_X_Axis_Output_Enable_Selection_CTRL9_XL 01024 * @{ 01025 */ 01026 #define LSM6DS33_XL_XEN_DISABLE ((uint8_t)0x00) /*!< Accelerometer�s X-axis output enable: disable */ 01027 #define LSM6DS33_XL_XEN_ENABLE ((uint8_t)0x08) /*!< Accelerometer�s X-axis output enable: enable */ 01028 01029 #define LSM6DS33_XL_XEN_MASK ((uint8_t)0x08) 01030 01031 /** 01032 * @} 01033 */ 01034 01035 /** @addtogroup LSM6DS33_XG_Accelerometer_FF_DUR5_Selection_WAKE_UP_DUR LSM6DS33_XG_Accelerometer_FF_DUR5_Selection_WAKE_UP_DUR 01036 * @{ 01037 */ 01038 #define LSM6DS33_XG_WAKE_UP_DUR_FF_DUR5_DEFAULT ((uint8_t)0x00) 01039 01040 #define LSM6DS33_XG_WAKE_UP_DUR_FF_DUR5_MASK ((uint8_t)0x80) 01041 /** 01042 * @} 01043 */ 01044 01045 /** @addtogroup LSM6DS33_XG_Accelerometer_WAKE_DUR_Selection_WAKE_UP_DUR LSM6DS33_XG_Accelerometer_WAKE_DUR_Selection_WAKE_UP_DUR 01046 * @{ 01047 */ 01048 #define LSM6DS33_XG_WAKE_UP_DUR_WAKE_DUR_DEFAULT ((uint8_t)0x00) 01049 01050 #define LSM6DS33_XG_WAKE_UP_DUR_WAKE_DUR_MASK ((uint8_t)0x60) 01051 /** 01052 * @} 01053 */ 01054 01055 /** @addtogroup LSM6DS33_XG_Accelerometer_TIMER_HR_Selection_WAKE_UP_DUR LSM6DS33_XG_Accelerometer_TIMER_HR_Selection_WAKE_UP_DUR 01056 * @{ 01057 */ 01058 #define LSM6DS33_XG_WAKE_UP_DUR_TIMER_HR_DEFAULT ((uint8_t)0x00) 01059 01060 #define LSM6DS33_XG_WAKE_UP_DUR_TIMER_HR_MASK ((uint8_t)0x10) 01061 /** 01062 * @} 01063 */ 01064 01065 /** @addtogroup LSM6DS33_XG_Accelerometer_SLEEP_DUR_Selection_WAKE_UP_DUR LSM6DS33_XG_Accelerometer_SLEEP_DUR_Selection_WAKE_UP_DUR 01066 * @{ 01067 */ 01068 #define LSM6DS33_XG_WAKE_UP_DUR_SLEEP_DUR_DEFAULT ((uint8_t)0x00) 01069 01070 #define LSM6DS33_XG_WAKE_UP_DUR_SLEEP_DUR_MASK ((uint8_t)0x0F) 01071 /** 01072 * @} 01073 */ 01074 01075 /** @addtogroup LSM6DS33_XG_Accelerometer_FF_DUR_Selection_FREE_FALL LSM6DS33_XG_Accelerometer_FF_DUR_Selection_FREE_FALL 01076 * @{ 01077 */ 01078 #define LSM6DS33_XG_WAKE_FREE_FALL_FF_DUR_DEFAULT ((uint8_t)0x00) 01079 #define LSM6DS33_XG_WAKE_FREE_FALL_FF_DUR_TYPICAL ((uint8_t)0x30) 01080 01081 #define LSM6DS33_XG_WAKE_FREE_FALL_FF_DUR_MASK ((uint8_t)0xF8) 01082 /** 01083 * @} 01084 */ 01085 01086 /** @addtogroup LSM6DS33_XG_Accelerometer_FF_THS_Selection_FREE_FALL LSM6DS33_XG_Accelerometer_FF_THS_Selection_FREE_FALL 01087 * @{ 01088 */ 01089 #define LSM6DS33_XG_WAKE_FREE_FALL_FF_THS_156MG ((uint8_t)0x00) 01090 #define LSM6DS33_XG_WAKE_FREE_FALL_FF_THS_219MG ((uint8_t)0x01) 01091 #define LSM6DS33_XG_WAKE_FREE_FALL_FF_THS_250MG ((uint8_t)0x02) 01092 #define LSM6DS33_XG_WAKE_FREE_FALL_FF_THS_312MG ((uint8_t)0x03) 01093 #define LSM6DS33_XG_WAKE_FREE_FALL_FF_THS_344MG ((uint8_t)0x04) 01094 #define LSM6DS33_XG_WAKE_FREE_FALL_FF_THS_406MG ((uint8_t)0x05) 01095 #define LSM6DS33_XG_WAKE_FREE_FALL_FF_THS_469MG ((uint8_t)0x06) 01096 #define LSM6DS33_XG_WAKE_FREE_FALL_FF_THS_500MG ((uint8_t)0x07) 01097 01098 #define LSM6DS33_XG_WAKE_FREE_FALL_FF_THS_MASK ((uint8_t)0x07) 01099 01100 /** 01101 * @} 01102 */ 01103 01104 01105 /** @addtogroup LSM6DS33_XG_Accelerometer_INT1_INACT_STATE_Selection_MD1_CFG LSM6DS33_XG_Accelerometer_INT1_INACT_STATE_Selection_MD1_CFG 01106 * @{ 01107 */ 01108 #define LSM6DS33_XG_MD1_CFG_INT1_INACT_STATE_DISABLE ((uint8_t)0x00) 01109 #define LSM6DS33_XG_MD1_CFG_INT1_INACT_STATE_ENABLE ((uint8_t)0x80) 01110 01111 #define LSM6DS33_XG_MD1_CFG_INT1_INACT_STATE_MASK ((uint8_t)0x80) 01112 /** 01113 * @} 01114 */ 01115 01116 /** @addtogroup LSM6DS33_XG_Accelerometer_INT1_SINGLE_TAP_Selection_MD1_CFG LSM6DS33_XG_Accelerometer_INT1_SINGLE_TAP_Selection_MD1_CFG 01117 * @{ 01118 */ 01119 #define LSM6DS33_XG_MD1_CFG_INT1_SINGLE_TAP_DISABLE ((uint8_t)0x00) 01120 #define LSM6DS33_XG_MD1_CFG_INT1_SINGLE_TAP_ENABLE ((uint8_t)0x40) 01121 01122 #define LSM6DS33_XG_MD1_CFG_INT1_SINGLE_TAP_MASK ((uint8_t)0x40) 01123 /** 01124 * @} 01125 */ 01126 01127 /** @addtogroup LSM6DS33_XG_Accelerometer_INT1_WU_Selection_MD1_CFG LSM6DS33_XG_Accelerometer_INT1_WU_Selection_MD1_CFG 01128 * @{ 01129 */ 01130 #define LSM6DS33_XG_MD1_CFG_INT1_WU_DISABLE ((uint8_t)0x00) 01131 #define LSM6DS33_XG_MD1_CFG_INT1_WU_ENABLE ((uint8_t)0x20) 01132 01133 #define LSM6DS33_XG_MD1_CFG_INT1_WU_MASK ((uint8_t)0x20) 01134 /** 01135 * @} 01136 */ 01137 01138 /** @addtogroup LSM6DS33_XG_Accelerometer_INT1_FF_Selection_MD1_CFG LSM6DS33_XG_Accelerometer_INT1_FF_Selection_MD1_CFG 01139 * @{ 01140 */ 01141 #define LSM6DS33_XG_MD1_CFG_INT1_FF_DISABLE ((uint8_t)0x00) 01142 #define LSM6DS33_XG_MD1_CFG_INT1_FF_ENABLE ((uint8_t)0x10) 01143 01144 #define LSM6DS33_XG_MD1_CFG_INT1_FF_MASK ((uint8_t)0x10) 01145 /** 01146 * @} 01147 */ 01148 01149 /** @addtogroup LSM6DS33_XG_Accelerometer_INT1_DOUBLE_TAP_Selection_MD1_CFG LSM6DS33_XG_Accelerometer_INT1_DOUBLE_TAP_Selection_MD1_CFG 01150 * @{ 01151 */ 01152 #define LSM6DS33_XG_MD1_CFG_INT1_DOUBLE_TAP_DISABLE ((uint8_t)0x00) 01153 #define LSM6DS33_XG_MD1_CFG_INT1_DOUBLE_TAP_ENABLE ((uint8_t)0x08) 01154 01155 #define LSM6DS33_XG_MD1_CFG_INT1_DOUBLE_TAP_MASK ((uint8_t)0x08) 01156 /** 01157 * @} 01158 */ 01159 01160 /** @addtogroup LSM6DS33_XG_Accelerometer_INT1_6D_Selection_MD1_CFG LSM6DS33_XG_Accelerometer_INT1_6D_Selection_MD1_CFG 01161 * @{ 01162 */ 01163 #define LSM6DS33_XG_MD1_CFG_INT1_6D_DISABLE ((uint8_t)0x00) 01164 #define LSM6DS33_XG_MD1_CFG_INT1_6D_ENABLE ((uint8_t)0x04) 01165 01166 #define LSM6DS33_XG_MD1_CFG_INT1_6D_MASK ((uint8_t)0x04) 01167 /** 01168 * @} 01169 */ 01170 01171 /** @addtogroup LSM6DS33_XG_Accelerometer_INT1_TILT_Selection_MD1_CFG LSM6DS33_XG_Accelerometer_INT1_TILT_Selection_MD1_CFG 01172 * @{ 01173 */ 01174 #define LSM6DS33_XG_MD1_CFG_INT1_TILT_DISABLE ((uint8_t)0x00) 01175 #define LSM6DS33_XG_MD1_CFG_INT1_TILT_ENABLE ((uint8_t)0x02) 01176 01177 #define LSM6DS33_XG_MD1_CFG_INT1_TILT_MASK ((uint8_t)0x02) 01178 /** 01179 * @} 01180 */ 01181 01182 /** @addtogroup LSM6DS33_XG_Accelerometer_INT1_TIMER_Selection_MD1_CFG LSM6DS33_XG_Accelerometer_INT1_TIMER_Selection_MD1_CFG 01183 * @{ 01184 */ 01185 #define LSM6DS33_XG_MD1_CFG_INT1_TIMER_DISABLE ((uint8_t)0x00) 01186 #define LSM6DS33_XG_MD1_CFG_INT1_TIMER_ENABLE ((uint8_t)0x01) 01187 01188 #define LSM6DS33_XG_MD1_CFG_INT1_TIMER_MASK ((uint8_t)0x01) 01189 01190 /** 01191 * @} 01192 */ 01193 01194 /** @addtogroup LSM6DS33_XG_Accelerometer_FF_IA_Enable_WAKE_UP_SRC LSM6DS33_XG_Accelerometer_FF_IA_Enable_WAKE_UP_SRC 01195 * @{ 01196 */ 01197 #define LSM6DS33_XG_WAKE_UP_SRC_FF_IA_DISABLE ((uint8_t)0x00) 01198 #define LSM6DS33_XG_WAKE_UP_SRC_FF_IA_ENABLE ((uint8_t)0x20) 01199 01200 #define LSM6DS33_XG_WAKE_UP_SRC_FF_IA_MASK ((uint8_t)0x20) 01201 /** 01202 * @} 01203 */ 01204 01205 /** @addtogroup LSM6DS33_XG_Accelerometer_SLEEP_STATE_IA_Enable_WAKE_UP_SRC LSM6DS33_XG_Accelerometer_SLEEP_STATE_IA_Enable_WAKE_UP_SRC 01206 * @{ 01207 */ 01208 #define LSM6DS33_XG_WAKE_UP_SRC_SLEEP_STATE_IA_DISABLE ((uint8_t)0x00) 01209 #define LSM6DS33_XG_WAKE_UP_SRC_SLEEP_STATE_IA_ENABLE ((uint8_t)0x10) 01210 01211 #define LSM6DS33_XG_WAKE_UP_SRC_SLEEP_STATE_IA_MASK ((uint8_t)0x10) 01212 /** 01213 * @} 01214 */ 01215 01216 /** @addtogroup LSM6DS33_XG_Accelerometer_WU_IA_Enable_WAKE_UP_SRC LSM6DS33_XG_Accelerometer_WU_IA_Enable_WAKE_UP_SRC 01217 * @{ 01218 */ 01219 #define LSM6DS33_XG_WAKE_UP_SRC_WU_IA_DISABLE ((uint8_t)0x00) 01220 #define LSM6DS33_XG_WAKE_UP_SRC_WU_IA_ENABLE ((uint8_t)0x08) 01221 01222 #define LSM6DS33_XG_WAKE_UP_SRC_WU_IA_MASK ((uint8_t)0x08) 01223 /** 01224 * @} 01225 */ 01226 01227 /** @addtogroup LSM6DS33_XG_Accelerometer_X_WU_Enable_WAKE_UP_SRC LSM6DS33_XG_Accelerometer_X_WU_Enable_WAKE_UP_SRC 01228 * @{ 01229 */ 01230 #define LSM6DS33_XG_WAKE_UP_SRC_X_WU_DISABLE ((uint8_t)0x00) 01231 #define LSM6DS33_XG_WAKE_UP_SRC_X_WU_ENABLE ((uint8_t)0x04) 01232 01233 #define LSM6DS33_XG_WAKE_UP_SRC_X_WU_MASK ((uint8_t)0x04) 01234 /** 01235 * @} 01236 */ 01237 01238 /** @addtogroup LSM6DS33_XG_Accelerometer_Y_WU_Enable_WAKE_UP_SRC LSM6DS33_XG_Accelerometer_Y_WU_Enable_WAKE_UP_SRC 01239 * @{ 01240 */ 01241 #define LSM6DS33_XG_WAKE_UP_SRC_Y_WU_DISABLE ((uint8_t)0x00) 01242 #define LSM6DS33_XG_WAKE_UP_SRC_Y_WU_ENABLE ((uint8_t)0x02) 01243 01244 01245 #define LSM6DS33_XG_WAKE_UP_SRC_Y_WU_MASK ((uint8_t)0x02) 01246 /** 01247 * @} 01248 */ 01249 01250 /** @addtogroup LSM6DS33_XG_Accelerometer_Z_WU_Enable_WAKE_UP_SRC LSM6DS33_XG_Accelerometer_Z_WU_Enable_WAKE_UP_SRC 01251 * @{ 01252 */ 01253 #define LSM6DS33_XG_WAKE_UP_SRC_Z_WU_DISABLE ((uint8_t)0x00) 01254 #define LSM6DS33_XG_WAKE_UP_SRC_Z_WU_ENABLE ((uint8_t)0x01) 01255 01256 #define LSM6DS33_XG_WAKE_UP_SRC_Z_WU_MASK ((uint8_t)0x01) 01257 /** 01258 * @} 01259 */ 01260 01261 /** 01262 * @} 01263 */ 01264 01265 /** @addtogroup LSM6DS33_Imported_Functions LSM6DS33_Imported_Functions 01266 * @{ 01267 */ 01268 01269 /* Six axes sensor IO functions */ 01270 extern IMU_6AXES_StatusTypeDef LSM6DS33_IO_Init( void ); 01271 extern IMU_6AXES_StatusTypeDef LSM6DS33_IO_Write( uint8_t* pBuffer, uint8_t DeviceAddr, uint8_t RegisterAddr, 01272 uint16_t NumByteToWrite ); 01273 extern IMU_6AXES_StatusTypeDef LSM6DS33_IO_Read( uint8_t* pBuffer, uint8_t DeviceAddr, uint8_t RegisterAddr, 01274 uint16_t NumByteToRead ); 01275 extern void LSM6DS33_IO_ITConfig( void ); 01276 01277 /** 01278 * @} 01279 */ 01280 01281 /** @addtogroup LSM6DS33_Exported_Types LSM6DS33_Exported_Types 01282 * @{ 01283 */ 01284 /** 01285 * @brief LSM6DS33 driver extended internal structure definition 01286 */ 01287 typedef struct 01288 { 01289 IMU_6AXES_StatusTypeDef (*Enable_Free_Fall_Detection) (void); 01290 IMU_6AXES_StatusTypeDef (*Disable_Free_Fall_Detection) (void); 01291 IMU_6AXES_StatusTypeDef (*Get_Status_Free_Fall_Detection) (uint8_t *); 01292 } LSM6DS33_DrvExtTypeDef; 01293 01294 /** 01295 * @} 01296 */ 01297 01298 /** @addtogroup LSM6DS33_Exported_Variables LSM6DS33_Exported_Variables 01299 * @{ 01300 */ 01301 01302 /* Six axes sensor driver structure */ 01303 extern IMU_6AXES_DrvTypeDef LSM6DS33Drv; 01304 extern IMU_6AXES_DrvExtTypeDef LSM6DS33Drv_ext; 01305 01306 /** 01307 * @} 01308 */ 01309 01310 /** 01311 * @} 01312 */ 01313 01314 /** 01315 * @} 01316 */ 01317 01318 /** 01319 * @} 01320 */ 01321 01322 #ifdef __cplusplus 01323 } 01324 #endif 01325 01326 #endif /* _LSM6DS33_XG_H */ 01327 01328 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
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