LE YOU
/
X_NUCLEO_IKS01A1
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Revision 44:d757094f6229, committed 2015-06-08
- Comitter:
- Wolfgang Betz
- Date:
- Mon Jun 08 15:36:36 2015 +0200
- Parent:
- 43:2544d064d528
- Child:
- 45:dbab09cb27d9
- Child:
- 46:badcff0675e8
- Commit message:
- Add LSM6DS3 component
Changed in this revision
--- a/Components/hts221/hts221_class.h Mon Jun 08 13:57:32 2015 +0200
+++ b/Components/hts221/hts221_class.h Mon Jun 08 15:36:36 2015 +0200
@@ -58,6 +58,10 @@
T0_out = T1_out = H0_T0_out = H1_T0_out = 0;
}
+ /** Destructor
+ */
+ virtual ~HTS221() {}
+
/*** Interface Methods ***/
virtual int Init(void *init_struct) {
return HTS221_Init((HUM_TEMP_InitTypeDef*)init_struct);
--- a/Components/lis3mdl/lis3mdl_class.h Mon Jun 08 13:57:32 2015 +0200
+++ b/Components/lis3mdl/lis3mdl_class.h Mon Jun 08 15:36:36 2015 +0200
@@ -55,6 +55,10 @@
LIS3MDL(DevI2C &i2c) : MagneticSensor(), dev_i2c(i2c) {
}
+ /** Destructor
+ */
+ virtual ~LIS3MDL() {}
+
/*** Interface Methods ***/
virtual int Init(void *init_struct) {
return LIS3MDL_Init((MAGNETO_InitTypeDef*)init_struct);
--- a/Components/lps25h/lps25h_class.h Mon Jun 08 13:57:32 2015 +0200
+++ b/Components/lps25h/lps25h_class.h Mon Jun 08 15:36:36 2015 +0200
@@ -57,6 +57,10 @@
LPS25H_SlaveAddress = LPS25H_ADDRESS_HIGH;
}
+ /** Destructor
+ */
+ virtual ~LPS25H() {}
+
/*** Interface Methods ***/
virtual int Init(void *init_struct) {
return LPS25H_Init((PRESSURE_InitTypeDef*)init_struct);
--- a/Components/lsm6ds0/lsm6ds0_class.h Mon Jun 08 13:57:32 2015 +0200
+++ b/Components/lsm6ds0/lsm6ds0_class.h Mon Jun 08 15:36:36 2015 +0200
@@ -56,6 +56,10 @@
LSM6DS0(DevI2C &i2c) : GyroSensor(), MotionSensor(), dev_i2c(i2c) {
}
+ /** Destructor
+ */
+ virtual ~LSM6DS0() {}
+
/*** Interface Methods ***/
virtual int Init(void *init_struct) {
return LSM6DS0_Init((IMU_6AXES_InitTypeDef*)init_struct);
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/lsm6ds3/lsm6ds3.h Mon Jun 08 15:36:36 2015 +0200
@@ -0,0 +1,1481 @@
+/**
+ ******************************************************************************
+ * @file lsm6ds3.h
+ * @author MEMS Application Team
+ * @version V1.2.0
+ * @date 28-May-2015
+ * @brief This file contains definitions for the lsm6ds3.c firmware driver
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ * 3. Neither the name of STMicroelectronics nor the names of its contributors
+ * may be used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+ */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __LSM6DS3_H
+#define __LSM6DS3_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "imu_6axes.h"
+
+/** @addtogroup BSP
+ * @{
+ */
+
+/** @addtogroup Components
+ * @{
+ */
+
+/** @addtogroup LSM6DS3
+ * @{
+ */
+
+/** @addtogroup LSM6DS3_Exported_Defines LSM6DS3_Exported_Defines
+ * @{
+ */
+#ifndef NULL
+#define NULL (void *) 0
+#endif
+
+/******************************************************************************/
+/*********** START ACCELEROMETER AND GYROSCOPE REGISTER MAPPING **************/
+/******************************************************************************/
+
+
+/***************************************** COMMON REGISTERS ********************************************/
+
+/**
+ * @brief FIFO control register
+ * \code
+ * Read/write
+ * Default value: 0x00
+ * [7] FUNC_CFG_EN: Enable access to the embedded functions configuration registers (1) from address 02h to 32h. Default value: 0.
+ * [6:0] This bit must be set to �0� for the correct operation of the device
+ * \endcode
+*/
+#define LSM6DS3_XG_FUNC_CFG_ACCESS 0x01
+
+/**
+ * @brief FIFO control register
+ * \code
+ * Read/write
+ * Default value: 0x00
+ * [7:0] TPH_[7:0]: Sensor SyncronizationTime Frame with the step of 500ms and full range of 5s. Default: 0000 0000
+ * \endcode
+*/
+#define LSM6DS3_XG_SENSOR_SYNC_TIME_FRAME 0x04
+
+/**
+ * @brief FIFO control register
+ * \code
+ * Read/write
+ * Default value: 0x00
+ * [7:2] This bit must be set to �0� for the correct operation of the device
+ * [1] HP_RST: Gyro digital HP filter reset. Default: 0
+ * [1] SENSOR_SYNC_ENHP_RST: Enable sensor synchronization feature. Default 0
+ * \endcode
+*/
+#define LSM6DS3_XG_SENSOR_SYNC_ENABLE 0x05
+
+
+/**
+ * @brief FIFO control register
+ * \code
+ * Read/write
+ * Default value: 0x00
+ * [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.
+ * \endcode
+*/
+#define LSM6DS3_XG_FIFO_CTRL1 0x06
+
+/**
+ * @brief FIFO control register
+ * \code
+ * Read/write
+ * Default value: 0x00
+ * [7] TIMER_PEDO_FIFO_EN: Enable Pedometer step counter and time stamp as 4th sensor FIFO data. Default: 0 disabled
+ * [6] TIMER_PEDO_FIFO_DRDY : Pedometer FIFO write mode. Default: 0 disabled
+ * [5:4] This bit must be set to �0� for the correct operation of the device
+ * [3:0] FTH_[11:8] FIFO threshold level setting(1). Default value: 0000
+ * \endcode
+*/
+#define LSM6DS3_XG_FIFO_CTRL2 0x07
+
+/**
+ * @brief FIFO control register
+ * \code
+ * Read/write
+ * Default value: 0x00
+ * [7:6] This bit must be set to �0� for the correct operation of the device
+ * [5:3] DEC_FIFO_GYRO[2:0]: Gyro FIFO decimation setting. Default value: 000
+ * [2:0] DEC_FIFO_XL[2:0]: XL FIFO decimation setting. Default value: 000
+ * \endcode
+*/
+#define LSM6DS3_XG_FIFO_CTRL3 0x08
+
+/**
+ * @brief FIFO control register
+ * \code
+ * Read/write
+ * Default value: 0x00
+ * [7] This bit must be set to �0� for the correct operation of the device
+ * [6] ONLY_HIGH_DATA :8 bit data storing in FIFO. Default: 0
+ * [5:3] DEC_SLV1_FIFO[2:0] Second external sensor FIFO decimation setting. Default: 000
+ * [2:0] DEC_SLV1_FIFO[2:0] First external sensor FIFO decimation setting. Default: 000
+ * \endcode
+*/
+#define LSM6DS3_XG_FIFO_CTRL4 0x09
+
+
+/**
+ * @brief FIFO control register
+ * \code
+ * Read/write
+ * Default value: 0x00
+ * [7] This bit must be set to �0� for the correct operation of the device
+ * [6:3] ODR_FIFO_[3:0]: FIFO ODR selection. Default: 0000
+ * [2:0] FIFO_MODE_[2:0] : FIFO mode selection bits. Default value: 000
+ * \endcode
+*/
+#define LSM6DS3_XG_FIFO_CTRL5 0x0A
+
+
+/**
+ * @brief Angular rate sensor sign and orientation register
+ * \code
+ * Read/write
+ * Default value: 0x00
+ * [7:6] This bit must be set to �0� for the correct operation of the device
+ * [5] SignX_G: Pitch axis (X) Angular rate sign. Default value: 0
+ * [5] SignY_G: Roll axis (Y) Angular rate sign. Default value: 0
+ * [5] SignZ_G: Pitch axis (Z) Angular rate sign. Default value: 0
+ * [2:0] Orient[2:0] : Directional user orientation selection. Default Value: 000
+ * \endcode
+*/
+#define LSM6DS3_XG_ORIENT_CFG_G 0x0B
+
+/**
+ * @brief INT1 pad control registrer
+ * \code
+ * Read/write
+ * Default value: 0x00
+ * [7] INT1_PEDO: Pedometer step recognition interrupt enable on INT1 pad. Default value: 0
+ * [6] INT1_SIGN_MOT: Significant motion interrupt enable on INT1 pad. Default value: 0
+ * [5] INT1_FULL_FLAG: Full flag Interrupt Enable on INT1 pad. Default value: 0
+ * [4] INT1_OVR: Overrun Interrupt on INT1 pad. Default value: 0
+ * [3] INT1_FTH: FIFO threshold interrupt on INT1 pad. Default value: 0
+ * [2] INT1_BOOT: Overrun Interrupt on INT1 pad. Default value: 0
+ * [1] INT1_DRDY_G: Gyroscope Data Ready on INT1 pad. Default value: 0.
+ * [0] INT1_DRDY_XL: Accelerometer Data Ready on INT1 pad. Default value: 0
+ * \endcode
+*/
+#define LSM6DS3_XG_INT1_CTRL 0x0D
+
+
+//new, done
+/**
+ * @brief INT2 pad control registrer
+ * \code
+ * Read/write
+ * Default value: 0x00
+ * [7] INT2_PEDO: Pedometer step recognition interrupt enable on INT1 pad. Default value: 0
+ * [6] INT2_SIGN_MOT: Significant motion interrupt enable on INT1 pad. Default value: 0
+ * [5] INT2_FULL_FLAG: Full flag Interrupt Enable on INT1 pad. Default value: 0
+ * [4] INT2_OVR: Overrun Interrupt on INT1 pad. Default value: 0
+ * [3] INT2_FTH: FIFO threshold interrupt on INT1 pad. Default value: 0
+ * [2] INT2_BOOT: Overrun Interrupt on INT1 pad. Default value: 0
+ * [1] INT2_DRDY_G: Gyroscope Data Ready on INT1 pad. Default value: 0.
+ * [0] INT2_DRDY_XL: Accelerometer Data Ready on INT1 pad. Default value: 0
+ * \endcode
+*/
+#define LSM6DS3_XG_INT2_CTRL 0x0E
+
+
+/**
+ * @brief Device identifier register.
+ * \code
+ * Read
+ * Default value:69
+ * [7:0] This read-only register contains the device identifier
+ * \endcode
+*/
+#define LSM6DS3_XG_WHO_AM_I_ADDR 0x0F
+
+
+/**
+ * @brief Control Register 3
+ * \code
+ * Read/write
+ * Default value: 0x00
+ * [7] BOOT: Reboot memory content. Default value: 0
+ * [6] BDU: Block Data Update. Default value: 0
+ * [5] H_LACTIVE: Interrupt activation level. Default value: 0
+ * [4] PP_OD: Push-pull/Open Drain selection on INT pad. Default value: 0
+ * [3] SIM: SPI Serial Interface Mode selection. Default value: 0
+ * [2] IF_INC: Register address automatically incremented during a multiple byte access with a serial interface (I2C or SPI). Default value: 0
+ * [1] BLE: Big/Little Endian Data Selection. Default value: 0
+ * [0] SW_RESET: Software Reset. Default value: 0
+ * \endcode
+*/
+#define LSM6DS3_XG_CTRL3_C 0x12
+
+/**
+ * @brief Control Register 4
+ * \code
+ * Read/write
+ * Default value: 0x00
+ * [7] BW_SCAL_ODR: Accelerometer bandwidth selection. Default value: 0
+ * [6] SLEEP_G: Gyroscope sleep mode enable. Default value: 0
+ * [5] INT2_on_INT1: All interrupt signals available on INT1 pad enable. Default value: 0
+ * [4] This bit must be set to �0� for the correct operation of the device
+ * [3] DRDY_MASK: Configuration 1(3) Data Available Enable bit. Default Value: 0
+ * [2] I2C_disable Disable I2C interface. Default value: 0
+ * [1] MODE3_EN Enable auxiliary SPI interface (Mode3, refer to Table 1.). Default value: 0
+ * [0] STOP_ON_FTH Enable FIFO threshold level use. Default value: 0.
+
+ * \endcode
+*/
+#define LSM6DS3_XG_CTRL4_C 0x13
+
+/**
+ * @brief Control Register 4
+ * \code
+ * Read/write
+ * Default value: 0x00
+ * [7:4] This bit must be set to �0� for the correct operation of the device
+ * [3:2] ST_G[1:0]: Angular rate sensor Self Test Enable. Default value: 00
+ * [1:0] ST_XL[1:0]: Linear acceleration sensor Self Test Enable. Default value: 00
+ * \endcode
+*/
+#define LSM6DS3_XG_CTRL5_C 0x14
+
+
+/**
+ * @brief Control Register 10
+ * \code
+ * Read/write
+ * Default value: 0x38
+ * [7:6] These bits must be set to �0� for the correct operation of the device
+ * [5] Zen_G: Gyroscope�s Z-axis output enable. Default value: 1
+ * [4] Yen_G: Gyroscope�s Y-axis output enable. Default value: 1
+ * [3] Xen_G: Gyroscope�s X-axis output enable. Default value: 1
+ * [2] FUNC_EN: Enable embedded functionalities (pedometer, tilt and significant motion) . Default value: 0
+ * [1] PEDO_RST_STEP: Reset pedometer step counter . Default value: 0
+ * [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
+ * \endcode
+*/
+#define LSM6DS3_XG_CTRL10_C 0x19
+
+
+/**
+ * @brief Sensor hub Master config Register
+ * \code
+ * Read/write
+ * Default value: 0x00
+ * [7] DRDY_ON_INT1:Manage the DRDY signal on INT1 pad. Default: 0
+ * [6] DATA_VALID_SEL_FIFO: Selection of FIFO data-valid signal. Default value: 0
+ * [5] This bit must be set to �0� for the correct operation of the device
+ * [4] START_CONFIG: Sensor Hub trigger signal selection. Default value: 0
+ * [3] PULL_UP_EN: Auxiliary I2C pull-up. Default value: 0
+ * [2] PASS_THROUGH_MODE: I2C interface pass-through. Default value: 0
+ * [1] IRON_EN:Enable soft iron correction algorithm for magnetometer. Default value: 0.
