483 lines
24 KiB
C
483 lines
24 KiB
C
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/*
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Pretty LAYer for ChibiOS/RT - Copyright (C) 2015 Rocco Marco Guglielmi
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This file is part of PLAY for ChibiOS/RT.
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PLAY is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 3 of the License, or
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(at your option) any later version.
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PLAY is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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Special thanks to Giovanni Di Sirio for teachings, his moral support and
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friendship. Note that some or every piece of this file could be part of
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the ChibiOS project that is intellectual property of Giovanni Di Sirio.
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Please refer to ChibiOS/RT license before use this file.
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For suggestion or Bug report - roccomarco.guglielmi@playembedded.org
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*/
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/**
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* @file lsm6ds0.h
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* @brief LSM6DS0 MEMS interface module header.
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*
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* @{
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*/
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#ifndef _LSM6DS0_H_
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#define _LSM6DS0_H_
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/*===========================================================================*/
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/* Driver constants. */
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/*===========================================================================*/
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#define LSM6DS0_ACC_SENS_2G ((float)1671.095f) /*!< Accelerometer sensitivity with 2 G full scale [LSB * s^2 / m] */
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#define LSM6DS0_ACC_SENS_4G ((float)835.547f) /*!< Accelerometer sensitivity with 4 G full scale [LSB * s^2 / m] */
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#define LSM6DS0_ACC_SENS_8G ((float)417.774) /*!< Accelerometer sensitivity with 8 G full scale [LSB * s^2 / m] */
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#define LSM6DS0_ACC_SENS_16G ((float)139.258f) /*!< Accelerometer sensitivity with 16 G full scale [LSB * s^2 / m] */
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#define LSM6DS0_GYRO_SENS_245DPS ((float)114.286f) /*!< Gyroscope sensitivity with 245 dps full scale [LSB * s / <20>] */
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#define LSM6DS0_GYRO_SENS_500DPS ((float)57.143f) /*!< Gyroscope sensitivity with 500 dps full scale [LSB * s / <20>] */
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#define LSM6DS0_GYRO_SENS_2000DPS ((float)14.286f) /*!< Gyroscope sensitivity with 2000 dps full scale [LSB * s / <20>] */
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/**
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* @name LSM6DS0 register names
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* @{
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*/
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/******************************************************************************/
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/* */
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/* LSM6DS0 on board MEMS */
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/* */
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/******************************************************************************/
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/***************** Bit definition for I2C/SPI communication *****************/
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#define LSM6DS0_SUB ((uint8_t)0x7F) /*!< SUB[6:0] Sub-registers address Mask */
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#define LSM6DS0_SUB_0 ((uint8_t)0x01) /*!< bit 0 */
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#define LSM6DS0_SUB_1 ((uint8_t)0x02) /*!< bit 1 */
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#define LSM6DS0_SUB_2 ((uint8_t)0x08) /*!< bit 3 */
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#define LSM6DS0_SUB_4 ((uint8_t)0x10) /*!< bit 4 */
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#define LSM6DS0_SUB_5 ((uint8_t)0x20) /*!< bit 5 */
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#define LSM6DS0_SUB_6 ((uint8_t)0x40) /*!< bit 6 */
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#define LSM6DS0_SUB_MSB ((uint8_t)0x80) /*!< Multiple data read\write bit */
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/***************** Bit definition for Registers Addresses *******************/
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#define LSM6DS0_SUB_ACT_THS ((uint8_t)0x04) /*!< Activity threshold register */
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#define LSM6DS0_SUB_ACT_DUR ((uint8_t)0x05) /*!< Inactivity duration register */
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#define LSM6DS0_SUB_INT_GEN_CFG_XL ((uint8_t)0x06) /*!< Accelerometer interrupt generator configuration register */
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#define LSM6DS0_SUB_INT_GEN_THS_X_XL ((uint8_t)0x07) /*!< Accelerometer X-axis interrupt threshold register */
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#define LSM6DS0_SUB_INT_GEN_THS_Y_XL ((uint8_t)0x08) /*!< Accelerometer Y-axis interrupt threshold register */
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#define LSM6DS0_SUB_INT_GEN_THS_Z_XL ((uint8_t)0x09) /*!< Accelerometer Z-axis interrupt threshold register */
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#define LSM6DS0_SUB_INT_GEN_DUR_XL ((uint8_t)0x0A) /*!< Accelerometer interrupt duration register */
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#define LSM6DS0_SUB_REFERENCE_G ((uint8_t)0x0B) /*!< Gyroscope reference value register for digital high-pass filter */
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#define LSM6DS0_SUB_INT_CTRL ((uint8_t)0x0C) /*!< INT pin control register */
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#define LSM6DS0_SUB_WHO_AM_I ((uint8_t)0x0F) /*!< Who_AM_I register */
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#define LSM6DS0_SUB_CTRL_REG1_G ((uint8_t)0x10) /*!< Gyroscope control register 1 */
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#define LSM6DS0_SUB_CTRL_REG2_G ((uint8_t)0x11) /*!< Gyroscope control register 2 */
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#define LSM6DS0_SUB_CTRL_REG3_G ((uint8_t)0x12) /*!< Gyroscope control register 3 */
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#define LSM6DS0_SUB_ORIENT_CFG_G ((uint8_t)0x13) /*!< Gyroscope sign and orientation register */
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#define LSM6DS0_SUB_INT_GEN_SRC_G ((uint8_t)0x14) /*!< Gyroscope interrupt source register */
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#define LSM6DS0_SUB_OUT_TEMP_L ((uint8_t)0x15) /*!< Temperature data output low register */
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#define LSM6DS0_SUB_OUT_TEMP_H ((uint8_t)0x16) /*!< Temperature data output high register */
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#define LSM6DS0_SUB_STATUS_REG1 ((uint8_t)0x17) /*!< Status register 1 */
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#define LSM6DS0_SUB_OUT_X_L_G ((uint8_t)0x18) /*!< Gyroscope X-axis low output register */
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#define LSM6DS0_SUB_OUT_X_H_G ((uint8_t)0x19) /*!< Gyroscope X-axis high output register */
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#define LSM6DS0_SUB_OUT_Y_L_G ((uint8_t)0x1A) /*!< Gyroscope Y-axis low output register */
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#define LSM6DS0_SUB_OUT_Y_H_G ((uint8_t)0x1B) /*!< Gyroscope Y-axis high output register */
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#define LSM6DS0_SUB_OUT_Z_L_G ((uint8_t)0x1C) /*!< Gyroscope Z-axis low output register */
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#define LSM6DS0_SUB_OUT_Z_H_G ((uint8_t)0x1D) /*!< Gyroscope Z-axis high output register */
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#define LSM6DS0_SUB_CTRL_REG4 ((uint8_t)0x1E) /*!< Control register 4 */
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#define LSM6DS0_SUB_CTRL_REG5_XL ((uint8_t)0x1F) /*!< Accelerometer Control Register 5 */
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#define LSM6DS0_SUB_CTRL_REG6_XL ((uint8_t)0x20) /*!< Accelerometer Control Register 6 */
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#define LSM6DS0_SUB_CTRL_REG7_XL ((uint8_t)0x21) /*!< Accelerometer Control Register 7 */
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#define LSM6DS0_SUB_CTRL_REG8 ((uint8_t)0x22) /*!< Control register 8 */
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#define LSM6DS0_SUB_CTRL_REG9 ((uint8_t)0x23) /*!< Control register 9 */
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#define LSM6DS0_SUB_CTRL_REG10 ((uint8_t)0x24) /*!< Control register 10 */
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#define LSM6DS0_SUB_INT_GEN_SRC_XL ((uint8_t)0x26) /*!< Accelerometer interrupt source register */
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#define LSM6DS0_SUB_STATUS_REG2 ((uint8_t)0x27) /*!< Status register */
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#define LSM6DS0_SUB_OUT_X_L_XL ((uint8_t)0x28) /*!< Accelerometer X-axis low output register */
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#define LSM6DS0_SUB_OUT_X_H_XL ((uint8_t)0x29) /*!< Accelerometer X-axis high output register */
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#define LSM6DS0_SUB_OUT_Y_L_XL ((uint8_t)0x2A) /*!< Accelerometer Y-axis low output register */
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#define LSM6DS0_SUB_OUT_Y_H_XL ((uint8_t)0x2B) /*!< Accelerometer Y-axis high output register */
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#define LSM6DS0_SUB_OUT_Z_L_XL ((uint8_t)0x2C) /*!< Accelerometer Z-axis low output register */
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#define LSM6DS0_SUB_OUT_Z_H_XL ((uint8_t)0x2D) /*!< Accelerometer Z-axis high output register */
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#define LSM6DS0_SUB_FIFO_CTRL ((uint8_t)0x2E) /*!< FIFO control register */
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#define LSM6DS0_SUB_FIFO_SRC ((uint8_t)0x2F) /*!< FIFO status control register */
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#define LSM6DS0_SUB_INT_GEN_CFG_G ((uint8_t)0x30) /*!< Gyroscope interrupt generator configuration register */
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#define LSM6DS0_SUB_INT_GEN_THS_XH_G ((uint8_t)0x31) /*!< Gyroscope X-axis low interrupt generator threshold registers */