+ * [0] MASTER_ON: Sensor Hub I2C master enable. Default: 0
+ * \endcode
+*/
+#define LSM6DS3_XG_MASTER_CONFIG 0x1A
+
+
+/**
+ * @brief Wake up interrupt source register
+ * \code
+ * Read
+ * Default value: output
+ * [7:6] This bit must be set to �0� for the correct operation of the device
+ * [5] FF_IA: Free fall event detection status. Default: 0
+ * [4] SLEEP_STATE_IA: Sleep event status. Default value: 0
+ * [3] WU_IA: Wake up event detection status. Default
+ * [2] X_WU: detection status on X axis. Default value: 0
+ * [1] Y_WU: detection status on Y axis. Default value: 0
+ * [0] Z_WU: detection status on Z axis. Default value: 0
+ * \endcode
+*/
+#define LSM6DS3_XG_WAKE_UP_SRC 0x1B
+
+/**
+ * @brief Tap source register
+ * \code
+ * Read
+ * Default value: output
+ * [7] This bit must be set to �0� for the correct operation of the device
+ * [6] TAP_IA: Tap event detection status. Default: 0
+ * [5] SINGLE_TAP: Single tap event status. Default value: 0
+ * [4] DOUBLE_TAP: Double tap event detection status. Default value: 0
+ * [3] TAP_SIGN: Sign of acceleration detected by tap event. Default: 0
+ * [2] X_TAP: Tap event detection status on X axis. Default value: 0
+ * [1] Y_TAP: Tap event detection status on Y axis. Default value: 0
+ * [0] Z_TAP: Tap event detection status on Z axis. Default value: 0
+ * \endcode
+*/
+#define LSM6DS3_XG_TAP_SRC 0x1C
+
+/**
+ * @brief Portrait, landscape face-up and face-down source register
+ * \code
+ * Read
+ * Default value: output
+ * [7] This bit must be set to �0� for the correct operation of the device
+ * [6] D6D_IA: Interrupt active for change position portrait, landscape, face-up, face-down. Default value: 0
+ * [5] ZH: Z-axis high event (over-threshold). Default value: 0
+ * [4] ZL: Z-axis low event (under-threshold). Default value: 0
+ * [5] YH: Y-axis high event (over-threshold). Default value: 0
+ * [4] YL: Y-axis low event (under-threshold). Default value: 0
+ * [5] X_H: X-axis high event (over-threshold). Default value: 0
+ * [4] X_L: X-axis low event (under-threshold). Default value: 0
+ * \endcode
+*/
+#define LSM6DS3_XG_D6D_SRC 0x1D
+
+/**
+ * @brief Status register
+ * \code
+ * Read
+ * Default value: output
+ * [7:4] No meaning set
+ * [3] EV_BOOT: Boot running flag signal. Default value: 0
+ * [2] No meaning set
+ * [1] GDA: Gyroscope new data avaialble. Default value: 0
+ * [0] XLDA: Accelerometer new data avaialble. Default value: 0
+ * \endcode
+*/
+#define LSM6DS3_XG_STATUS_REG 0x1E
+
+/**
+ * @brief FIFO status control register
+ * \code
+ * Read
+ * Default value: 0x00
+ * [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)
+ * \endcode
+*/
+#define LSM6DS3_XG_FIFO_STATUS1 0x3A
+
+/**
+ * @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.
+ * \code
+ * Read
+ * Default value: 0x00
+ * [7] FTH FIFO watermark status. Deafult value: 0
+ * [6] OVER_RUN: FIFO overrun status. Default value: 0
+ * [5] FIFO_FULL: FIFO full status. Default value: 0
+ * [5] FIFO_EMPTY: FIFO empty bit. Default value: 0; 0: FIFO contains data; 1: FIFO is empty
+ * [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)
+ * \endcode
+*/
+#define LSM6DS3_XG_FIFO_STATUS2 0x3B
+
+/**
+ * @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
+ * \code
+ * Read
+ * Default value: 0x00
+ * [7:0] FIFO_PATTERN_[7:0] : Word of recursive pattern read at the next reading
+ * \endcode
+*/
+#define LSM6DS3_XG_FIFO_STATUS3 0x3C
+
+/**
+ * @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
+ * \code
+ * Read
+ * Default value: 0x00
+ * [1:0] FIFO_PATTERN_[9:8] : Word of recursive pattern read at the next reading
+ * \endcode
+*/
+#define LSM6DS3_XG_FIFO_STATUS4 0x3D
+
+/**
+ * @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.
+ * \code
+ * Read
+ * Default value: 0x00
+ * [4:0] FIFO_PATTERN_[9:8] : Word of recursive pattern read at the next reading
+ * \endcode
+*/
+#define LSM6DS3_XG_FIFO_STATUS4 0x3D
+
+/**
+ * @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.
+ * \code
+ * Read
+ * Default value: 0x00
+ * [7:0] DATA_OUT_FIFO_L_[7:0]: FIFO data output (First byte)
+ * \endcode
+*/
+#define LSM6DS3_XG_FIFO_DATA_OUT_L 0x3E
+
+/**
+ * @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.
+ * \code
+ * Read
+ * Default value: 0x00
+ * [7:0] DATA_OUT_FIFO_H_[7:0]: FIFO data output (second byte)
+ * \endcode
+*/
+#define LSM6DS3_XG_FIFO_DATA_OUT_H 0x3F
+
+/**
+ * @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).
+ * \code
+ * Read
+ * Default value: output
+ * [7:0] TIMESTAMP0_[7:0]: FIFO first byte data output
+ * \endcode
+*/
+#define LSM6DS3_XG_TIMESTAMP0_REG 0x40
+
+/**
+ * @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).
+ * \code
+ * Read
+ * Default value: output
+ * [7:0] TIMESTAMP1_[7:0]: FIFO second byte data output
+ * \endcode
+*/
+#define LSM6DS3_XG_TIMESTAMP1_REG 0x41
+
+/**
+ * @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).
+ * \code
+ * Read
+ * Default value: output
+ * [7:0] TIMESTAMP2_[7:0]: FIFO third byte data output
+ * \endcode
+*/
+#define LSM6DS3_XG_TIMESTAMP2_REG 0x42
+
+/**
+ * @brief Step counter output register (r).
+ * \code
+ * Read
+ * Default value: output
+ * [7:0] STEP_COUNTER_L_[7:0]: Step counter output (LSbyte)
+ * \endcode
+*/
+#define LSM6DS3_XG_STEP_COUNTER_L 0x4B
+
+/**
+ * @brief Step counter output register (r).
+ * \code
+ * Read
+ * Default value: output
+ * [7:0] STEP_COUNTER_H_[7:0]: Step counter output (MSbyte)
+ * \endcode
+*/
+#define LSM6DS3_XG_STEP_COUNTER_H 0x4C
+
+/**
+ * @brief Significant motion, tilt, step detector, soft iron and sensor hub interrupt source register
+ * \code
+ * Read
+ * Default value: output
+ * [7] This bit must be set to �0� for the correct operation of the device
+ * [6] SIGN_MOTION_IA: Significant motion event detection status. Default value: 0
+ * [5] TILT_IA: Tilt event detection status. Default value: 0
+ * [5] STEP_DETECTED: Step detector event detection status. Default value: 0
+ * [3:2] This bit must be set to �0� for the correct operation of the device
+ * [1] SI_END_OP:Soft iron calculation status. Default value: 0
+ * [0] SENSORHUB_END_OP:Senso hub communication status. Default value: 0
+ * \endcode
+*/
+#define LSM6DS3_XG_FUNC_SRC 0x53
+
+/**
+ * @brief Time stamp, pedometer, tilt, filtering, and tap recognition functions configuration register
+ * \code
+ * Read/write
+ * Default value: 0x00
+ * [7] TIMER_EN: Time stamp count enable, output data are collected in TIMESTAMP0_REG (40h), TIMESTAMP1_REG (41h), TIMESTAMP2_REG (42h) register. Default: 0
+ * [6] PEDO_EN: Pedometer algorithm enable(1). Default value: 0
+ * [5] TILT_EN: Tilt calculation enable.(2) Default value: 0
+ * [4] This bit must be set to �0� for the correct operation of the device
+ * [3] TAP_X_EN: Enable X direction in tap recognition. Default value: 0
+ * [2] TAP_Y_EN: Enable Z direction in tap recognition. Default value: 0
+ * [1] TAP_Z_EN: Enable Z direction in tap recognition. Default value: 0
+ * [0] LIR: Relatch of the time stamp, pedometer, tilt, filtering, and tap recognition functions routed to PINs.
+ * \endcode
+*/
+#define LSM6DS3_XG_TAP_CFG 0x58
+
+/**
+ * @brief Portrait/landscape position and tap function threshold register
+ * \code
+ * Read/write
+ * Default value: 0x00
+ * [7] This bit must be set to �0� for the correct operation of the device
+ * [6:5] SIXD_THS[1:0]: Threshold for D6D function. Default value: 00
+ * [4:0] TAP_THS[4:0]: Threshold for tap recognition. Default value: 0000
+ * \endcode
+*/
+#define LSM6DS3_XG_TAP_THS_6D 0x59
+
+/**
+ * @brief Tap recognition function setting register (r/w)
+ * \code
+ * Read/write
+ * Default value: 0x00
+ * [7:4] DUR[3:0]: Duration of maximum time gap for double tap recognition. Default: 0000
+ * [3:2] QUIET[1:0]: Expected quiet time after a tap detection. Default value: 00
+ * [1:0] SHOCK[1:0]: Maximum duration of over-threshold event. Default value: 00
+ * \endcode
+*/
+#define LSM6DS3_XG_INT_DUR2 0x5A
+
+/**
+ * @brief Tap recognition function setting register
+ * \code
+ * Read/write
+ * Default value: 0x00
+ * [7] SINGLE_DOUBLE_TAP: Single/double tap event detection. Default: 0
+ * [6] INACTIVITY: Inactivity event enable. Default value: 0
+ * [5:0] WK_THS[5:0]:Threshold for wake-up. Default value: 0000
+ * \endcode
+*/
+#define LSM6DS3_XG_WAKE_UP_THS 0x5B
+
+/**
+ * @brief Free-fall, wake-up, time stamp and sleep mode functions duration setting register (r/w).
+ * \code
+ * Read/write
+ * Default value: 0x00
+ * [7] FF_DUR5:Free fall duration event. Default: 0
+ * [6:5] WAKE_DUR[1:0]: Wake up duration event. Default: 00
+ * [4] TIMER_HR: Time stamp register resolution setting(1). Default value: 0
+ * [3:0] SLEEP_DUR[3:0] : Duration to go in sleep mode. Default value: 0000
+ * \endcode
+*/
+#define LSM6DS3_XG_WAKE_UP_DUR 0x5C
+
+/**
+ * @brief Free-fall function duration setting register
+ * \code
+ * Read/write
+ * Default value: 0x00
+ * [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
+ * [2:0] FF_THS[2:0]: Free fall threshold setting. Default: 000.
+ * \endcode
+*/
+#define LSM6DS3_XG_WAKE_FREE_FALL 0x5D
+
+/**
+ * @brief Functions routing on INT1 register
+ * \code
+ * Read/write
+ * Default value: 0x00
+ * [7] INT1_INACT_STATE: Routing on INT1 of inactivity mode. Default: 0
+ * [6] INT1_SINGLE_TAP: Single tap recognition routing on INT1. Default: 0
+ * [5] INT1_WU: Routing of wake-up event on INT1. Default value: 0
+ * [4] INT1_FF: Routing of free-fall event on INT1. Default value: 0
+ * [3] INT1_TAP: Routing of tap event on INT1. Default value: 0
+ * [2] INT1_6D: Routing of 6D event on INT1. Default value: 0
+ * [1] INT1_TILT: Routing of tilt event on INT1. Default value: 0
+ * [0] INT1_TIMER: Routing of end counter event of timer on INT1. Default value: 0
+ * \endcode
+*/
+#define LSM6DS3_XG_MD1_CFG 0x5E
+
+/**
+ * @brief Functions routing on INT2 register
+ * \code
+ * Read/write
+ * Default value: 0x00
+ * [7] INT2_INACT_STATE: Routing on INT1 of inactivity mode. Default: 0
+ * [6] INT2_SINGLE_TAP: Single tap recognition routing on INT1. Default: 0
+ * [5] INT2_WU: Routing of wake-up event on INT1. Default value: 0
+ * [4] INT2_FF: Routing of free-fall event on INT1. Default value: 0
+ * [3] INT2_TAP: Routing of tap event on INT1. Default value: 0
+ * [2] INT2_6D: Routing of 6D event on INT1. Default value: 0
+ * [1] INT2_TILT: Routing of tilt event on INT1. Default value: 0
+ * [0] INT2_TIMER: Routing of end counter event of timer on INT1. Default value: 0
+ * \endcode
+*/
+#define LSM6DS3_XG_MD2_CFG 0x5F
+
+/***************************************** SENSORHUB REGISTERS ********************************************/
+
+/**
+ * @brief SENSORHUB REGISTER 1 : SLV0 first external sensor, first axis output register (r). The value is expressed as 16bit word in two�s complement
+ * \code
+ * Read
+ * Default value: 0x00
+ * [7:0] SHUB1[7:0]: SLV0 first external sensor, first byte of the first axis.
+ * \endcode
+*/
+#define LSM6DS3_XG_SENSORHUB1_REG 0x2E
+
+/**
+ * @brief SENSORHUB REGISTER 2 : SLV0 first external sensor, first axis output register (r). The value is expressed as 16bit word in two�s complement
+ * \code
+ * Read
+ * Default value: 0x00
+ * [7:0] SHUB2[7:0]: SLV0 first external sensor, second byte of the first axis.
+ * \endcode
+*/
+#define LSM6DS3_XG_SENSORHUB2_REG 0x2F
+
+/**
+ * @brief SENSORHUB REGISTER 3 : SLV0 first external sensor, second axis output register (r). The value is expressed as 16bit word in two�s complement
+ * \code
+ * Read
+ * Default value: 0x00
+ * [7:0] SHUB3[7:0]: SLV0 first external sensor, first byte of the second axis.
+ * \endcode
+*/
+#define LSM6DS3_XG_SENSORHUB3_REG 0x30
+
+/**
+ * @brief SENSORHUB REGISTER 4 : SLV0 first external sensor, second axis output register (r). The value is expressed as 16bit word in two�s complement
+ * \code
+ * Read
+ * Default value: 0x00
+ * [7:0] SHUB4[7:0]: SLV0 first external sensor, second byte of the second axis.
+ * \endcode
+*/
+#define LSM6DS3_XG_SENSORHUB4_REG 0x31
+
+/**
+ * @brief SENSORHUB REGISTER 5 : SLV0 first external sensor, third axis output register (r). The value is expressed as 16bit word in two�s complement
+ * \code
+ * Read
+ * Default value: 0x00
+ * [7:0] SHUB5[7:0]: SLV0 first external sensor, second byte of the second axis.
+ * \endcode
+*/
+#define LSM6DS3_XG_SENSORHUB5_REG 0x32
+
+/**
+ * @brief SENSORHUB REGISTER 6 : SLV0 first external sensor, third axis output register (r). The value is expressed as 16bit word in two�s complement
+ * \code
+ * Read
+ * Default value: 0x00
+ * [7:0] SHUB6[7:0]: SLV0 first external sensor, second byte of the third axis
+ * \endcode
+*/
+#define LSM6DS3_XG_SENSORHUB6_REG 0x33
+
+/**
+ * @brief SENSORHUB REGISTER 7 : SLV1 second external sensor, first axis output register (r). The value is expressed as 16bit word in two�s complement
+ * \code
+ * Read
+ * Default value: 0x00
+ * [7:0] SHUB7[7:0]: SLV1 second external sensor, first byte of the first axis.
+ * \endcode
+*/
+#define LSM6DS3_XG_SENSORHUB7_REG 0x34
+
+/**
+ * @brief SENSORHUB REGISTER 8 : SLV1 second external sensor, first axis output register (r). The value is expressed as 16bit word in two�s complement
+ * \code
+ * Read
+ * Default value: 0x00
+ * [7:0] SHUB8[7:0]: SLV1 second external sensor, second byte of the first axis.
+ * \endcode
+*/
+#define LSM6DS3_XG_SENSORHUB8_REG 0x35
+
+/**
+ * @brief SENSORHUB REGISTER 9 : SLV1 second external sensor,, second axis output register (r). The value is expressed as 16bit word in two�s complement
+ * \code
+ * Read
+ * Default value: 0x00
+ * [7:0] SHUB9[7:0]: SLV1 second external sensor, first byte of the second axis.
+ * \endcode
+*/
+#define LSM6DS3_XG_SENSORHUB9_REG 0x36
+
+/**
+ * @brief SLV1 second external sensor, second axis output register (r). The value is expressed as 16bit word in two�s complement
+ * \code
+ * Read
+ * Default value: 0x00
+ * [7:0] SHUB10[7:0]: SLV1 second external sensor, second byte of the second axis.
+ * \endcode
+*/
+#define LSM6DS3_XG_SENSORHUB10_REG 0x37
+
+/**
+ * @brief SLV1 second external sensor, third axis output register (r). The value is expressed as 16bit word in two�s complement
+ * \code
+ * Read
+ * Default value: 0x00
+ * [7:0] SHUB11[7:0]: SLV1 second external sensor, first byte of the third axis.
+ * \endcode
+*/
+#define LSM6DS3_XG_SENSORHUB11_REG 0x38
+
+/**
+ * @brief SLV1 second external sensor, third axis output register (r). The value is expressed as 16bit word in two�s complement
+ * \code
+ * Read
+ * Default value: 0x00
+ * [7:0] SHUB12[7:0]: SLV1 second external sensor, second byte of the third axis.
+ * \endcode
+*/
+#define LSM6DS3_XG_SENSORHUB12_REG 0x39
+
+
+
+
+/***************************************** GYROSCOPE REGISTERS ********************************************/
+
+/**
+ * @brief Angular rate sensor Control Register 2
+ * \code
+ * Read/write
+ * Default value: 0x00
+ * [7:4] ODR_G[3:0]: Gyroscope output data rate selection
+ * [3:2] FS_G[1-0]: Gyroscope full-scale selection
+ * [1] FS_125: Gyroscope full-scale at 125 dps
+ * [0] This bit must be set to �0� for the correct operation of the device
+ * \endcode
+ */
+#define LSM6DS3_XG_CTRL2_G 0x11
+
+
+/**
+ * @brief Angular rate sensor Control Register 6
+ * \code
+ * Read/write
+ * Default value: 0x00
+ * [7] TRIG_EN: Data edge sensitive trigger Enable. Default value: 0
+ * [6] LVLen: Data level sensitive trigger Enable. Default value: 0
+ * [5] LVL2en: Level sensitive latched Enable. Default value: 0
+ * [4] XL_H_MODE: High Performance operating mode disable for accelerometer(1). Default value: 0
+ * [3:0] This bit must be set to �0� for the correct operation of the device
+ * \endcode
+ */
+#define LSM6DS3_XG_CTRL6_G 0x15
+
+
+/**
+* @brief Angular rate sensor Control Register 7
+* \code
+* Read/write
+* Default value: 0x00
+* [7] G_H_MODE: High Performance operating mode disable for Gyroscope(1) . Default: 0
+* [6] HP_EN: High Pass filter Enable. Default Value: 0
+* [5:4] HPCF_G[1:0]: Gyroscope High Pass filter Cut Off frequency selection. Default value: 00
+* [3:0] This bit must be set to �0� for the correct operation of the device
+* \endcode
+*/
+#define LSM6DS3_XG_CTRL7_G 0x16
+
+/**
+ * @brief Gyroscope data (LSB)
+ * \code
+ * Read
+ * \endcode
+ */
+#define LSM6DS3_XG_OUT_X_L_G 0x22
+
+
+/**
+ * @brief Gyroscope data (MSB)
+ * \code
+ * Read
+ * \endcode
+ */
+#define LSM6DS3_XG_OUT_X_H_G 0x23
+
+
+/**
+ * @brief Gyroscope data (LSB)
+ * \code
+ * Read
+ * \endcode
+ */
+#define LSM6DS3_XG_OUT_Y_L_G 0x24
+
+
+/**
+ * @brief Gyroscope data (MSB)
+ * \code
+ * Read
+ * \endcode
+ */
+#define LSM6DS3_XG_OUT_Y_H_G 0x25
+
+
+/**
+ * @brief Gyroscope data (LSB)
+ * \code
+ * Read
+ * \endcode
+ */
+#define LSM6DS3_XG_OUT_Z_L_G 0x26
+
+
+/**
+ * @brief Gyroscope data (MSB)
+ * \code
+ * Read
+ * \endcode
+ */
+#define LSM6DS3_XG_OUT_Z_H_G 0x27
+
+
+
+/*************************************** ACCELEROMETER REGISTERS *******************************************/
+
+/**
+ * @brief Linear acceleration sensor Control Register 1
+ * \code
+ * Read/write
+ * Default value: 0x00
+ * [7:4] ODR_XL3-0: Accelerometer Output data rate and power mode selection
+ * [3:2] FS_XL1-0: Accelerometer full-scale selection
+ * [1:0] BW_XL1-0: Anti-aliasing filter bandwidth selection
+ * \endcode
+ */
+#define LSM6DS3_XG_CTRL1_XL 0x10
+
+/**
+* @brief XL sensor Control Register 8
+* \code
+* Read/write
+* Default value: 0x00
+* [7:3] This bit must be set to �0� for the correct operation of the device
+* [2] SLOPE_FDS: Enable HP filter on output registers and FIFO. Default value: 0
+* [1:0] This bit must be set to �0� for the correct operation of the device
+* \endcode
+*/
+#define LSM6DS3_XG_CTRL8_XL 0x17
+
+/**
+ * @brief Linear acceleration sensor Control Register 9
+ * \code
+ * Read/write
+ * Default value: 0x38
+ * [7:6] These bits must be set to �0� for the correct operation of the device
+ * [5] Zen_XL: Accelerometers�s Z-axis output enable
+ * [4] Yen_XL: Accelerometers�s Y-axis output enable
+ * [3] Xen_XL: Accelerometers�s X-axis output enable
+ * [2:0] These bits must be set to �0� for the correct operation of the device
+ * \endcode
+*/
+#define LSM6DS3_XG_CTRL9_XL 0x18
+
+
+/**
+ * @brief Accelerometer data (LSB)
+ * \code
+ * Read
+ * \endcode
+ */
+#define LSM6DS3_XG_OUT_X_L_XL 0x28
+
+
+/**
+ * @brief Accelerometer data (MSB)
+ * \code
+ * Read
+ * \endcode
+ */
+#define LSM6DS3_XG_OUT_X_H_XL 0x29
+
+
+/**
+ * @brief Accelerometer data (LSB)
+ * \code
+ * Read
+ * \endcode
+ */
+#define LSM6DS3_XG_OUT_Y_L_XL 0x2A
+
+
+/**
+ * @brief Accelerometer data (MSB)
+ * \code
+ * Read
+ * \endcode
+ */
+#define LSM6DS3_XG_OUT_Y_H_XL 0x2B
+
+
+/**
+ * @brief Accelerometer data (LSB)
+ * \code
+ * Read
+ * \endcode
+ */
+#define LSM6DS3_XG_OUT_Z_L_XL 0x2C
+
+
+/**
+ * @brief Accelerometer data (MSB)
+ * \code
+ * Read
+ * \endcode
+ */
+#define LSM6DS3_XG_OUT_Z_H_XL 0x2D
+
+/******************************************************************************/
+/************* END ACCELEROMETER AND GYROSCOPE REGISTER MAPPING **************/
+/******************************************************************************/
+
+
+/************************************** COMMON REGISTERS VALUE *******************************************/
+
+/**
+* @brief Device Address
+*/
+#define LSM6DS3_ADDRESS_LOW 0xD4 // SAD[0] = 0
+#define LSM6DS3_ADDRESS_HIGH 0xD6 // SAD[0] = 1
+#define LSM6DS3_XG_MEMS_ADDRESS LSM6DS3_ADDRESS_LOW // SAD[0] = 0
+
+
+/**
+ * @brief Device Identifier. Default value of the WHO_AM_I register.
+ */
+#define I_AM_LSM6DS3_XG ((uint8_t)0x69)
+
+
+/**
+ * @brief Register address automatically incremented during a multiple byte
+ * access with a serial interface (I2C or SPI). Default value of the
+ * LSM6DS3_XG_CTRL3_C register.
+ */
+#define LSM6DS3_XG_IF_INC ((uint8_t)0x04)
+
+#define LSM6DS3_XG_IF_INC_MASK ((uint8_t)0x04)
+
+/** @defgroup LSM6DS3_XG_FIFO_Output_Data_Rate_Selection_FIFO_CTRL5 LSM6DS3_XG_FIFO_Output_Data_Rate_Selection_FIFO_CTRL5
+ * @{
+ */
+#define LSM6DS3_XG_FIFO_ODR_NA ((uint8_t)0x00) /*!< FIFO ODR NA */
+#define LSM6DS3_XG_FIFO_ODR_10HZ ((uint8_t)0x08) /*!< FIFO ODR 10Hz */
+#define LSM6DS3_XG_FIFO_ODR_25HZ ((uint8_t)0x10) /*!< FIFO ODR 25Hz */
+#define LSM6DS3_XG_FIFO_ODR_50HZ ((uint8_t)0x18) /*!< FIFO ODR 50Hz */
+#define LSM6DS3_XG_FIFO_ODR_100HZ ((uint8_t)0x20) /*!< FIFO ODR 100Hz */
+#define LSM6DS3_XG_FIFO_ODR_200HZ ((uint8_t)0x28) /*!< FIFO ODR 200Hz */
+#define LSM6DS3_XG_FIFO_ODR_400HZ ((uint8_t)0x30) /*!< FIFO ODR 400Hz */
+#define LSM6DS3_XG_FIFO_ODR_800HZ ((uint8_t)0x38) /*!< FIFO ODR 800Hz */
+#define LSM6DS3_XG_FIFO_ODR_1600HZ ((uint8_t)0x40) /*!< FIFO ODR 1600Hz */
+#define LSM6DS3_XG_FIFO_ODR_3300HZ ((uint8_t)0x48) /*!< FIFO ODR 3300Hz */
+#define LSM6DS3_XG_FIFO_ODR_6600HZ ((uint8_t)0x50) /*!< FIFO ODR 6600Hz */
+
+#define LSM6DS3_XG_FIFO_ODR_MASK ((uint8_t)0x78)
+/**
+ * @}
+ */
+
+/** @defgroup LSM6DS3_XG_FIFO_Mode_Selection_FIFO_CTRL5 LSM6DS3_XG_FIFO_Mode_Selection_FIFO_CTRL5
+ * @{
+ */
+#define LSM6DS3_XG_FIFO_MODE_BYPASS ((uint8_t)0x00) /*!< BYPASS Mode. FIFO turned off */
+#define LSM6DS3_XG_FIFO_MODE_FIFO ((uint8_t)0x01) /*!< FIFO Mode. Stop collecting data when FIFO is full */
+#define LSM6DS3_XG_FIFO_MODE_CONTINUOUS_THEN_FIFO ((uint8_t)0x03) /*!< CONTINUOUS mode until trigger is deasserted, then FIFO mode */
+#define LSM6DS3_XG_FIFO_MODE_BYPASS_THEN_CONTINUOUS ((uint8_t)0x04) /*!< BYPASS mode until trigger is deasserted, then CONTINUOUS mode */
+#define LSM6DS3_XG_FIFO_MODE_CONTINUOUS_OVERWRITE ((uint8_t)0x05) /*!< CONTINUOUS mode. If the FIFO is full the new sample overwrite the older one */
+
+#define LSM6DS3_XG_FIFO_MODE_MASK ((uint8_t)0x07)
+/**
+ * @}
+ */
+
+
+/************************************** GYROSCOPE REGISTERS VALUE *******************************************/
+
+
+/** @addtogroup LSM6DS3_XG_Gyroscope_Output_Data_Rate_Selection_CTRL_REG1_G LSM6DS3_XG_Gyroscope_Output_Data_Rate_Selection_CTRL_REG1_G
+ * @{
+ */
+#define LSM6DS3_G_ODR_PD ((uint8_t)0x00) /*!< Output Data Rate: Power-down*/
+#define LSM6DS3_G_ODR_13HZ ((uint8_t)0x10) /*!< Output Data Rate: 13 Hz*/
+#define LSM6DS3_G_ODR_26HZ ((uint8_t)0x20) /*!< Output Data Rate: 26 Hz*/
+#define LSM6DS3_G_ODR_52HZ ((uint8_t)0x30) /*!< Output Data Rate: 52 Hz */
+#define LSM6DS3_G_ODR_104HZ ((uint8_t)0x40) /*!< Output Data Rate: 104 Hz */
+#define LSM6DS3_G_ODR_208HZ ((uint8_t)0x50) /*!< Output Data Rate: 208 Hz */
+#define LSM6DS3_G_ODR_416HZ ((uint8_t)0x60) /*!< Output Data Rate: 416 Hz */
+#define LSM6DS3_G_ODR_833HZ ((uint8_t)0x70) /*!< Output Data Rate: 833 Hz */
+#define LSM6DS3_G_ODR_1660HZ ((uint8_t)0x80) /*!< Output Data Rate: 1.66 kHz */
+
+#define LSM6DS3_G_ODR_MASK ((uint8_t)0xF0)
+
+/**
+ * @}
+ */
+
+
+/** @addtogroup LSM6DS3_XG_Gyroscope_Full_Scale_Selection_CTRL2_G LSM6DS3_XG_Gyroscope_Full_Scale_Selection_CTRL2_G
+ * @{
+ */
+#define LSM6DS3_G_FS_125_DISABLE ((uint8_t)0x00) /*!< Full scale: 125 dps enable: disable */
+#define LSM6DS3_G_FS_125_ENABLE ((uint8_t)0x02) /*!< Full scale: 125 dps enable: enable */
+
+#define LSM6DS3_G_FS_125_MASK ((uint8_t)0x02)
+
+#define LSM6DS3_G_FS_245 ((uint8_t)0x00) /*!< Full scale: 245 dps*/
+#define LSM6DS3_G_FS_500 ((uint8_t)0x04) /*!< Full scale: 500 dps */
+#define LSM6DS3_G_FS_1000 ((uint8_t)0x08) /*!< Full scale: 1000 dps */
+#define LSM6DS3_G_FS_2000 ((uint8_t)0x0C) /*!< Full scale: 2000 dps */
+
+#define LSM6DS3_G_FS_MASK ((uint8_t)0x0C)
+
+/**
+ * @}
+ */
+
+
+/** @addtogroup LSM6DS3_XG_Gyroscope_Z_Axis_Output_Enable_Selection_CTRL10_C LSM6DS3_XG_Gyroscope_Z_Axis_Output_Enable_Selection_CTRL10_C
+ * @{
+ */
+#define LSM6DS3_G_ZEN_DISABLE ((uint8_t)0x00) /*!< Gyroscope�s Z-axis output enable: disable */
+#define LSM6DS3_G_ZEN_ENABLE ((uint8_t)0x20) /*!< Gyroscope�s Z-axis output enable: enable */
+
+#define LSM6DS3_G_ZEN_MASK ((uint8_t)0x20)