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#define LSM6DS0_SUB_INT_GEN_THS_XL_G ((uint8_t)0x32) /*!< Gyroscope X-axis high interrupt generator threshold registers */
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#define LSM6DS0_SUB_INT_GEN_THS_YH_G ((uint8_t)0x33) /*!< Gyroscope Y-axis low interrupt generator threshold registers */
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#define LSM6DS0_SUB_INT_GEN_THS_YL_G ((uint8_t)0x34) /*!< Gyroscope Y-axis high interrupt generator threshold registers */
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#define LSM6DS0_SUB_INT_GEN_THS_ZH_G ((uint8_t)0x35) /*!< Gyroscope Z-axis low interrupt generator threshold registers */
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#define LSM6DS0_SUB_INT_GEN_THS_ZL_G ((uint8_t)0x36) /*!< Gyroscope Z-axis high interrupt generator threshold registers */
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#define LSM6DS0_SUB_INT_GEN_DUR_G ((uint8_t)0x37) /*!< Gyroscope interrupt generator duration register */
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/** @} */
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/*===========================================================================*/
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/* Driver pre-compile time settings. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Derived constants and error checks. */
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/*===========================================================================*/
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/*===========================================================================*/
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/* Driver data structures and types. */
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/*===========================================================================*/
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/**
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* @name Generic LSM6DS0 data structures and types
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* @{
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*/
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/**
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* @brief Accelerometer and Gyroscope Slave Address
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*/
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typedef enum {
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LSM6DS0_SAD_GND = 0x6A, /*!< LSM6DS0 Slave Address when SA1 is to GND */
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LSM6DS0_SAD_VCC = 0x6B /*!< LSM6DS0 Slave Address when SA1 is to VCC */
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}LSM6DS0_SAD_t;
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/**
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* @brief Accelerometer and Gyroscope Block Data Update
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*/
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typedef enum
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{
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LSM6DS0_BDU_CONTINOUS = 0x00, /*!< Continuos Update */
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LSM6DS0_BDU_BLOCKED = 0x40 /*!< Single Update: output registers not updated until MSB and LSB reading */
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}LSM6DS0_BDU_t;
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/**
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* @brief Accelerometer and Gyroscope Endianness
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*/
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typedef enum
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{
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LSM6DS0_END_LITTLE = 0x00, /*!< Little Endian: data LSB @ lower address */
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LSM6DS0_END_BIG = 0x20 /*!< Big Endian: data MSB @ lower address */
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}LSM6DS0_END_t;
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/** @} */
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/**
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* @name Accelerometer data structures and types
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* @{
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*/
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/**
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* @brief Accelerometer Decimation Mode
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*/
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typedef enum {
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LSM6DS0_ACC_DEC_DISABLED = 0x00, /*!< NO decimation */
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LSM6DS0_ACC_DEC_X2 = 0x40, /*!< Decimation update every 2 sample */
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LSM6DS0_ACC_DEC_X4 = 0x80, /*!< Decimation update every 4 sample */
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LSM6DS0_ACC_DEC_X8 = 0xC0 /*!< Decimation update every 8 sample */
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}LSM6DS0_ACC_DEC_t;
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/**
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* @brief Accelerometer Axes Enabling
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*/
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typedef enum{
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LSM6DS0_ACC_AE_DISABLED = 0x00, /*!< Axes all disabled */