+
+/**
+ * @}
+ */
+
+
+/** @addtogroup LSM6DS3_XG_Gyroscope_Y_Axis_Output_Enable_Selection_CTRL10_C LSM6DS3_XG_Gyroscope_Y_Axis_Output_Enable_Selection_CTRL10_C
+ * @{
+ */
+#define LSM6DS3_G_YEN_DISABLE ((uint8_t)0x00) /*!< Gyroscope�s Y-axis output enable: disable */
+#define LSM6DS3_G_YEN_ENABLE ((uint8_t)0x10) /*!< Gyroscope�s Y-axis output enable: enable */
+
+#define LSM6DS3_G_YEN_MASK ((uint8_t)0x10)
+
+/**
+ * @}
+ */
+
+
+/** @addtogroup LSM6DS3_XG_Gyroscope_X_Axis_Output_Enable_Selection_CTRL10_C LSM6DS3_XG_Gyroscope_X_Axis_Output_Enable_Selection_CTRL10_C
+ * @{
+ */
+#define LSM6DS3_G_XEN_DISABLE ((uint8_t)0x00) /*!< Gyroscope�s X-axis output enable: disable */
+#define LSM6DS3_G_XEN_ENABLE ((uint8_t)0x08) /*!< Gyroscope�s X-axis output enable: enable */
+
+#define LSM6DS3_G_XEN_MASK ((uint8_t)0x08)
+
+/**
+ * @}
+ */
+
+
+/************************************ ACCELEROMETER REGISTERS VALUE *****************************************/
+
+/** @addtogroup LSM6DS3_XG_Accelerometer_Output_Data_Rate_Selection_CTRL1_XL LSM6DS3_XG_Accelerometer_Output_Data_Rate_Selection_CTRL1_XL
+ * @{
+ */
+#define LSM6DS3_XL_ODR_PD ((uint8_t)0x00) /*!< Output Data Rate: Power-down*/
+#define LSM6DS3_XL_ODR_13HZ ((uint8_t)0x10) /*!< Output Data Rate: 13 Hz*/
+#define LSM6DS3_XL_ODR_26HZ ((uint8_t)0x20) /*!< Output Data Rate: 26 Hz*/
+#define LSM6DS3_XL_ODR_52HZ ((uint8_t)0x30) /*!< Output Data Rate: 52 Hz */
+#define LSM6DS3_XL_ODR_104HZ ((uint8_t)0x40) /*!< Output Data Rate: 104 Hz */
+#define LSM6DS3_XL_ODR_208HZ ((uint8_t)0x50) /*!< Output Data Rate: 208 Hz */
+#define LSM6DS3_XL_ODR_416HZ ((uint8_t)0x60) /*!< Output Data Rate: 416 Hz */
+#define LSM6DS3_XL_ODR_833HZ ((uint8_t)0x70) /*!< Output Data Rate: 833 Hz */
+#define LSM6DS3_XL_ODR_1660HZ ((uint8_t)0x80) /*!< Output Data Rate: 1.66 kHz */
+#define LSM6DS3_XL_ODR_3330HZ ((uint8_t)0x90) /*!< Output Data Rate: 3.33 kHz */
+#define LSM6DS3_XL_ODR_6660HZ ((uint8_t)0xA0) /*!< Output Data Rate: 6.66 kHz */
+
+#define LSM6DS3_XL_ODR_MASK ((uint8_t)0xF0)
+
+/**
+ * @}
+ */
+
+
+/** @addtogroup LSM6DS3_XG_Accelerometer_Full_Scale_Selection_CTRL1_XL LSM6DS3_XG_Accelerometer_Full_Scale_Selection_CTRL1_XL
+ * @{
+ */
+#define LSM6DS3_XL_FS_2G ((uint8_t)0x00) /*!< Full scale: +- 2g */
+#define LSM6DS3_XL_FS_4G ((uint8_t)0x08) /*!< Full scale: +- 4g */
+#define LSM6DS3_XL_FS_8G ((uint8_t)0x0C) /*!< Full scale: +- 8g */
+#define LSM6DS3_XL_FS_16G ((uint8_t)0x04) /*!< Full scale: +- 16g */
+
+#define LSM6DS3_XL_FS_MASK ((uint8_t)0x0C)
+
+/**
+ * @}
+ */
+
+
+/** @addtogroup LSM6DS3_XG_Accelerometer_Anti_Aliasing_Filter_Bandwidth_Selection_CTRL1_XL LSM6DS3_XG_Accelerometer_Anti_Aliasing_Filter_Bandwidth_Selection_CTRL1_XL
+ * @{
+ */
+#define LSM6DS3_XL_BW_400HZ ((uint8_t)0x00) /*!< Anti-aliasing filter bandwidht: 400 Hz */
+#define LSM6DS3_XL_BW_200HZ ((uint8_t)0x01) /*!< Anti-aliasing filter bandwidht: 200 Hz */
+#define LSM6DS3_XL_BW_100HZ ((uint8_t)0x02) /*!< Anti-aliasing filter bandwidht: 100 Hz */
+#define LSM6DS3_XL_BW_50HZ ((uint8_t)0x03) /*!< Anti-aliasing filter bandwidht: 50 Hz */
+
+#define LSM6DS3_XL_BW_MASK ((uint8_t)0x03)
+
+/**
+ * @}
+ */
+
+
+/** @addtogroup LSM6DS3_XG_Accelerometer_Z_Axis_Output_Enable_Selection_CTRL9_XL LSM6DS3_XG_Accelerometer_Z_Axis_Output_Enable_Selection_CTRL9_XL
+ * @{
+ */
+#define LSM6DS3_XL_ZEN_DISABLE ((uint8_t)0x00) /*!< Accelerometer�s Z-axis output enable: disable */
+#define LSM6DS3_XL_ZEN_ENABLE ((uint8_t)0x20) /*!< Accelerometer�s Z-axis output enable: enable */
+
+#define LSM6DS3_XL_ZEN_MASK ((uint8_t)0x20)
+
+/**
+ * @}
+ */
+
+
+/** @addtogroup LSM6DS3_XG_Accelerometer_Y_Axis_Output_Enable_Selection_CTRL9_XL LSM6DS3_XG_Accelerometer_Y_Axis_Output_Enable_Selection_CTRL9_XL
+ * @{
+ */
+#define LSM6DS3_XL_YEN_DISABLE ((uint8_t)0x00) /*!< Accelerometer�s Y-axis output enable: disable */
+#define LSM6DS3_XL_YEN_ENABLE ((uint8_t)0x10) /*!< Accelerometer�s Y-axis output enable: enable */
+
+#define LSM6DS3_XL_YEN_MASK ((uint8_t)0x10)
+
+/**
+ * @}
+ */
+
+
+/** @addtogroup LSM6DS3_XG_Accelerometer_X_Axis_Output_Enable_Selection_CTRL9_XL LSM6DS3_XG_Accelerometer_X_Axis_Output_Enable_Selection_CTRL9_XL
+ * @{
+ */
+#define LSM6DS3_XL_XEN_DISABLE ((uint8_t)0x00) /*!< Accelerometer�s X-axis output enable: disable */
+#define LSM6DS3_XL_XEN_ENABLE ((uint8_t)0x08) /*!< Accelerometer�s X-axis output enable: enable */
+
+#define LSM6DS3_XL_XEN_MASK ((uint8_t)0x08)
+
+/**
+ * @}
+ */
+
+/** @addtogroup LSM6DS3_XG_Accelerometer_FF_DUR5_Selection_WAKE_UP_DUR LSM6DS3_XG_Accelerometer_FF_DUR5_Selection_WAKE_UP_DUR
+ * @{
+ */
+#define LSM6DS3_XG_WAKE_UP_DUR_FF_DUR5_DEFAULT ((uint8_t)0x00)
+
+#define LSM6DS3_XG_WAKE_UP_DUR_FF_DUR5_MASK ((uint8_t)0x80)
+/**
+ * @}
+ */
+
+/** @addtogroup LSM6DS3_XG_Accelerometer_WAKE_DUR_Selection_WAKE_UP_DUR LSM6DS3_XG_Accelerometer_WAKE_DUR_Selection_WAKE_UP_DUR
+ * @{
+ */
+#define LSM6DS3_XG_WAKE_UP_DUR_WAKE_DUR_DEFAULT ((uint8_t)0x00)
+
+#define LSM6DS3_XG_WAKE_UP_DUR_WAKE_DUR_MASK ((uint8_t)0x60)
+/**
+ * @}
+ */
+
+/** @addtogroup LSM6DS3_XG_Accelerometer_TIMER_HR_Selection_WAKE_UP_DUR LSM6DS3_XG_Accelerometer_TIMER_HR_Selection_WAKE_UP_DUR
+ * @{
+ */
+#define LSM6DS3_XG_WAKE_UP_DUR_TIMER_HR_DEFAULT ((uint8_t)0x00)
+
+#define LSM6DS3_XG_WAKE_UP_DUR_TIMER_HR_MASK ((uint8_t)0x10)
+/**
+ * @}
+ */
+
+/** @addtogroup LSM6DS3_XG_Accelerometer_SLEEP_DUR_Selection_WAKE_UP_DUR LSM6DS3_XG_Accelerometer_SLEEP_DUR_Selection_WAKE_UP_DUR
+ * @{
+ */
+#define LSM6DS3_XG_WAKE_UP_DUR_SLEEP_DUR_DEFAULT ((uint8_t)0x00)
+
+#define LSM6DS3_XG_WAKE_UP_DUR_SLEEP_DUR_MASK ((uint8_t)0x0F)
+/**
+ * @}
+ */
+
+/** @addtogroup LSM6DS3_XG_Accelerometer_FF_DUR_Selection_FREE_FALL LSM6DS3_XG_Accelerometer_FF_DUR_Selection_FREE_FALL
+ * @{
+ */
+#define LSM6DS3_XG_WAKE_FREE_FALL_FF_DUR_DEFAULT ((uint8_t)0x00)
+#define LSM6DS3_XG_WAKE_FREE_FALL_FF_DUR_TYPICAL ((uint8_t)0x30)
+
+#define LSM6DS3_XG_WAKE_FREE_FALL_FF_DUR_MASK ((uint8_t)0xF8)
+/**
+ * @}
+ */
+
+/** @addtogroup LSM6DS3_XG_Accelerometer_FF_THS_Selection_FREE_FALL LSM6DS3_XG_Accelerometer_FF_THS_Selection_FREE_FALL
+ * @{
+ */
+#define LSM6DS3_XG_WAKE_FREE_FALL_FF_THS_156MG ((uint8_t)0x00)
+#define LSM6DS3_XG_WAKE_FREE_FALL_FF_THS_219MG ((uint8_t)0x01)
+#define LSM6DS3_XG_WAKE_FREE_FALL_FF_THS_250MG ((uint8_t)0x02)
+#define LSM6DS3_XG_WAKE_FREE_FALL_FF_THS_312MG ((uint8_t)0x03)
+#define LSM6DS3_XG_WAKE_FREE_FALL_FF_THS_344MG ((uint8_t)0x04)
+#define LSM6DS3_XG_WAKE_FREE_FALL_FF_THS_406MG ((uint8_t)0x05)
+#define LSM6DS3_XG_WAKE_FREE_FALL_FF_THS_469MG ((uint8_t)0x06)
+#define LSM6DS3_XG_WAKE_FREE_FALL_FF_THS_500MG ((uint8_t)0x07)
+
+#define LSM6DS3_XG_WAKE_FREE_FALL_FF_THS_MASK ((uint8_t)0x07)
+
+/**
+ * @}
+ */
+
+
+/** @addtogroup LSM6DS3_XG_Accelerometer_INT1_INACT_STATE_Selection_MD1_CFG LSM6DS3_XG_Accelerometer_INT1_INACT_STATE_Selection_MD1_CFG
+ * @{
+ */
+#define LSM6DS3_XG_MD1_CFG_INT1_INACT_STATE_DISABLE ((uint8_t)0x00)
+#define LSM6DS3_XG_MD1_CFG_INT1_INACT_STATE_ENABLE ((uint8_t)0x80)
+
+#define LSM6DS3_XG_MD1_CFG_INT1_INACT_STATE_MASK ((uint8_t)0x80)
+/**
+ * @}
+ */
+
+/** @addtogroup LSM6DS3_XG_Accelerometer_INT1_SINGLE_TAP_Selection_MD1_CFG LSM6DS3_XG_Accelerometer_INT1_SINGLE_TAP_Selection_MD1_CFG
+ * @{
+ */
+#define LSM6DS3_XG_MD1_CFG_INT1_SINGLE_TAP_DISABLE ((uint8_t)0x00)
+#define LSM6DS3_XG_MD1_CFG_INT1_SINGLE_TAP_ENABLE ((uint8_t)0x40)
+
+#define LSM6DS3_XG_MD1_CFG_INT1_SINGLE_TAP_MASK ((uint8_t)0x40)
+/**
+ * @}
+ */
+
+/** @addtogroup LSM6DS3_XG_Accelerometer_INT1_WU_Selection_MD1_CFG LSM6DS3_XG_Accelerometer_INT1_WU_Selection_MD1_CFG
+ * @{
+ */
+#define LSM6DS3_XG_MD1_CFG_INT1_WU_DISABLE ((uint8_t)0x00)
+#define LSM6DS3_XG_MD1_CFG_INT1_WU_ENABLE ((uint8_t)0x20)
+
+#define LSM6DS3_XG_MD1_CFG_INT1_WU_MASK ((uint8_t)0x20)
+/**
+ * @}
+ */
+
+/** @addtogroup LSM6DS3_XG_Accelerometer_INT1_FF_Selection_MD1_CFG LSM6DS3_XG_Accelerometer_INT1_FF_Selection_MD1_CFG
+ * @{
+ */
+#define LSM6DS3_XG_MD1_CFG_INT1_FF_DISABLE ((uint8_t)0x00)
+#define LSM6DS3_XG_MD1_CFG_INT1_FF_ENABLE ((uint8_t)0x10)
+
+#define LSM6DS3_XG_MD1_CFG_INT1_FF_MASK ((uint8_t)0x10)
+/**
+ * @}
+ */
+
+/** @addtogroup LSM6DS3_XG_Accelerometer_INT1_DOUBLE_TAP_Selection_MD1_CFG LSM6DS3_XG_Accelerometer_INT1_DOUBLE_TAP_Selection_MD1_CFG
+ * @{
+ */
+#define LSM6DS3_XG_MD1_CFG_INT1_DOUBLE_TAP_DISABLE ((uint8_t)0x00)
+#define LSM6DS3_XG_MD1_CFG_INT1_DOUBLE_TAP_ENABLE ((uint8_t)0x08)
+
+#define LSM6DS3_XG_MD1_CFG_INT1_DOUBLE_TAP_MASK ((uint8_t)0x08)
+/**
+ * @}
+ */
+
+/** @addtogroup LSM6DS3_XG_Accelerometer_INT1_6D_Selection_MD1_CFG LSM6DS3_XG_Accelerometer_INT1_6D_Selection_MD1_CFG
+ * @{
+ */
+#define LSM6DS3_XG_MD1_CFG_INT1_6D_DISABLE ((uint8_t)0x00)
+#define LSM6DS3_XG_MD1_CFG_INT1_6D_ENABLE ((uint8_t)0x04)
+
+#define LSM6DS3_XG_MD1_CFG_INT1_6D_MASK ((uint8_t)0x04)
+/**
+ * @}
+ */
+
+/** @addtogroup LSM6DS3_XG_Accelerometer_INT1_TILT_Selection_MD1_CFG LSM6DS3_XG_Accelerometer_INT1_TILT_Selection_MD1_CFG
+ * @{
+ */
+#define LSM6DS3_XG_MD1_CFG_INT1_TILT_DISABLE ((uint8_t)0x00)
+#define LSM6DS3_XG_MD1_CFG_INT1_TILT_ENABLE ((uint8_t)0x02)
+
+#define LSM6DS3_XG_MD1_CFG_INT1_TILT_MASK ((uint8_t)0x02)
+/**
+ * @}
+ */
+
+/** @addtogroup LSM6DS3_XG_Accelerometer_INT1_TIMER_Selection_MD1_CFG LSM6DS3_XG_Accelerometer_INT1_TIMER_Selection_MD1_CFG
+ * @{
+ */
+#define LSM6DS3_XG_MD1_CFG_INT1_TIMER_DISABLE ((uint8_t)0x00)
+#define LSM6DS3_XG_MD1_CFG_INT1_TIMER_ENABLE ((uint8_t)0x01)
+
+#define LSM6DS3_XG_MD1_CFG_INT1_TIMER_MASK ((uint8_t)0x01)
+
+/**
+ * @}
+ */
+
+/** @addtogroup LSM6DS3_XG_Accelerometer_FF_IA_Enable_WAKE_UP_SRC LSM6DS3_XG_Accelerometer_FF_IA_Enable_WAKE_UP_SRC
+ * @{
+ */
+#define LSM6DS3_XG_WAKE_UP_SRC_FF_IA_DISABLE ((uint8_t)0x00)
+#define LSM6DS3_XG_WAKE_UP_SRC_FF_IA_ENABLE ((uint8_t)0x20)
+
+#define LSM6DS3_XG_WAKE_UP_SRC_FF_IA_MASK ((uint8_t)0x20)
+/**
+ * @}
+ */
+