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LSM6DS0_ACC_AE_X = 0x08, /*!< Only X-axis enabled */
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LSM6DS0_ACC_AE_Y = 0x10, /*!< Only Y-axis enabled */
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LSM6DS0_ACC_AE_XY = 0x18, /*!< X & Y axes enabled */
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LSM6DS0_ACC_AE_Z = 0x20, /*!< Only Z-axis enabled */
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LSM6DS0_ACC_AE_XZ = 0x28, /*!< X & Z axes enabled */
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LSM6DS0_ACC_AE_YZ = 0x30, /*!< Y & Z axes enabled */
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LSM6DS0_ACC_AE_XYZ = 0x38 /*!< All axes enabled */
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}LSM6DS0_ACC_AE_t;
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/**
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* @brief Accelerometer Output Data Rate
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*/
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typedef enum {
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LSM6DS0_ACC_ODR_PD = 0x00, /*!< Power down */
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LSM6DS0_ACC_ODR_10Hz = 0x20, /*!< Output Data Rate = 10 Hz */
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LSM6DS0_ACC_ODR_50Hz = 0x40, /*!< Output Data Rate = 50 Hz */
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LSM6DS0_ACC_ODR_119Hz = 0x60, /*!< Output Data Rate = 119 Hz */
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LSM6DS0_ACC_ODR_238Hz = 0x80, /*!< Output Data Rate = 238 Hz */
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LSM6DS0_ACC_ODR_476Hz = 0xA0, /*!< Output Data Rate = 476 Hz */
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LSM6DS0_ACC_ODR_952Hz = 0xC0 /*!< Output Data Rate = 952 Hz */
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}LSM6DS0_ACC_ODR_t;
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/**
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* @brief Accelerometer Full Scale
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*/
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typedef enum {
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LSM6DS0_ACC_FS_2G = 0x00, /*!< <20>2 g m/s^2 */
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LSM6DS0_ACC_FS_4G = 0x10, /*!< <20>4 g m/s^2 */
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LSM6DS0_ACC_FS_8G = 0x18, /*!< <20>8 g m/s^2 */
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LSM6DS0_ACC_FS_16G = 0x08 /*!< <20>16 g m/s^2 */
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}LSM6DS0_ACC_FS_t;
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/**
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* @brief Accelerometer Antialiasing filter Bandwidth Selection
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*/
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typedef enum {
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LSM6DS0_ACC_BW_408Hz = 0x00, /*!< AA filter bandwidth = 408 Hz */
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LSM6DS0_ACC_BW_211Hz = 0x01, /*!< AA filter bandwidth = 211 Hz */
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LSM6DS0_ACC_BW_105Hz = 0x02, /*!< AA filter bandwidth = 105 Hz */
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LSM6DS0_ACC_BW_50Hz = 0x03, /*!< AA filter bandwidth = 50 Hz */
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LSM6DS0_ACC_BW_ACCORDED = 0x04, /*!< AA filter bandwidth chosen by ODR selection */
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}LSM6DS0_ACC_BW_t;
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/**
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* @brief Accelerometer High Resolution mode
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*/
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typedef enum
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{
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LSM6DS0_ACC_HR_Disabled = 0x00, /*!< High resolution output mode disabled, FDS bypassed */
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LSM6DS0_ACC_HR_EN_9 = 0xC4, /*!< High resolution output mode enabled, LP cutoff = ODR/9, FDS enabled */
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LSM6DS0_ACC_HR_EN_50 = 0x84, /*!< High resolution output mode enabled, LP cutoff = ODR/50, FDS enabled */
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LSM6DS0_ACC_HR_EN_100 = 0xA4, /*!< High resolution output mode enabled, LP cutoff = ODR/100, FDS enabled */
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LSM6DS0_ACC_HR_EN_400 = 0xE4, /*!< High resolution output mode enabled, LP cutoff = ODR/400, FDS enabled */
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}LSM6DS0_ACC_HR_t;
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/**
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* @brief HP filter for interrupt
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*/
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typedef enum
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{
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LSM6DS0_ACC_HPIS1_BYPASSED = 0x00, /*!< High-pass filter bypassed */
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LSM6DS0_ACC_HPIS1_ENABLED = 0x01 /*!< High-pass filter enabled for accelerometer interrupt function on interrupt */
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}LSM6DS0_ACC_HPIS1_t;
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/**
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* @brief Accelerometer configuration structure.
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*/
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typedef struct {
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/**
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* @brief LSM6DS0 Slave Address
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*/
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LSM6DS0_SAD_t slaveaddress;
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/**
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* @brief Accelerometer Decimation Mode
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*/
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LSM6DS0_ACC_DEC_t decimation;
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/**
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* @brief Accelerometer Output Data Rate
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|
*/
|
|||
|
|
LSM6DS0_ACC_ODR_t outputdatarate;
|
|||
|
|
/**
|
|||
|
|
* @brief Accelerometer Antialiasing filter Bandwidth Selection
|
|||
|
|
*/
|
|||
|
|
LSM6DS0_ACC_BW_t bandwidth;
|
|||
|
|
/**
|
|||
|
|
* @brief Accelerometer Full Scale
|
|||
|
|
*/
|
|||
|
|
LSM6DS0_ACC_FS_t fullscale;
|
|||
|
|
/**
|
|||
|
|
* @brief Accelerometer Axes Enabling
|
|||
|
|
*/
|
|||
|
|
LSM6DS0_ACC_AE_t axesenabling;
|
|||
|
|
/**
|
|||
|
|
* @brief Accelerometer High Resolution mode
|
|||
|
|
*/
|
|||
|
|
LSM6DS0_ACC_HR_t highresmode;
|
|||
|
|
/**
|
|||
|
|
* @brief HP filter for interrupt
|
|||
|
|
*/
|
|||
|
|
LSM6DS0_ACC_HPIS1_t hpfirq;
|
|||
|
|
/**
|
|||
|
|
* @brief LSM6DS0 Endianness
|
|||
|
|
*/
|
|||
|
|
LSM6DS0_END_t endianess;
|
|||
|
|
/**
|
|||
|
|
* @brief LSM6DS0 Block Data Update
|
|||
|
|
*/
|
|||
|
|
LSM6DS0_BDU_t blockdataupdate;
|
|||
|
|
} LSM6DS0_ACC_Config;
|
|||
|
|
/** @} */
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* @name Gyroscope data structures and types
|
|||
|
|
* @{
|
|||
|
|
*/
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* @brief Gyroscope Output Data Rate
|
|||
|
|
*/
|
|||
|
|
typedef enum {
|
|||
|
|
LSM6DS0_GYRO_ODR_PD = 0x00, /*!< Power down */
|
|||
|
|
LSM6DS0_GYRO_ODR_14_9Hz_CO_5Hz = 0x20, /*!< Output Data Rate = 14.9 Hz, CutOff = 5Hz */
|
|||
|
|
LSM6DS0_GYRO_ODR_59_5Hz_CO_16Hz = 0x40, /*!< Output Data Rate = 59.5 Hz, CutOff = 16Hz */
|
|||
|
|
LSM6DS0_GYRO_ODR_119Hz_CO_14Hz = 0x60, /*!< Output Data Rate = 119 Hz, CutOff = 14Hz */
|
|||
|
|
LSM6DS0_GYRO_ODR_119Hz_CO_31Hz = 0x61, /*!< Output Data Rate = 119 Hz, CutOff = 31Hz */
|
|||
|
|
LSM6DS0_GYRO_ODR_238Hz_CO_14Hz = 0x80, /*!< Output Data Rate = 238 Hz, CutOff = 14Hz */
|
|||
|
|