+/** @addtogroup LSM6DS3_XG_Accelerometer_SLEEP_STATE_IA_Enable_WAKE_UP_SRC LSM6DS3_XG_Accelerometer_SLEEP_STATE_IA_Enable_WAKE_UP_SRC
+ * @{
+ */
+#define LSM6DS3_XG_WAKE_UP_SRC_SLEEP_STATE_IA_DISABLE ((uint8_t)0x00)
+#define LSM6DS3_XG_WAKE_UP_SRC_SLEEP_STATE_IA_ENABLE ((uint8_t)0x10)
+
+#define LSM6DS3_XG_WAKE_UP_SRC_SLEEP_STATE_IA_MASK ((uint8_t)0x10)
+/**
+ * @}
+ */
+
+/** @addtogroup LSM6DS3_XG_Accelerometer_WU_IA_Enable_WAKE_UP_SRC LSM6DS3_XG_Accelerometer_WU_IA_Enable_WAKE_UP_SRC
+ * @{
+ */
+#define LSM6DS3_XG_WAKE_UP_SRC_WU_IA_DISABLE ((uint8_t)0x00)
+#define LSM6DS3_XG_WAKE_UP_SRC_WU_IA_ENABLE ((uint8_t)0x08)
+
+#define LSM6DS3_XG_WAKE_UP_SRC_WU_IA_MASK ((uint8_t)0x08)
+/**
+ * @}
+ */
+
+/** @addtogroup LSM6DS3_XG_Accelerometer_X_WU_Enable_WAKE_UP_SRC LSM6DS3_XG_Accelerometer_X_WU_Enable_WAKE_UP_SRC
+ * @{
+ */
+#define LSM6DS3_XG_WAKE_UP_SRC_X_WU_DISABLE ((uint8_t)0x00)
+#define LSM6DS3_XG_WAKE_UP_SRC_X_WU_ENABLE ((uint8_t)0x04)
+
+#define LSM6DS3_XG_WAKE_UP_SRC_X_WU_MASK ((uint8_t)0x04)
+/**
+ * @}
+ */
+
+/** @addtogroup LSM6DS3_XG_Accelerometer_Y_WU_Enable_WAKE_UP_SRC LSM6DS3_XG_Accelerometer_Y_WU_Enable_WAKE_UP_SRC
+ * @{
+ */
+#define LSM6DS3_XG_WAKE_UP_SRC_Y_WU_DISABLE ((uint8_t)0x00)
+#define LSM6DS3_XG_WAKE_UP_SRC_Y_WU_ENABLE ((uint8_t)0x02)
+
+
+#define LSM6DS3_XG_WAKE_UP_SRC_Y_WU_MASK ((uint8_t)0x02)
+/**
+ * @}
+ */
+
+/** @addtogroup LSM6DS3_XG_Accelerometer_Z_WU_Enable_WAKE_UP_SRC LSM6DS3_XG_Accelerometer_Z_WU_Enable_WAKE_UP_SRC
+ * @{
+ */
+#define LSM6DS3_XG_WAKE_UP_SRC_Z_WU_DISABLE ((uint8_t)0x00)
+#define LSM6DS3_XG_WAKE_UP_SRC_Z_WU_ENABLE ((uint8_t)0x01)
+
+#define LSM6DS3_XG_WAKE_UP_SRC_Z_WU_MASK ((uint8_t)0x01)
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+
+/** @addtogroup LSM6DS3_Imported_Functions LSM6DS3_Imported_Functions
+ * @{
+ */
+
+/* Six axes sensor IO functions */
+extern IMU_6AXES_StatusTypeDef LSM6DS3_IO_Init( void );
+extern IMU_6AXES_StatusTypeDef LSM6DS3_IO_Write( uint8_t* pBuffer, uint8_t DeviceAddr, uint8_t RegisterAddr,
+ uint16_t NumByteToWrite );
+extern IMU_6AXES_StatusTypeDef LSM6DS3_IO_Read( uint8_t* pBuffer, uint8_t DeviceAddr, uint8_t RegisterAddr,
+ uint16_t NumByteToRead );
+extern void LSM6DS3_IO_ITConfig( void );
+
+/**
+ * @}
+ */
+
+/** @addtogroup LSM6DS3_Exported_Types LSM6DS3_Exported_Types
+ * @{
+ */
+/**
+ * @brief LSM6DS3 driver extended internal structure definition
+ */
+typedef struct
+{
+ IMU_6AXES_StatusTypeDef (*Enable_Free_Fall_Detection) (void);
+ IMU_6AXES_StatusTypeDef (*Disable_Free_Fall_Detection) (void);
+ IMU_6AXES_StatusTypeDef (*Get_Status_Free_Fall_Detection) (uint8_t *);
+} LSM6DS3_DrvExtTypeDef;
+
+/**
+ * @}
+ */
+
+/** @addtogroup LSM6DS3_Exported_Variables LSM6DS3_Exported_Variables
+ * @{
+ */
+
+/* Six axes sensor driver structure */
+extern IMU_6AXES_DrvTypeDef LSM6DS3Drv;
+extern IMU_6AXES_DrvExtTypeDef LSM6DS3Drv_ext;
+
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __LSM6DS3_H */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/lsm6ds3/lsm6ds3_class.cpp Mon Jun 08 15:36:36 2015 +0200
@@ -0,0 +1,1020 @@
+/**
+ ******************************************************************************
+ * @file lsm6ds3_class.cpp
+ * @author AST / EST
+ * @version V0.0.1
+ * @date 14-April-2015
+ * @brief Implementation file for the LSM6DS3 driver class
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ * 3. Neither the name of STMicroelectronics nor the names of its contributors
+ * may be used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+*/
+
+/* Includes ------------------------------------------------------------------*/
+#include "mbed.h"
+#include "lsm6ds3_class.h"
+#include "lsm6ds3.h"
+#include "../../x_nucleo_iks01a1_targets.h"
+
+/* Methods -------------------------------------------------------------------*/
+/* betzw - based on:
+ X-CUBE-MEMS1/trunk/Drivers/BSP/Components/lsm6ds3/lsm6ds3.c: revision #400,
+ X-CUBE-MEMS1/trunk: revision #410
+*/
+/**
+ * @brief Set LSM6DS3 Initialization
+ * @param LSM6DS3_Init the configuration setting for the LSM6DS3
+ * @retval IMU_6AXES_OK in case of success, an error code otherwise
+ */
+IMU_6AXES_StatusTypeDef LSM6DS3::LSM6DS3_Init( IMU_6AXES_InitTypeDef *LSM6DS3_Init )
+{
+ /*Here we have to add the check if the parameters are valid*/
+
+ /* Configure the low level interface -------------------------------------*/
+ if(LSM6DS3_IO_Init() != IMU_6AXES_OK)
+ {
+ return IMU_6AXES_ERROR;
+ }
+
+
+ /******** Common init *********/
+
+ if(LSM6DS3_Common_Sensor_Enable() != IMU_6AXES_OK)
+ {
+ return IMU_6AXES_ERROR;
+ }
+
+
+ /******* Gyroscope init *******/
+
+ if(LSM6DS3_G_Set_ODR( LSM6DS3_Init->G_OutputDataRate ) != IMU_6AXES_OK)
+ {
+ return IMU_6AXES_ERROR;
+ }
+
+ if(LSM6DS3_G_Set_FS( LSM6DS3_Init->G_FullScale ) != IMU_6AXES_OK)
+ {
+ return IMU_6AXES_ERROR;
+ }
+
+ if(LSM6DS3_G_Set_Axes_Status(LSM6DS3_Init->G_X_Axis, LSM6DS3_Init->G_Y_Axis, LSM6DS3_Init->G_Z_Axis) != IMU_6AXES_OK)
+ {
+ return IMU_6AXES_ERROR;
+ }
+
+
+ /***** Accelerometer init *****/
+
+ if(LSM6DS3_X_Set_ODR( LSM6DS3_Init->X_OutputDataRate ) != IMU_6AXES_OK)
+ {
+ return IMU_6AXES_ERROR;
+ }
+
+ if(LSM6DS3_X_Set_FS( LSM6DS3_Init->X_FullScale ) != IMU_6AXES_OK)
+ {
+ return IMU_6AXES_ERROR;
+ }
+
+ if(LSM6DS3_X_Set_Axes_Status(LSM6DS3_Init->X_X_Axis, LSM6DS3_Init->X_Y_Axis, LSM6DS3_Init->X_Z_Axis) != IMU_6AXES_OK)
+ {
+ return IMU_6AXES_ERROR;
+ }
+
+ /* Configure interrupt lines */
+ LSM6DS3_IO_ITConfig();
+
+ return IMU_6AXES_OK;
+}
+
+/**
+ * @brief Read ID of LSM6DS3 Accelerometer and Gyroscope
+ * @param xg_id the pointer where the ID of the device is stored
+ * @retval IMU_6AXES_OK in case of success, an error code otherwise
+ */
+IMU_6AXES_StatusTypeDef LSM6DS3::LSM6DS3_Read_XG_ID( uint8_t *xg_id)
+{
+ if(!xg_id)
+ {
+ return IMU_6AXES_ERROR;
+ }
+
+ return LSM6DS3_IO_Read(xg_id, LSM6DS3_XG_WHO_AM_I_ADDR, 1);
+}
+
+/**
+ * @brief Set LSM6DS3 common initialization
+ * @retval IMU_6AXES_OK in case of success, an error code otherwise
+ */
+IMU_6AXES_StatusTypeDef LSM6DS3::LSM6DS3_Common_Sensor_Enable(void)
+{
+ uint8_t tmp1 = 0x00;
+
+ if(LSM6DS3_IO_Read(&tmp1, LSM6DS3_XG_CTRL3_C, 1) != IMU_6AXES_OK)
+ {
+ return IMU_6AXES_ERROR;
+ }
+
+ /* Enable register address automatically incremented during a multiple byte
+ access with a serial interface (I2C or SPI) */
+ tmp1 &= ~(LSM6DS3_XG_IF_INC_MASK);
+ tmp1 |= LSM6DS3_XG_IF_INC;
+
+ if(LSM6DS3_IO_Write(&tmp1, LSM6DS3_XG_CTRL3_C, 1) != IMU_6AXES_OK)
+ {
+ return IMU_6AXES_ERROR;
+ }
+
+
+ if(LSM6DS3_IO_Read(&tmp1, LSM6DS3_XG_FIFO_CTRL5, 1) != IMU_6AXES_OK)
+ {
+ return IMU_6AXES_ERROR;
+ }
+
+ /* FIFO ODR selection */
+ tmp1 &= ~(LSM6DS3_XG_FIFO_ODR_MASK);
+ tmp1 |= LSM6DS3_XG_FIFO_ODR_NA;
+
+ /* FIFO mode selection */
+ tmp1 &= ~(LSM6DS3_XG_FIFO_MODE_MASK);
+ tmp1 |= LSM6DS3_XG_FIFO_MODE_BYPASS;
+
+ if(LSM6DS3_IO_Write(&tmp1, LSM6DS3_XG_FIFO_CTRL5, 1) != IMU_6AXES_OK)
+ {
+ return IMU_6AXES_ERROR;
+ }
+
+ return IMU_6AXES_OK;
+}
+
+/**
+ * @brief Read raw data from LSM6DS3 Accelerometer output register
+ * @param pData the pointer where the accelerometer raw data are stored
+ * @retval IMU_6AXES_OK in case of success, an error code otherwise
+ */
+IMU_6AXES_StatusTypeDef LSM6DS3::LSM6DS3_X_GetAxesRaw( int16_t *pData )
+{
+ /*Here we have to add the check if the parameters are valid*/
+
+ uint8_t tempReg[2] = {0, 0};
+
+
+ if(LSM6DS3_IO_Read(&tempReg[0], LSM6DS3_XG_OUT_X_L_XL, 2) != IMU_6AXES_OK)
+ {
+ return IMU_6AXES_ERROR;
+ }
+
+ pData[0] = ((((int16_t)tempReg[1]) << 8) + (int16_t)tempReg[0]);
+
+ if(LSM6DS3_IO_Read(&tempReg[0], LSM6DS3_XG_OUT_Y_L_XL, 2) != IMU_6AXES_OK)
+ {
+ return IMU_6AXES_ERROR;
+ }
+
+ pData[1] = ((((int16_t)tempReg[1]) << 8) + (int16_t)tempReg[0]);
+
+ if(LSM6DS3_IO_Read(&tempReg[0], LSM6DS3_XG_OUT_Z_L_XL, 2) != IMU_6AXES_OK)
+ {
+ return IMU_6AXES_ERROR;
+ }
+
+ pData[2] = ((((int16_t)tempReg[1]) << 8) + (int16_t)tempReg[0]);
+
+ return IMU_6AXES_OK;
+}
+
+
+
+/**
+ * @brief Read data from LSM6DS3 Accelerometer and calculate linear acceleration in mg
+ * @param pData the pointer where the accelerometer data are stored
+ * @retval IMU_6AXES_OK in case of success, an error code otherwise
+ */
+IMU_6AXES_StatusTypeDef LSM6DS3::LSM6DS3_X_GetAxes( int32_t *pData )
+{
+ /*Here we have to add the check if the parameters are valid*/
+ int16_t pDataRaw[3];
+ float sensitivity = 0.0f;
+
+ if(LSM6DS3_X_GetAxesRaw(pDataRaw) != IMU_6AXES_OK)
+ {
+ return IMU_6AXES_ERROR;
+ }
+
+ if(LSM6DS3_X_GetSensitivity( &sensitivity ) != IMU_6AXES_OK)
+ {
+ return IMU_6AXES_ERROR;
+ }
+
+ pData[0] = (int32_t)(pDataRaw[0] * sensitivity);
+ pData[1] = (int32_t)(pDataRaw[1] * sensitivity);
+ pData[2] = (int32_t)(pDataRaw[2] * sensitivity);
+
+ return IMU_6AXES_OK;
+}
+
+
+
+/**
+ * @brief Read raw data from LSM6DS3 Gyroscope output register
+ * @param pData the pointer where the gyroscope raw data are stored
+ * @retval IMU_6AXES_OK in case of success, an error code otherwise
+ */
+IMU_6AXES_StatusTypeDef LSM6DS3::LSM6DS3_G_GetAxesRaw( int16_t *pData )
+{
+ /*Here we have to add the check if the parameters are valid*/
+
+ uint8_t tempReg[2] = {0, 0};
+
+
+ if(LSM6DS3_IO_Read(&tempReg[0], LSM6DS3_XG_OUT_X_L_G, 2) != IMU_6AXES_OK)
+ {
+ return IMU_6AXES_ERROR;
+ }
+
+ pData[0] = ((((int16_t)tempReg[1]) << 8) + (int16_t)tempReg[0]);
+
+ if(LSM6DS3_IO_Read(&tempReg[0], LSM6DS3_XG_OUT_Y_L_G, 2) != IMU_6AXES_OK)
+ {
+ return IMU_6AXES_ERROR;
+ }
+
+ pData[1] = ((((int16_t)tempReg[1]) << 8) + (int16_t)tempReg[0]);
+
+ if(LSM6DS3_IO_Read(&tempReg[0], LSM6DS3_XG_OUT_Z_L_G, 2) != IMU_6AXES_OK)
+ {
+ return IMU_6AXES_ERROR;
+ }
+
+ pData[2] = ((((int16_t)tempReg[1]) << 8) + (int16_t)tempReg[0]);
+
+ return IMU_6AXES_OK;
+}
+
+/**
+ * @brief Set the status of the axes for accelerometer
+ * @param enableX the status of the x axis to be set
+ * @param enableY the status of the y axis to be set
+ * @param enableZ the status of the z axis to be set
+ * @retval IMU_6AXES_OK in case of success, an error code otherwise
+ */
+IMU_6AXES_StatusTypeDef LSM6DS3::LSM6DS3_X_Set_Axes_Status(uint8_t enableX, uint8_t enableY, uint8_t enableZ)
+{
+ uint8_t tmp1 = 0x00;
+ uint8_t eX = 0x00;
+ uint8_t eY = 0x00;
+ uint8_t eZ = 0x00;
+
+ eX = ( enableX == 0 ) ? LSM6DS3_XL_XEN_DISABLE : LSM6DS3_XL_XEN_ENABLE;
+ eY = ( enableY == 0 ) ? LSM6DS3_XL_YEN_DISABLE : LSM6DS3_XL_YEN_ENABLE;
+ eZ = ( enableZ == 0 ) ? LSM6DS3_XL_ZEN_DISABLE : LSM6DS3_XL_ZEN_ENABLE;
+
+ if(LSM6DS3_IO_Read(&tmp1, LSM6DS3_XG_CTRL9_XL, 1) != IMU_6AXES_OK)
+ {
+ return IMU_6AXES_ERROR;
+ }
+
+ /* Enable X axis selection */
+ tmp1 &= ~(LSM6DS3_XL_XEN_MASK);
+ tmp1 |= eX;
+
+ /* Enable Y axis selection */
+ tmp1 &= ~(LSM6DS3_XL_YEN_MASK);
+ tmp1 |= eY;
+
+ /* Enable Z axis selection */
+ tmp1 &= ~(LSM6DS3_XL_ZEN_MASK);
+ tmp1 |= eZ;
+
+ if(LSM6DS3_IO_Write(&tmp1, LSM6DS3_XG_CTRL9_XL, 1) != IMU_6AXES_OK)
+ {
+ return IMU_6AXES_ERROR;
+ }
+
+ return IMU_6AXES_OK;
+}
+
+/**
+ * @brief Set the status of the axes for gyroscope
+ * @param enableX the status of the x axis to be set
+ * @param enableY the status of the y axis to be set
+ * @param enableZ the status of the z axis to be set
+ * @retval IMU_6AXES_OK in case of success, an error code otherwise
+ */
+IMU_6AXES_StatusTypeDef LSM6DS3::LSM6DS3_G_Set_Axes_Status(uint8_t enableX, uint8_t enableY, uint8_t enableZ)
+{
+ uint8_t tmp1 = 0x00;
+ uint8_t eX = 0x00;
+ uint8_t eY = 0x00;
+ uint8_t eZ = 0x00;
+
+ eX = ( enableX == 0 ) ? LSM6DS3_G_XEN_DISABLE : LSM6DS3_G_XEN_ENABLE;
+ eY = ( enableY == 0 ) ? LSM6DS3_G_YEN_DISABLE : LSM6DS3_G_YEN_ENABLE;
+ eZ = ( enableZ == 0 ) ? LSM6DS3_G_ZEN_DISABLE : LSM6DS3_G_ZEN_ENABLE;
+
+ if(LSM6DS3_IO_Read(&tmp1, LSM6DS3_XG_CTRL10_C, 1) != IMU_6AXES_OK)
+ {
+ return IMU_6AXES_ERROR;
+ }
+
+ /* Enable X axis selection */
+ tmp1 &= ~(LSM6DS3_G_XEN_MASK);
+ tmp1 |= eX;
+
+ /* Enable Y axis selection */
+ tmp1 &= ~(LSM6DS3_G_YEN_MASK);
+ tmp1 |= eY;
+
+ /* Enable Z axis selection */
+ tmp1 &= ~(LSM6DS3_G_ZEN_MASK);
+ tmp1 |= eZ;
+
+ if(LSM6DS3_IO_Write(&tmp1, LSM6DS3_XG_CTRL10_C, 1) != IMU_6AXES_OK)
+ {
+ return IMU_6AXES_ERROR;
+ }
+
+ return IMU_6AXES_OK;
+}
+
+/**
+ * @brief Read data from LSM6DS3 Gyroscope and calculate angular rate in mdps
+ * @param pData the pointer where the gyroscope data are stored
+ * @retval IMU_6AXES_OK in case of success, an error code otherwise
+ */
+IMU_6AXES_StatusTypeDef LSM6DS3::LSM6DS3_G_GetAxes( int32_t *pData )
+{
+ /*Here we have to add the check if the parameters are valid*/
+ int16_t pDataRaw[3];
+ float sensitivity = 0.0f;
+
+ if(LSM6DS3_G_GetAxesRaw(pDataRaw) != IMU_6AXES_OK)
+ {
+ return IMU_6AXES_ERROR;
+ }
+
+ if(LSM6DS3_G_GetSensitivity( &sensitivity ) != IMU_6AXES_OK)
+ {
+ return IMU_6AXES_ERROR;
+ }
+
+ pData[0] = (int32_t)(pDataRaw[0] * sensitivity);
+ pData[1] = (int32_t)(pDataRaw[1] * sensitivity);
+ pData[2] = (int32_t)(pDataRaw[2] * sensitivity);
+
+ return IMU_6AXES_OK;
+}
+
+/**
+ * @brief Read Accelero Output Data Rate
+ * @param odr the pointer where the accelerometer output data rate is stored
+ * @retval IMU_6AXES_OK in case of success, an error code otherwise
+ */
+IMU_6AXES_StatusTypeDef LSM6DS3::LSM6DS3_X_Get_ODR( float *odr )
+{
+ /*Here we have to add the check if the parameters are valid*/
+ uint8_t tempReg = 0x00;
+
+ if(LSM6DS3_IO_Read( &tempReg, LSM6DS3_XG_CTRL1_XL, 1 ) != IMU_6AXES_OK)
+ {
+ return IMU_6AXES_ERROR;
+ }
+
+ tempReg &= LSM6DS3_XL_ODR_MASK;
+
+ switch( tempReg )
+ {
+ case LSM6DS3_XL_ODR_PD:
+ *odr = 0.0f;
+ break;
+ case LSM6DS3_XL_ODR_13HZ:
+ *odr = 13.0f;
+ break;
+ case LSM6DS3_XL_ODR_26HZ:
+ *odr = 26.0f;
+ break;
+ case LSM6DS3_XL_ODR_52HZ:
+ *odr = 52.0f;
+ break;
+ case LSM6DS3_XL_ODR_104HZ:
+ *odr = 104.0f;
+ break;
+ case LSM6DS3_XL_ODR_208HZ:
+ *odr = 208.0f;
+ break;
+ case LSM6DS3_XL_ODR_416HZ:
+ *odr = 416.0f;
+ break;
+ case LSM6DS3_XL_ODR_833HZ:
+ *odr = 833.0f;
+ break;
+ case LSM6DS3_XL_ODR_1660HZ:
+ *odr = 1660.0f;
+ break;
+ case LSM6DS3_XL_ODR_3330HZ:
+ *odr = 3330.0f;
+ break;
+ case LSM6DS3_XL_ODR_6660HZ:
+ *odr = 6660.0f;
+ break;
+ default:
+ break;
+ }
+
+ return IMU_6AXES_OK;
+}
+
+/**
+ * @brief Write Accelero Output Data Rate
+ * @param odr the accelerometer output data rate to be set
+ * @retval IMU_6AXES_OK in case of success, an error code otherwise
+ */
+IMU_6AXES_StatusTypeDef LSM6DS3::LSM6DS3_X_Set_ODR( float odr )
+{
+ uint8_t new_odr = 0x00;
+ uint8_t tempReg = 0x00;
+
+ new_odr = ( odr <= 0.0f ) ? LSM6DS3_XL_ODR_PD /* Power Down */
+ : ( odr <= 13.0f ) ? LSM6DS3_XL_ODR_13HZ
+ : ( odr <= 26.0f ) ? LSM6DS3_XL_ODR_26HZ
+ : ( odr <= 52.0f ) ? LSM6DS3_XL_ODR_52HZ
+ : ( odr <= 104.0f ) ? LSM6DS3_XL_ODR_104HZ
+ : ( odr <= 208.0f ) ? LSM6DS3_XL_ODR_208HZ
+ : ( odr <= 416.0f ) ? LSM6DS3_XL_ODR_416HZ
+ : ( odr <= 833.0f ) ? LSM6DS3_XL_ODR_833HZ
+ : ( odr <= 1660.0f ) ? LSM6DS3_XL_ODR_1660HZ
+ : ( odr <= 3330.0f ) ? LSM6DS3_XL_ODR_3330HZ
+ : LSM6DS3_XL_ODR_6660HZ;
+
+ if(LSM6DS3_IO_Read( &tempReg, LSM6DS3_XG_CTRL1_XL, 1 ) != IMU_6AXES_OK)
+ {
+ return IMU_6AXES_ERROR;
+ }
+
+ tempReg &= ~(LSM6DS3_XL_ODR_MASK);
+ tempReg |= new_odr;
+
+ if(LSM6DS3_IO_Write(&tempReg, LSM6DS3_XG_CTRL1_XL, 1) != IMU_6AXES_OK)
+ {
+ return IMU_6AXES_ERROR;
+ }
+
+ return IMU_6AXES_OK;
+}
+
+/**
+ * @brief Read Accelero Sensitivity
+ * @param pfData the pointer where the accelerometer sensitivity is stored
+ * @retval IMU_6AXES_OK in case of success, an error code otherwise
+ */
+IMU_6AXES_StatusTypeDef LSM6DS3::LSM6DS3_X_GetSensitivity( float *pfData )
+{
+ /*Here we have to add the check if the parameters are valid*/
+
+ uint8_t tempReg = 0x00;
+
+
+ if(LSM6DS3_IO_Read( &tempReg, LSM6DS3_XG_CTRL1_XL, 1 ) != IMU_6AXES_OK)
+ {
+ return IMU_6AXES_ERROR;
+ }
+
+ tempReg &= LSM6DS3_XL_FS_MASK;
+
+ switch( tempReg )
+ {
+ case LSM6DS3_XL_FS_2G:
+ *pfData = 0.061f;
+ break;
+ case LSM6DS3_XL_FS_4G:
+ *pfData = 0.122f;
+ break;
+ case LSM6DS3_XL_FS_8G:
+ *pfData = 0.244f;
+ break;
+ case LSM6DS3_XL_FS_16G:
+ *pfData = 0.488f;
+ break;
+ default:
+ break;
+ }
+
+ return IMU_6AXES_OK;
+}
+
+/**
+ * @brief Read Accelero Full Scale
+ * @param fullScale the pointer where the accelerometer full scale is stored
+ * @retval IMU_6AXES_OK in case of success, an error code otherwise
+ */
+IMU_6AXES_StatusTypeDef LSM6DS3::LSM6DS3_X_Get_FS( float *fullScale )
+{
+ /*Here we have to add the check if the parameters are valid*/
+
+ uint8_t tempReg = 0x00;
+
+
+ if(LSM6DS3_IO_Read( &tempReg, LSM6DS3_XG_CTRL1_XL, 1 ) != IMU_6AXES_OK)
+ {
+ return IMU_6AXES_ERROR;
+ }
+
+ tempReg &= LSM6DS3_XL_FS_MASK;
+
+ switch( tempReg )
+ {
+ case LSM6DS3_XL_FS_2G:
+ *fullScale = 2.0f;
+ break;
+ case LSM6DS3_XL_FS_4G:
+ *fullScale = 4.0f;
+ break;
+ case LSM6DS3_XL_FS_8G:
+ *fullScale = 8.0f;
+ break;
+ case LSM6DS3_XL_FS_16G:
+ *fullScale = 16.0f;
+ break;
+ default:
+ break;
+ }
+
+ return IMU_6AXES_OK;
+}
+
+/**
+ * @brief Write Accelero Full Scale
+ * @param fullScale the accelerometer full scale to be set
+ * @retval IMU_6AXES_OK in case of success, an error code otherwise
+ */
+IMU_6AXES_StatusTypeDef LSM6DS3::LSM6DS3_X_Set_FS( float fullScale )
+{
+ uint8_t new_fs = 0x00;
+ uint8_t tempReg = 0x00;
+
+ new_fs = ( fullScale <= 2.0f ) ? LSM6DS3_XL_FS_2G
+ : ( fullScale <= 4.0f ) ? LSM6DS3_XL_FS_4G
+ : ( fullScale <= 8.0f ) ? LSM6DS3_XL_FS_8G
+ : LSM6DS3_XL_FS_16G;
+
+ if(LSM6DS3_IO_Read( &tempReg, LSM6DS3_XG_CTRL1_XL, 1 ) != IMU_6AXES_OK)
+ {
+ return IMU_6AXES_ERROR;
+ }
+
+ tempReg &= ~(LSM6DS3_XL_FS_MASK);
+ tempReg |= new_fs;
+
+ if(LSM6DS3_IO_Write(&tempReg, LSM6DS3_XG_CTRL1_XL, 1) != IMU_6AXES_OK)
+ {
+ return IMU_6AXES_ERROR;
+ }
+
+ return IMU_6AXES_OK;
+}
+
+/**
+ * @brief Read Gyro Output Data Rate
+ * @param odr the pointer where the gyroscope output data rate is stored
+ * @retval IMU_6AXES_OK in case of success, an error code otherwise
+ */
+IMU_6AXES_StatusTypeDef LSM6DS3::LSM6DS3_G_Get_ODR( float *odr )
+{
+ /*Here we have to add the check if the parameters are valid*/
+ uint8_t tempReg = 0x00;
+
+ if(LSM6DS3_IO_Read( &tempReg, LSM6DS3_XG_CTRL2_G, 1 ) != IMU_6AXES_OK)
+ {
+ return IMU_6AXES_ERROR;
+ }
+
+ tempReg &= LSM6DS3_G_ODR_MASK;
+
+ switch( tempReg )
+ {
+ case LSM6DS3_G_ODR_PD:
+ *odr = 0.0f;
+ break;
+ case LSM6DS3_G_ODR_13HZ:
+ *odr = 13.0f;
+ break;
+ case LSM6DS3_G_ODR_26HZ:
+ *odr = 26.0f;
+ break;
+ case LSM6DS3_G_ODR_52HZ:
+ *odr = 52.0f;
+ break;
+ case LSM6DS3_G_ODR_104HZ:
+ *odr = 104.0f;
+ break;
+ case LSM6DS3_G_ODR_208HZ:
+ *odr = 208.0f;
+ break;
+ case LSM6DS3_G_ODR_416HZ:
+ *odr = 416.0f;
+ break;
+ case LSM6DS3_G_ODR_833HZ:
+ *odr = 833.0f;
+ break;
+ case LSM6DS3_G_ODR_1660HZ:
+ *odr = 1660.0f;
+ break;
+ default:
+ break;
+ }
+
+ return IMU_6AXES_OK;
+}
+
+/**
+ * @brief Write Gyro Output Data Rate
+ * @param odr the gyroscope output data rate to be set
+ * @retval IMU_6AXES_OK in case of success, an error code otherwise
+ */
+IMU_6AXES_StatusTypeDef LSM6DS3::LSM6DS3_G_Set_ODR( float odr )
+{
+ uint8_t new_odr = 0x00;
+ uint8_t tempReg = 0x00;
+
+ new_odr = ( odr <= 0.0f ) ? LSM6DS3_G_ODR_PD /* Power Down */
+ : ( odr <= 13.0f ) ? LSM6DS3_G_ODR_13HZ
+ : ( odr <= 26.0f ) ? LSM6DS3_G_ODR_26HZ
+ : ( odr <= 52.0f ) ? LSM6DS3_G_ODR_52HZ
+ : ( odr <= 104.0f ) ? LSM6DS3_G_ODR_104HZ
+ : ( odr <= 208.0f ) ? LSM6DS3_G_ODR_208HZ
+ : ( odr <= 416.0f ) ? LSM6DS3_G_ODR_416HZ
+ : ( odr <= 833.0f ) ? LSM6DS3_G_ODR_833HZ
+ : LSM6DS3_G_ODR_1660HZ;
+
+ if(LSM6DS3_IO_Read( &tempReg, LSM6DS3_XG_CTRL2_G, 1 ) != IMU_6AXES_OK)
+ {
+ return IMU_6AXES_ERROR;
+ }
+
+ tempReg &= ~(LSM6DS3_G_ODR_MASK);
+ tempReg |= new_odr;
+
+ if(LSM6DS3_IO_Write(&tempReg, LSM6DS3_XG_CTRL2_G, 1) != IMU_6AXES_OK)
+ {
+ return IMU_6AXES_ERROR;
+ }
+
+ return IMU_6AXES_OK;
+}
+
+/**
+ * @brief Read Gyro Sensitivity
+ * @param pfData the pointer where the gyroscope sensitivity is stored
+ * @retval IMU_6AXES_OK in case of success, an error code otherwise
+*/