LSM6DS0_GYRO_ODR_238Hz_CO_29Hz = 0x81, /*!< Output Data Rate = 328 Hz, CutOff = 29Hz */
|
|||
|
|
LSM6DS0_GYRO_ODR_238Hz_CO_63Hz = 0x82, /*!< Output Data Rate = 238 Hz, CutOff = 63Hz */
|
|||
|
|
LSM6DS0_GYRO_ODR_238Hz_CO_78Hz = 0x83, /*!< Output Data Rate = 476 Hz, CutOff = 78Hz */
|
|||
|
|
LSM6DS0_GYRO_ODR_476Hz_CO_21Hz = 0xA0, /*!< Output Data Rate = 476 Hz, CutOff = 21Hz */
|
|||
|
|
LSM6DS0_GYRO_ODR_476Hz_CO_28Hz = 0xA1, /*!< Output Data Rate = 238 Hz, CutOff = 28Hz */
|
|||
|
|
LSM6DS0_GYRO_ODR_476Hz_CO_57Hz = 0xA2, /*!< Output Data Rate = 476 Hz, CutOff = 57Hz */
|
|||
|
|
LSM6DS0_GYRO_ODR_476Hz_CO_100Hz = 0xA3, /*!< Output Data Rate = 476 Hz, CutOff = 100Hz */
|
|||
|
|
LSM6DS0_GYRO_ODR_952Hz_CO_33Hz = 0xC0, /*!< Output Data Rate = 952 Hz, CutOff = 33Hz */
|
|||
|
|
LSM6DS0_GYRO_ODR_952Hz_CO_40Hz = 0xC1, /*!< Output Data Rate = 952 Hz, CutOff = 40Hz */
|
|||
|
|
LSM6DS0_GYRO_ODR_952Hz_CO_58Hz = 0xC2, /*!< Output Data Rate = 952 Hz, CutOff = 58Hz */
|
|||
|
|
LSM6DS0_GYRO_ODR_952Hz_CO_100Hz = 0xC3 /*!< Output Data Rate = 952 Hz, CutOff = 100Hz */
|
|||
|
|
}LSM6DS0_GYRO_ODR_t;
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* @brief Gyroscope Full Scale
|
|||
|
|
*/
|
|||
|
|
typedef enum {
|
|||
|
|
LSM6DS0_GYRO_FS_245DSP = 0x00, /*!< <20>245 degrees per second */
|
|||
|
|
LSM6DS0_GYRO_FS_500DSP = 0x08, /*!< <20>500 degrees per second */
|
|||
|
|
LSM6DS0_GYRO_FS_2000DSP = 0x18 /*!< <20>2000 degrees per second */
|
|||
|
|
}LSM6DS0_GYRO_FS_t;
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* @brief Gyroscope Output Selection
|
|||
|
|
*/
|
|||
|
|
typedef enum {
|
|||
|
|
LSM6DS0_GYRO_OUT_SEL_BYPASS = 0x00, /*!< Output not filtered */
|
|||
|
|
LSM6DS0_GYRO_OUT_SEL_FILTERED = 0x01, /*!< Output filtered */
|
|||
|
|
}LSM6DS0_GYRO_OUT_SEL_t;
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* @brief Gyroscope Interrupt Selection
|
|||
|
|
*/
|
|||
|
|
typedef enum {
|
|||
|
|
LSM6DS0_GYRO_INT_SEL_BYPASS = 0x00, /*!< Interrupt generator signal not filtered */
|
|||
|
|
LSM6DS0_GYRO_INT_SEL_FILTERED = 0x08, /*!< Interrupt generator signal filtered */
|
|||
|
|
}LSM6DS0_GYRO_INT_SEL_t;
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* @brief Gyroscope Low Power Mode
|
|||
|
|
*/
|
|||
|
|
typedef enum {
|
|||
|
|
LSM6DS0_GYRO_LP_MODE_HIGH_PERFORMANCE = 0x00, /*!< High performance */
|
|||
|
|
LSM6DS0_GYRO_LP_MODE_LOW_POWER = 0x80, /*!< Low power */
|
|||
|
|
}LSM6DS0_GYRO_LP_MODE_t;
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* @brief Gyroscope High Pass Filter Cutoff Selection
|
|||
|
|
*/
|
|||
|
|
typedef enum {
|
|||
|
|
LSM6DS0_GYRO_HPCF_DISABLED = 0x00, /*!< HP filter disabled */
|
|||
|
|
LSM6DS0_GYRO_HPCF_0 = 0x40, /*!< Config 0 refer to table 48 of DOcID025604 Rev 3 */
|
|||
|
|
LSM6DS0_GYRO_HPCF_1 = 0x41, /*!< Config 1 refer to table 48 of DOcID025604 Rev 3 */
|
|||
|
|
LSM6DS0_GYRO_HPCF_2 = 0x42, /*!< Config 2 refer to table 48 of DOcID025604 Rev 3 */
|
|||
|
|
LSM6DS0_GYRO_HPCF_3 = 0x43, /*!< Config 3 refer to table 48 of DOcID025604 Rev 3 */
|
|||
|
|
LSM6DS0_GYRO_HPCF_4 = 0x44, /*!< Config 4 refer to table 48 of DOcID025604 Rev 3 */
|
|||
|
|
LSM6DS0_GYRO_HPCF_5 = 0x45, /*!< Config 5 refer to table 48 of DOcID025604 Rev 3 */
|
|||
|
|
LSM6DS0_GYRO_HPCF_6 = 0x46, /*!< Config 6 refer to table 48 of DOcID025604 Rev 3 */
|
|||
|
|
LSM6DS0_GYRO_HPCF_7 = 0x47, /*!< Config 7 refer to table 48 of DOcID025604 Rev 3 */
|
|||
|
|
LSM6DS0_GYRO_HPCF_8 = 0x48, /*!< Config 8 refer to table 48 of DOcID025604 Rev 3 */
|
|||
|
|
LSM6DS0_GYRO_HPCF_9 = 0x49, /*!< Config 9 refer to table 48 of DOcID025604 Rev 3 */
|
|||
|
|
LSM6DS0_GYRO_HPCF_10 = 0x4A /*!< Config 10 refer to table 48 of DOcID025604 Rev 3 */
|
|||
|
|
}LSM6DS0_GYRO_HPCF_t;
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* @brief Gyroscope Axes Enabling
|
|||
|
|
*/
|
|||
|
|
typedef enum{
|
|||
|
|
LSM6DS0_GYRO_AE_DISABLED = 0x00, /*!< Axes all disabled */
|
|||
|
|
LSM6DS0_GYRO_AE_X = 0x08, /*!< Only X-axis enabled */
|
|||
|
|
LSM6DS0_GYRO_AE_Y = 0x10, /*!< Only Y-axis enabled */
|
|||
|
|
LSM6DS0_GYRO_AE_XY = 0x18, /*!< X & Y axes enabled */
|
|||
|
|
LSM6DS0_GYRO_AE_Z = 0x20, /*!< Only Z-axis enabled */
|
|||
|
|
LSM6DS0_GYRO_AE_XZ = 0x28, /*!< X & Z axes enabled */
|
|||
|
|
LSM6DS0_GYRO_AE_YZ = 0x30, /*!< Y & Z axes enabled */
|
|||
|
|
LSM6DS0_GYRO_AE_XYZ = 0x38 /*!< All axes enabled */
|
|||
|
|
}LSM6DS0_GYRO_AE_t;
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* @brief Gyroscope Decimation Mode
|
|||
|
|
*/
|
|||
|
|
typedef enum {
|
|||
|
|
LSM6DS0_GYRO_DEC_DISABLED = 0x00, /*!< NO decimation */
|
|||
|
|
LSM6DS0_GYRO_DEC_X2 = 0x40, /*!< Decimation update every 2 sample */
|
|||
|
|
LSM6DS0_GYRO_DEC_X4 = 0x80, /*!< Decimation update every 4 sample */
|
|||
|
|
LSM6DS0_GYRO_DEC_X8 = 0xC0 /*!< Decimation update every 8 sample */
|
|||
|
|
}LSM6DS0_GYRO_DEC_t;
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* @brief Gyroscope Sleep Mode
|
|||
|
|
*/
|
|||
|
|
typedef enum {
|
|||
|
|
LSM6DS0_GYRO_SLP_DISABLED = 0x00, /*!< Gyroscope sleep mode disabled */
|
|||
|
|
LSM6DS0_GYRO_SLP_ENABLED = 0x40 /*!< Gyroscope sleep mode enabled */
|
|||
|
|
}LSM6DS0_GYRO_SLP_t;
|
|||
|
|
/**
|
|||
|
|
* @brief Gyroscope configuration structure.