+IMU_6AXES_StatusTypeDef LSM6DS3::LSM6DS3_G_GetSensitivity( float *pfData )
+{
+ /*Here we have to add the check if the parameters are valid*/
+
+ uint8_t tempReg = 0x00;
+
+ if(LSM6DS3_IO_Read( &tempReg, LSM6DS3_XG_CTRL2_G, 1 ) != IMU_6AXES_OK)
+ {
+ return IMU_6AXES_ERROR;
+ }
+
+ tempReg &= LSM6DS3_G_FS_125_MASK;
+
+ if(tempReg == LSM6DS3_G_FS_125_ENABLE)
+ {
+ *pfData = 4.375f;
+ }
+ else
+ {
+ if(LSM6DS3_IO_Read( &tempReg, LSM6DS3_XG_CTRL2_G, 1 ) != IMU_6AXES_OK)
+ {
+ return IMU_6AXES_ERROR;
+ }
+
+ tempReg &= LSM6DS3_G_FS_MASK;
+
+ switch( tempReg )
+ {
+ case LSM6DS3_G_FS_245:
+ *pfData = 8.75f;
+ break;
+ case LSM6DS3_G_FS_500:
+ *pfData = 17.50f;
+ break;
+ case LSM6DS3_G_FS_1000:
+ *pfData = 35.0f;
+ break;
+ case LSM6DS3_G_FS_2000:
+ *pfData = 70.0f;
+ break;
+ default:
+ break;
+ }
+ }
+
+ return IMU_6AXES_OK;
+}
+
+/**
+ * @brief Read Gyro Full Scale
+ * @param fullScale the pointer where the gyroscope full scale is stored
+ * @retval IMU_6AXES_OK in case of success, an error code otherwise
+*/
+IMU_6AXES_StatusTypeDef LSM6DS3::LSM6DS3_G_Get_FS( float *fullScale )
+{
+ /*Here we have to add the check if the parameters are valid*/
+
+ uint8_t tempReg = 0x00;
+
+ if(LSM6DS3_IO_Read( &tempReg, LSM6DS3_XG_CTRL2_G, 1 ) != IMU_6AXES_OK)
+ {
+ return IMU_6AXES_ERROR;
+ }
+
+ tempReg &= LSM6DS3_G_FS_125_MASK;
+
+ if(tempReg == LSM6DS3_G_FS_125_ENABLE)
+ {
+ *fullScale = 125.0f;
+ }
+ else
+ {
+ if(LSM6DS3_IO_Read( &tempReg, LSM6DS3_XG_CTRL2_G, 1 ) != IMU_6AXES_OK)
+ {
+ return IMU_6AXES_ERROR;
+ }
+
+ tempReg &= LSM6DS3_G_FS_MASK;
+
+ switch( tempReg )
+ {
+ case LSM6DS3_G_FS_245:
+ *fullScale = 245.0f;
+ break;
+ case LSM6DS3_G_FS_500:
+ *fullScale = 500.0f;
+ break;
+ case LSM6DS3_G_FS_1000:
+ *fullScale = 1000.0f;
+ break;
+ case LSM6DS3_G_FS_2000:
+ *fullScale = 2000.0f;
+ break;
+ default:
+ break;
+ }
+ }
+
+ return IMU_6AXES_OK;
+}
+
+/**
+ * @brief Write Gyro Full Scale
+ * @param fullScale the gyroscope full scale to be set
+ * @retval IMU_6AXES_OK in case of success, an error code otherwise
+*/
+IMU_6AXES_StatusTypeDef LSM6DS3::LSM6DS3_G_Set_FS( float fullScale )
+{
+ uint8_t new_fs = 0x00;
+ uint8_t tempReg = 0x00;
+
+ if(fullScale <= 125.0f)
+ {
+ new_fs = LSM6DS3_G_FS_125_ENABLE;
+
+ if(LSM6DS3_IO_Read( &tempReg, LSM6DS3_XG_CTRL2_G, 1 ) != IMU_6AXES_OK)
+ {
+ return IMU_6AXES_ERROR;
+ }
+
+ tempReg &= ~(LSM6DS3_G_FS_125_MASK);
+ tempReg |= new_fs;
+
+ if(LSM6DS3_IO_Write(&tempReg, LSM6DS3_XG_CTRL2_G, 1) != IMU_6AXES_OK)
+ {
+ return IMU_6AXES_ERROR;
+ }
+ }
+ else
+ {
+ /* Disable G FS 125dpp */
+ if(LSM6DS3_IO_Read( &tempReg, LSM6DS3_XG_CTRL2_G, 1 ) != IMU_6AXES_OK)
+ {
+ return IMU_6AXES_ERROR;
+ }
+
+ tempReg &= ~(LSM6DS3_G_FS_125_MASK);
+ tempReg |= LSM6DS3_G_FS_125_DISABLE;
+
+ if(LSM6DS3_IO_Write(&tempReg, LSM6DS3_XG_CTRL2_G, 1) != IMU_6AXES_OK)
+ {
+ return IMU_6AXES_ERROR;
+ }
+
+ new_fs = ( fullScale <= 245.0f ) ? LSM6DS3_G_FS_245
+ : ( fullScale <= 500.0f ) ? LSM6DS3_G_FS_500
+ : ( fullScale <= 1000.0f ) ? LSM6DS3_G_FS_1000
+ : LSM6DS3_G_FS_2000;
+
+ if(LSM6DS3_IO_Read( &tempReg, LSM6DS3_XG_CTRL2_G, 1 ) != IMU_6AXES_OK)
+ {
+ return IMU_6AXES_ERROR;
+ }
+
+ tempReg &= ~(LSM6DS3_G_FS_MASK);
+ tempReg |= new_fs;
+
+ if(LSM6DS3_IO_Write(&tempReg, LSM6DS3_XG_CTRL2_G, 1) != IMU_6AXES_OK)
+ {
+ return IMU_6AXES_ERROR;
+ }
+ }
+
+ return IMU_6AXES_OK;
+}
+
+/**
+ * @brief Enable free fall detection
+ * @retval IMU_6AXES_OK in case of success, an error code otherwise
+*/
+IMU_6AXES_StatusTypeDef LSM6DS3::LSM6DS3_Enable_Free_Fall_Detection( void )
+{
+ uint8_t tmp1 = 0x00;
+
+ if(LSM6DS3_IO_Read(&tmp1, LSM6DS3_XG_CTRL1_XL, 1) != IMU_6AXES_OK)
+ {
+ return IMU_6AXES_ERROR;
+ }
+
+ /* Output Data Rate selection */
+ tmp1 &= ~(LSM6DS3_XL_ODR_MASK);
+ tmp1 |= LSM6DS3_XL_ODR_416HZ;
+
+ /* Full scale selection */
+ tmp1 &= ~(LSM6DS3_XL_FS_MASK);
+ tmp1 |= LSM6DS3_XL_FS_2G;
+
+ if(LSM6DS3_IO_Write(&tmp1, LSM6DS3_XG_CTRL1_XL, 1) != IMU_6AXES_OK)
+ {
+ return IMU_6AXES_ERROR;
+ }
+
+ if(LSM6DS3_IO_Read(&tmp1, LSM6DS3_XG_WAKE_UP_DUR, 1) != IMU_6AXES_OK)
+ {
+ return IMU_6AXES_ERROR;
+ }
+
+ /* FF_DUR5 setting */
+ tmp1 &= ~(LSM6DS3_XG_WAKE_UP_DUR_FF_DUR5_MASK);
+ tmp1 |= LSM6DS3_XG_WAKE_UP_DUR_FF_DUR5_DEFAULT;
+
+ /* WAKE_DUR setting */
+ tmp1 &= ~(LSM6DS3_XG_WAKE_UP_DUR_WAKE_DUR_MASK);
+ tmp1 |= LSM6DS3_XG_WAKE_UP_DUR_WAKE_DUR_DEFAULT;
+
+ /* TIMER_HR setting */
+ tmp1 &= ~(LSM6DS3_XG_WAKE_UP_DUR_TIMER_HR_MASK);
+ tmp1 |= LSM6DS3_XG_WAKE_UP_DUR_TIMER_HR_DEFAULT;
+
+ /* SLEEP_DUR setting */
+ tmp1 &= ~(LSM6DS3_XG_WAKE_UP_DUR_SLEEP_DUR_MASK);
+ tmp1 |= LSM6DS3_XG_WAKE_UP_DUR_SLEEP_DUR_DEFAULT;
+
+ if(LSM6DS3_IO_Write(&tmp1, LSM6DS3_XG_WAKE_UP_DUR, 1) != IMU_6AXES_OK)
+ {
+ return IMU_6AXES_ERROR;
+ }
+
+ if(LSM6DS3_IO_Read(&tmp1, LSM6DS3_XG_WAKE_FREE_FALL, 1) != IMU_6AXES_OK)
+ {
+ return IMU_6AXES_ERROR;
+ }
+
+ /* FF_DUR setting */
+ tmp1 &= ~(LSM6DS3_XG_WAKE_FREE_FALL_FF_DUR_MASK);
+ tmp1 |= LSM6DS3_XG_WAKE_FREE_FALL_FF_DUR_TYPICAL;
+
+ /* FF_THS setting */
+ tmp1 &= ~(LSM6DS3_XG_WAKE_FREE_FALL_FF_THS_MASK);
+ tmp1 |= LSM6DS3_XG_WAKE_FREE_FALL_FF_THS_312MG;
+
+ if(LSM6DS3_IO_Write(&tmp1, LSM6DS3_XG_WAKE_FREE_FALL, 1) != IMU_6AXES_OK)
+ {
+ return IMU_6AXES_ERROR;
+ }
+
+ if(LSM6DS3_IO_Read(&tmp1, LSM6DS3_XG_MD1_CFG, 1) != IMU_6AXES_OK)
+ {
+ return IMU_6AXES_ERROR;
+ }
+
+ /* INT1_FF setting */
+ tmp1 &= ~(LSM6DS3_XG_MD1_CFG_INT1_FF_MASK);
+ tmp1 |= LSM6DS3_XG_MD1_CFG_INT1_FF_ENABLE;
+
+ if(LSM6DS3_IO_Write(&tmp1, LSM6DS3_XG_MD1_CFG, 1) != IMU_6AXES_OK)
+ {
+ return IMU_6AXES_ERROR;
+ }
+
+ return IMU_6AXES_OK;
+}
+
+/**
+ * @brief Disable free fall detection
+ * @retval IMU_6AXES_OK in case of success, an error code otherwise
+*/
+IMU_6AXES_StatusTypeDef LSM6DS3::LSM6DS3_Disable_Free_Fall_Detection( void )
+{
+ uint8_t tmp1 = 0x00;
+
+ if(LSM6DS3_IO_Read(&tmp1, LSM6DS3_XG_MD1_CFG, 1) != IMU_6AXES_OK)
+ {
+ return IMU_6AXES_ERROR;
+ }
+
+ /* INT1_FF setting */
+ tmp1 &= ~(LSM6DS3_XG_MD1_CFG_INT1_FF_MASK);
+ tmp1 |= LSM6DS3_XG_MD1_CFG_INT1_FF_DISABLE;
+
+ if(LSM6DS3_IO_Write(&tmp1, LSM6DS3_XG_MD1_CFG, 1) != IMU_6AXES_OK)
+ {
+ return IMU_6AXES_ERROR;
+ }
+
+ if(LSM6DS3_IO_Read(&tmp1, LSM6DS3_XG_WAKE_FREE_FALL, 1) != IMU_6AXES_OK)
+ {
+ return IMU_6AXES_ERROR;
+ }
+
+ /* FF_DUR setting */
+ tmp1 &= ~(LSM6DS3_XG_WAKE_FREE_FALL_FF_DUR_MASK);
+ tmp1 |= LSM6DS3_XG_WAKE_FREE_FALL_FF_DUR_DEFAULT;
+
+ /* FF_THS setting */
+ tmp1 &= ~(LSM6DS3_XG_WAKE_FREE_FALL_FF_THS_MASK);
+ tmp1 |= LSM6DS3_XG_WAKE_FREE_FALL_FF_THS_156MG;
+
+ if(LSM6DS3_IO_Write(&tmp1, LSM6DS3_XG_WAKE_FREE_FALL, 1) != IMU_6AXES_OK)
+ {
+ return IMU_6AXES_ERROR;
+ }
+
+ return IMU_6AXES_OK;
+}
+
+/**
+ * @brief Get status of free fall detection
+ * @param status the pointer where the status of free fall detection is stored; 0 means no detection, 1 means detection happened
+ * @retval IMU_6AXES_OK in case of success, an error code otherwise
+*/
+IMU_6AXES_StatusTypeDef LSM6DS3::LSM6DS3_Get_Status_Free_Fall_Detection( uint8_t *status )
+{
+ uint8_t tmp1 = 0x00;
+
+ if(LSM6DS3_IO_Read(&tmp1, LSM6DS3_XG_WAKE_UP_SRC, 1) != IMU_6AXES_OK)
+ {
+ return IMU_6AXES_ERROR;
+ }
+
+ tmp1 &= LSM6DS3_XG_WAKE_UP_SRC_FF_IA_MASK;
+
+ switch( tmp1 )
+ {
+ case LSM6DS3_XG_WAKE_UP_SRC_FF_IA_ENABLE:
+ *status = 1;
+ break;
+ case LSM6DS3_XG_WAKE_UP_SRC_FF_IA_DISABLE:
+ default:
+ *status = 0;
+ break;
+ }
+
+ return IMU_6AXES_OK;
+}
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/lsm6ds3/lsm6ds3_class.h Mon Jun 08 15:36:36 2015 +0200
@@ -0,0 +1,232 @@
+/**
+ ******************************************************************************
+ * @file lsm6ds3_class.h
+ * @author AST / EST
+ * @version V0.0.1
+ * @date 14-April-2015
+ * @brief Header file for component LSM6DS3
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ * 3. Neither the name of STMicroelectronics nor the names of its contributors
+ * may be used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+*/
+
+#ifndef __LSM6DS3_CLASS_H
+#define __LSM6DS3_CLASS_H
+
+/* Includes ------------------------------------------------------------------*/
+#include "mbed.h"
+#include "DevI2C.h"
+#include "../Interfaces/GyroSensor.h"
+#include "../Interfaces/MotionSensor.h"
+#include "lsm6ds3.h"
+
+/* Classes -------------------------------------------------------------------*/
+/** Class representing a LSM6DS3 sensor component
+ */
+class LSM6DS3 : public GyroSensor, public MotionSensor {
+ public:
+ /** Constructor
+ * @param i2c device I2C to be used for communication
+ */
+ LSM6DS3(DevI2C &i2c) : GyroSensor(), MotionSensor(), dev_i2c(i2c) {
+ }
+
+ /** Destructor
+ */
+ virtual ~LSM6DS3() {}
+
+ /*** Interface Methods ***/
+ virtual int Init(void *init_struct) {
+ return LSM6DS3_Init((IMU_6AXES_InitTypeDef*)init_struct);
+ }
+
+ virtual int ReadID(uint8_t *xg_id) {
+ return LSM6DS3_Read_XG_ID(xg_id);
+ }
+
+ virtual int Get_X_Axes(int32_t *pData) {
+ return LSM6DS3_X_GetAxes(pData);
+ }
+
+ virtual int Get_X_AxesRaw(int16_t *pData) {
+ return LSM6DS3_X_GetAxesRaw(pData);
+ }
+
+ virtual int Get_G_Axes(int32_t *pData) {
+ return LSM6DS3_G_GetAxes(pData);
+ }
+
+ virtual int Get_G_AxesRaw(int16_t *pData) {
+ return LSM6DS3_G_GetAxesRaw(pData);
+ }
+
+ virtual int Get_X_ODR(float *odr) {
+ return LSM6DS3_X_Get_ODR(odr);
+ }
+
+ virtual int Set_X_ODR(float odr) {
+ return LSM6DS3_X_Set_ODR(odr);
+ }
+
+ virtual int Get_X_Sensitivity(float *pfData) {
+ return LSM6DS3_X_GetSensitivity(pfData);
+ }
+
+ virtual int Get_X_FS(float *fullScale) {
+ return LSM6DS3_X_Get_FS(fullScale);
+ }
+
+ virtual int Set_X_FS(float fullScale) {
+ return LSM6DS3_X_Set_FS(fullScale);
+ }
+
+ virtual int Get_G_ODR(float *odr) {
+ return LSM6DS3_G_Get_ODR(odr);
+ }
+
+ virtual int Set_G_ODR(float odr) {
+ return LSM6DS3_G_Set_ODR(odr);
+ }
+
+ virtual int Get_G_Sensitivity(float *pfData) {
+ return LSM6DS3_G_GetSensitivity(pfData);
+ }
+
+ virtual int Get_G_FS(float *fullScale) {
+ return LSM6DS3_G_Get_FS(fullScale);
+ }
+
+ virtual int Set_G_FS(float fullScale) {
+ return LSM6DS3_G_Set_FS(fullScale);
+ }
+
+ /* Additional Public Methods */
+ IMU_6AXES_StatusTypeDef Enable_Free_Fall_Detection(void) {
+ return LSM6DS3_Enable_Free_Fall_Detection();
+ }
+
+ IMU_6AXES_StatusTypeDef Disable_Free_Fall_Detection(void) {
+ return LSM6DS3_Disable_Free_Fall_Detection();
+ }
+
+ IMU_6AXES_StatusTypeDef Get_Status_Free_Fall_Detection(uint8_t *status) {
+ return LSM6DS3_Get_Status_Free_Fall_Detection(status);
+ }
+
+ protected:
+ /*** Methods ***/
+ IMU_6AXES_StatusTypeDef LSM6DS3_Init(IMU_6AXES_InitTypeDef *LSM6DS3_Init);
+ IMU_6AXES_StatusTypeDef LSM6DS3_Read_XG_ID(uint8_t *xg_id);
+ IMU_6AXES_StatusTypeDef LSM6DS3_X_GetAxes(int32_t *pData);
+ IMU_6AXES_StatusTypeDef LSM6DS3_X_GetAxesRaw(int16_t *pData);
+ IMU_6AXES_StatusTypeDef LSM6DS3_G_GetAxes(int32_t *pData);
+ IMU_6AXES_StatusTypeDef LSM6DS3_G_GetAxesRaw(int16_t *pData);
+ IMU_6AXES_StatusTypeDef LSM6DS3_X_Get_ODR( float *odr );
+ IMU_6AXES_StatusTypeDef LSM6DS3_X_Set_ODR( float odr );
+ IMU_6AXES_StatusTypeDef LSM6DS3_X_GetSensitivity( float *pfData );
+ IMU_6AXES_StatusTypeDef LSM6DS3_X_Get_FS( float *fullScale );
+ IMU_6AXES_StatusTypeDef LSM6DS3_X_Set_FS( float fullScale );
+ IMU_6AXES_StatusTypeDef LSM6DS3_G_Get_ODR( float *odr );
+ IMU_6AXES_StatusTypeDef LSM6DS3_G_Set_ODR( float odr );
+ IMU_6AXES_StatusTypeDef LSM6DS3_G_GetSensitivity( float *pfData );
+ IMU_6AXES_StatusTypeDef LSM6DS3_G_Get_FS( float *fullScale );
+ IMU_6AXES_StatusTypeDef LSM6DS3_G_Set_FS( float fullScale );
+ IMU_6AXES_StatusTypeDef LSM6DS3_Enable_Free_Fall_Detection( void );
+ IMU_6AXES_StatusTypeDef LSM6DS3_Disable_Free_Fall_Detection( void );
+ IMU_6AXES_StatusTypeDef LSM6DS3_Get_Status_Free_Fall_Detection( uint8_t *status );
+
+ IMU_6AXES_StatusTypeDef LSM6DS3_Common_Sensor_Enable(void);
+ IMU_6AXES_StatusTypeDef LSM6DS3_X_Set_Axes_Status(uint8_t enableX, uint8_t enableY, uint8_t enableZ);
+ IMU_6AXES_StatusTypeDef LSM6DS3_G_Set_Axes_Status(uint8_t enableX, uint8_t enableY, uint8_t enableZ);
+
+ /**
+ * @brief Configures LSM6DS3 interrupt lines for NUCLEO boards
+ * @param None
+ * @retval None
+ */
+ void LSM6DS3_IO_ITConfig(void)
+ {
+ /* To be implemented */
+ }
+
+ /**
+ * @brief Configures LSM6DS3 I2C interface
+ * @param None
+ * @retval IMU_6AXES_OK in case of success, an error code otherwise
+ */
+ IMU_6AXES_StatusTypeDef LSM6DS3_IO_Init(void)
+ {
+ return IMU_6AXES_OK; /* done in constructor */
+ }
+
+ /**
+ * @brief utility function to read data from STC3115
+ * @param pBuffer: pointer to data to be read.
+ * @param RegisterAddr: specifies internal address register to read from.
+ * @param NumByteToRead: number of bytes to be read.
+ * @retval IMU_6AXES_OK if ok, IMU_6AXES_ERROR if an I2C error has occured
+ */
+ IMU_6AXES_StatusTypeDef LSM6DS3_IO_Read(uint8_t* pBuffer,
+ uint8_t RegisterAddr, uint16_t NumByteToRead)
+ {
+ int ret = dev_i2c.i2c_read(pBuffer,
+ LSM6DS3_XG_MEMS_ADDRESS,
+ RegisterAddr,
+ NumByteToRead);
+ if(ret != 0) {
+ return IMU_6AXES_ERROR;
+ }
+ return IMU_6AXES_OK;
+ }
+
+ /**
+ * @brief utility function to write data to STC3115
+ * @param pBuffer: pointer to buffer to be filled.
+ * @param RegisterAddr: specifies internal address register to read from.
+ * @param NumByteToWrite: number of bytes to write.
+ * @retval 0 if ok, -1 if an I2C error has occured
+ */
+ IMU_6AXES_StatusTypeDef LSM6DS3_IO_Write(uint8_t* pBuffer,
+ uint8_t RegisterAddr, uint16_t NumByteToWrite)
+ {
+ int ret = dev_i2c.i2c_write(pBuffer,
+ LSM6DS3_XG_MEMS_ADDRESS,
+ RegisterAddr,
+ NumByteToWrite);
+ if(ret != 0) {
+ return IMU_6AXES_ERROR;
+ }
+ return IMU_6AXES_OK;
+ }
+
+ /*** Instance Variables ***/
+ /* IO Device */
+ DevI2C &dev_i2c;
+};
+
+#endif // __LSM6DS3_CLASS_H
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Components/lsm6ds3/readme.txt Mon Jun 08 15:36:36 2015 +0200 @@ -0,0 +1,3 @@ +lsm6ds0.h corresponds to: +- X-CUBE-MEMS1/trunk/Drivers/BSP/Components/lsm6ds3/lsm6ds3.h: revision #402, +- X-CUBE-MEMS1/trunk: revision #410
--- a/x_nucleo_iks01a1.cpp Mon Jun 08 13:57:32 2015 +0200
+++ b/x_nucleo_iks01a1.cpp Mon Jun 08 15:36:36 2015 +0200
@@ -51,7 +51,8 @@
ht_sensor(new HTS221(*dev_i2c)),
magnetometer(new LIS3MDL(*dev_i2c)),
pressure_sensor(new LPS25H(*dev_i2c)),
- gyroscope(new LSM6DS0(*dev_i2c))
+ gyro_lsm6ds0(new LSM6DS0(*dev_i2c)),
+ gyro_lsm6ds3(new LSM6DS3(*dev_i2c))
{
}
@@ -85,22 +86,10 @@
}
/**
- * @brief Initialize the singelton's sensors to default settings
- * @return true if initialization successful, false otherwise
+ * @brief Initialize the singleton's HT sensor
* @retval true if initialization successful,
* @retval false otherwise
*/
-bool X_NUCLEO_IKS01A1::Init(void) {
- return (Init_HTS221() &&
- Init_LIS3MDL() &&
- Init_LPS25H() &&
- Init_LSM6DS0());
-}
-
-/**
- * @brief Initialize the singelton HT sensor
- * @return true if initialization successful, false otherwise
- */
bool X_NUCLEO_IKS01A1::Init_HTS221(void) {
uint8_t ht_id = 0;
HUM_TEMP_InitTypeDef InitStructure;
@@ -126,8 +115,9 @@
}
/**
- * @brief Initialize the singelton magnetometer
- * @return true if initialization successful, false otherwise
+ * @brief Initialize the singleton's magnetometer
+ * @retval true if initialization successful,
+ * @retval false otherwise
*/
bool X_NUCLEO_IKS01A1::Init_LIS3MDL(void) {
uint8_t m_id = 0;
@@ -157,8 +147,9 @@
}
/**
- * @brief Initialize the singelton pressure sensor
- * @return true if initialization successful, false otherwise
+ * @brief Initialize the singleton's pressure sensor
+ * @retval true if initialization successful,
+ * @retval false otherwise
*/
bool X_NUCLEO_IKS01A1::Init_LPS25H(void) {
uint8_t p_id = 0;
@@ -190,19 +181,21 @@
}
/**
- * @brief Initialize the singelton gyroscope
- * @return true if initialization successful, false otherwise
+ * @brief Initialize the singleton's LSM6DS0 gyroscope
+ * @retval true if initialization successful,
+ * @retval false otherwise
*/
bool X_NUCLEO_IKS01A1::Init_LSM6DS0(void) {
IMU_6AXES_InitTypeDef InitStructure;
uint8_t xg_id = 0;
/* Check presence */
- if((gyroscope->ReadID(&xg_id) != IMU_6AXES_OK) ||
+ if((gyro_lsm6ds3 != NULL) ||
+ (gyro_lsm6ds0->ReadID(&xg_id) != IMU_6AXES_OK) ||
(xg_id != I_AM_LSM6DS0_XG))
{
- delete gyroscope;
- gyroscope = NULL;
+ delete gyro_lsm6ds0;
+ gyro_lsm6ds0 = NULL;
return true;
}
@@ -219,10 +212,49 @@
InitStructure.X_Y_Axis = 1; /* Enable */
InitStructure.X_Z_Axis = 1; /* Enable */
- if(gyroscope->Init(&InitStructure) != IMU_6AXES_OK)
+ if(gyro_lsm6ds0->Init(&InitStructure) != IMU_6AXES_OK)
{
return false;
}
return true;
}
+
+/**
+ * @brief Initialize the singleton's LSMDS3 gyroscope
+ * @retval true if initialization successful,
+ * @retval false otherwise
+ */
+bool X_NUCLEO_IKS01A1::Init_LSM6DS3(void) {
+ IMU_6AXES_InitTypeDef InitStructure;
+ uint8_t xg_id = 0;
+
+ /* Check presence */
+ if((gyro_lsm6ds3->ReadID(&xg_id) != IMU_6AXES_OK) ||
+ (xg_id != I_AM_LSM6DS3_XG))
+ {
+ delete gyro_lsm6ds3;
+ gyro_lsm6ds3 = NULL;
+ return true;
+ }
+
+ /* Configure sensor */
+ InitStructure.G_FullScale = 2000.0f; /* 2000DPS */
+ InitStructure.G_OutputDataRate = 104.0f; /* 104HZ */
+ InitStructure.G_X_Axis = 1; /* Enable */
+ InitStructure.G_Y_Axis = 1; /* Enable */
+ InitStructure.G_Z_Axis = 1; /* Enable */
+
+ InitStructure.X_FullScale = 2.0f; /* 2G */
+ InitStructure.X_OutputDataRate = 104.0f; /* 104HZ */
+ InitStructure.X_X_Axis = 1; /* Enable */
+ InitStructure.X_Y_Axis = 1; /* Enable */
+ InitStructure.X_Z_Axis = 1; /* Enable */
+
+ if(gyro_lsm6ds3->Init(&InitStructure) != IMU_6AXES_OK)
+ {
+ return false;
+ }
+
+ return true;
+}
--- a/x_nucleo_iks01a1.h Mon Jun 08 13:57:32 2015 +0200
+++ b/x_nucleo_iks01a1.h Mon Jun 08 15:36:36 2015 +0200
@@ -47,6 +47,7 @@
#include "lis3mdl/lis3mdl_class.h"
#include "lps25h/lps25h_class.h"
#include "lsm6ds0/lsm6ds0_class.h"
+#include "lsm6ds3/lsm6ds3_class.h"
#include "DevI2C.h"
/* Macros -------------------------------------------------------------------*/
@@ -65,6 +66,9 @@
* -# a LPS25H MEMS Pressure Sensor\n
* -# and a LSM6DS0 3D Acceleromenter and 3D Gyroscope\n
*
+ * The expansion board features also a DIL 24-pin socket which makes it possible
+ * to add further MEMS adapters and other sensors (e.g. UV index).
+ *
* It is intentionally implemented as a singleton because only one
* X_NUCLEO_IKS01A1 at a time might be deployed in a HW component stack.\n
* In order to get the singleton instance you have to call class method `Instance()`,
@@ -79,11 +83,36 @@
protected:
X_NUCLEO_IKS01A1(DevI2C *ext_i2c);
- bool Init(void);
+ /**
+ * @brief Initialize the singleton's sensors to default settings
+ * @retval true if initialization successful,
+ * @retval false otherwise
+ */
+ bool Init(void) {
+ return (Init_HTS221() &&
+ Init_LIS3MDL() &&
+ Init_LPS25H() &&
+ Init_Gyro());
+ }
+
+ /**
+ * @brief Initialize the singleton's gyroscope
+ * @retval true if initialization successful,
+ * @retval false otherwise
+ * @note only one sensor among LSM6DS3 & LSM6DS0 will be instantiated
+ * with a preference on LSM6DS3 when available
+ */
+ bool Init_Gyro(void) {
+ // Note: order is important!
+ return (Init_LSM6DS3() &&
+ Init_LSM6DS0());
+ }
+
bool Init_HTS221(void);
bool Init_LIS3MDL(void);
bool Init_LPS25H(void);
bool Init_LSM6DS0(void);
+ bool Init_LSM6DS3(void);
public:
static X_NUCLEO_IKS01A1* Instance(DevI2C *ext_i2c = NULL);
@@ -93,7 +122,17 @@
HTS221 *ht_sensor;
LIS3MDL *magnetometer;
LPS25H *pressure_sensor;
- LSM6DS0 *gyroscope;
+
+ GyroSensor *GetGyroscope(void) {
+ return ((gyro_lsm6ds3 == NULL) ?
+ (GyroSensor*)gyro_lsm6ds0 : (GyroSensor*)gyro_lsm6ds3);
+ }
+ MotionSensor *GetAccelerometer(void) {
+ return ((gyro_lsm6ds3 == NULL) ?
+ (MotionSensor*)gyro_lsm6ds0 : (MotionSensor*)gyro_lsm6ds3);
+ }
+ LSM6DS0 *gyro_lsm6ds0;
+ LSM6DS3 *gyro_lsm6ds3;
private:
static X_NUCLEO_IKS01A1 *_instance;