|
|||
|
|
*/
|
|||
|
|
typedef struct {
|
|||
|
|
/**
|
|||
|
|
* @brief LSM6DS0 Slave Address
|
|||
|
|
*/
|
|||
|
|
LSM6DS0_SAD_t slaveaddress;
|
|||
|
|
/**
|
|||
|
|
* @brief Gyroscope Output Data Rate
|
|||
|
|
*/
|
|||
|
|
LSM6DS0_GYRO_ODR_t outputdatarate;
|
|||
|
|
/**
|
|||
|
|
* @brief Gyroscope Full Scale
|
|||
|
|
*/
|
|||
|
|
LSM6DS0_GYRO_FS_t fullscale;
|
|||
|
|
/**
|
|||
|
|
* @brief Gyroscope Output Selection
|
|||
|
|
*/
|
|||
|
|
LSM6DS0_GYRO_OUT_SEL_t outputselect;
|
|||
|
|
/**
|
|||
|
|
* @brief Gyroscope Interrupt Selection
|
|||
|
|
*/
|
|||
|
|
LSM6DS0_GYRO_INT_SEL_t irqselect;
|
|||
|
|
/**
|
|||
|
|
* @brief Gyroscope Low Power Mode
|
|||
|
|
*/
|
|||
|
|
LSM6DS0_GYRO_LP_MODE_t lowpowermode;
|
|||
|
|
/**
|
|||
|
|
* @brief Gyroscope High Pass Filter Cutoff Selection
|
|||
|
|
*/
|
|||
|
|
LSM6DS0_GYRO_HPCF_t HPCfrequency;
|
|||
|
|
/**
|
|||
|
|
* @brief Gyroscope Axes Enabling
|
|||
|
|
*/
|
|||
|
|
LSM6DS0_GYRO_AE_t axesenabling;
|
|||
|
|
/**
|
|||
|
|
* @brief Gyroscope Decimation Mode
|
|||
|
|
*/
|
|||
|
|
LSM6DS0_GYRO_DEC_t decimation;
|
|||
|
|
/**
|
|||
|
|
* @brief LSM6DS0 Endianness
|
|||
|
|
*/
|
|||
|
|
LSM6DS0_END_t endianess;
|
|||
|
|
/**
|
|||
|
|
* @brief LSM6DS0 Block Data Update
|
|||
|
|
*/
|
|||
|
|
LSM6DS0_BDU_t blockdataupdate;
|
|||
|
|
} LSM6DS0_GYRO_Config;
|
|||
|
|
/** @} */
|
|||
|
|
/*===========================================================================*/
|
|||
|
|
/* Driver macros. */
|
|||
|
|
/*===========================================================================*/
|
|||
|
|
|
|||
|
|
/*===========================================================================*/
|
|||
|
|
/* External declarations. */
|
|||
|
|
/*===========================================================================*/
|
|||
|
|
|
|||
|
|
#ifdef __cplusplus
|
|||
|
|
extern "C" {
|
|||
|
|
#endif
|
|||
|
|
|
|||
|
|
uint8_t lsm6ds0ReadRegister(I2CDriver *i2cp, uint8_t sad, uint8_t sub,
|
|||
|
|
msg_t* message);
|
|||
|
|
void lsm6ds0WriteRegister(I2CDriver *i2cp, uint8_t sad, uint8_t sub,
|
|||
|
|
uint8_t value, msg_t* message);
|
|||
|
|
#ifdef __cplusplus
|
|||
|
|
}
|
|||
|
|
#endif
|
|||
|
|
|
|||
|
|
#endif /* _LSM6DS0_H_ */
|
|||
|
|
|
|||
|
|
/** @} */
|