575 lines
19 KiB
C
575 lines
19 KiB
C
/*
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ChibiOS - Copyright (C) 2016 Rocco Marco Guglielmi
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This file is part of ChibiOS.
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ChibiOS 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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ChibiOS 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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* @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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#include "hal_accelerometer.h"
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#include "hal_gyroscope.h"
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/*===========================================================================*/
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/* Driver constants. */
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/*===========================================================================*/
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/**
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* @brief LSM6DS0 accelerometer subsystem number of axes.
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*/
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#define LSM6DS0_ACC_NUMBER_OF_AXES ((size_t) 3U)
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/**
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* @brief LSM6DS0 gyroscope subsystem number of axes.
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*/
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#define LSM6DS0_GYRO_NUMBER_OF_AXES ((size_t) 3U)
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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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* @name Configuration options
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* @{
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*/
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/**
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* @brief LSM6DS0 SPI interface selector.
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* @details If set to @p TRUE the support for SPI is included.
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* @note The default is @p FALSE.
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*/
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#if !defined(LSM6DS0_USE_SPI) || defined(__DOXYGEN__)
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#define LSM6DS0_USE_SPI FALSE
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#endif
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/**
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* @brief LSM6DS0 I2C interface selector.
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* @details If set to @p TRUE the support for I2C is included.
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* @note The default is @p TRUE.
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*/
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#if !defined(LSM6DS0_USE_I2C) || defined(__DOXYGEN__)
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#define LSM6DS0_USE_I2C TRUE
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#endif
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/**
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* @brief LSM6DS0 shared I2C switch.
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* @details If set to @p TRUE the device acquires I2C bus ownership
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* on each transaction.
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* @note The default is @p FALSE. Requires I2C_USE_MUTUAL_EXCLUSION
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*/
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#if !defined(LSM6DS0_SHARED_I2C) || defined(__DOXYGEN__)
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#define LSM6DS0_SHARED_I2C FALSE
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#endif
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/**
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* @brief Number of acquisitions for gyroscope bias removal
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* @details This is the number of acquisitions performed to compute the
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* bias. A repetition is required in order to remove noise.
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*/
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#if !defined(LSM6DS0_GYRO_BIAS_ACQ_TIMES) || defined(__DOXYGEN__)
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#define LSM6DS0_GYRO_BIAS_ACQ_TIMES 50
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#endif
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/**
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* @brief Settling time for gyroscope bias removal
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* @details This is the time between each bias acquisition.
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*/
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#if !defined(LSM6DS0_GYRO_BIAS_SETTLING_uS) || defined(__DOXYGEN__)
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#define LSM6DS0_GYRO_BIAS_SETTLING_uS 5000
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#endif
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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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#if LSM6DS0_USE_SPI && LSM6DS0_USE_I2C
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#error "LSM6DS0_USE_SPI and LSM6DS0_USE_I2C cannot be both true"
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#endif
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#if LSM6DS0_USE_SPI && !HAL_USE_SPI
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#error "LSM6DS0_USE_SPI requires HAL_USE_SPI"
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#endif
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#if LSM6DS0_USE_I2C && !HAL_USE_I2C
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#error "LSM6DS0_USE_I2C requires HAL_USE_I2C"
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#endif
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#if LSM6DS0_SHARED_I2C && !I2C_USE_MUTUAL_EXCLUSION
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#error "LSM6DS0_SHARED_SPI requires I2C_USE_MUTUAL_EXCLUSION"
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#endif
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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 LSM6DS0 accelerometer subsystem data structures and types
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* @{
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*/
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/**
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* @brief LSM6DS0 accelerometer subsystem full scale
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*/
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typedef enum {
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LSM6DS0_ACC_FS_2G = 0x00, /**< Full scale <20>2g. */
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LSM6DS0_ACC_FS_4G = 0x10, /**< Full scale <20>4g. */
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LSM6DS0_ACC_FS_8G = 0x18, /**< Full scale <20>8g. */
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LSM6DS0_ACC_FS_16G = 0x08 /**< Full scale <20>16g. */
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} lsm6ds0_acc_fs_t;
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/**
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* @brief LSM6DS0 accelerometer subsystem 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, /**< ODR 10 Hz */
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LSM6DS0_ACC_ODR_50Hz = 0x40, /**< ODR 50 Hz */
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LSM6DS0_ACC_ODR_119Hz = 0x60, /**< ODR 119 Hz */
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LSM6DS0_ACC_ODR_238Hz = 0x80, /**< ODR 238 Hz */
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LSM6DS0_ACC_ODR_476Hz = 0xA0, /**< ODR 476 Hz */
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LSM6DS0_ACC_ODR_952Hz = 0xC0 /**< ODR 952 Hz */
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} lsm6ds0_acc_odr_t;
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/**
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* @brief LSM6DS0 accelerometer subsystem axes enabling
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*/
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typedef enum {
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LSM6DS0_ACC_AE_DISABLED = 0x00, /**< All axes 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 and 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 and Z axes enabled. */
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LSM6DS0_ACC_AE_YZ = 0x30, /**< Y and 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 LSM6DS0 accelerometer subsystem anti aliasing filter bandwidth
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*/
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typedef enum {
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LSM6DS0_ACC_OBW_ODR = 0x00, /**< Depending on ODR. */
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LSM6DS0_ACC_OBW_AA = 0x04 /**< Same of the Anti aliasing. */
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} lsm6ds0_acc_obw_t;
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/**
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* @brief LSM6DS0 accelerometer subsystem high resolution mode
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*/
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typedef enum {
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LSM6DS0_ACC_HR_DISABLED = 0x00, /**< High resolution mode disabled. */
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LSM6DS0_ACC_HR_ENABLED = 0x80 /**< High resolution mode enabled. */
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} lsm6ds0_acc_hr_t;
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/**
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* @brief LSM6DS0 accelerometer subsystem filtered data selection
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*/
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typedef enum {
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LSM6DS0_ACC_FDS_ENABLED = 0x00, /**< Internal filter bypassed. */
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LSM6DS0_ACC_FDS_DISABLED = 0x04 /**< Internal filter not bypassed. */
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} lsm6ds0_acc_fds_t;
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/**
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* @brief LSM6DS0 accelerometer subsystem digital filter
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*/
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typedef enum {
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LSM6DS0_ACC_DCF_400 = 0x00, /**< Low pass cutoff freq. ODR/400 Hz. */
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LSM6DS0_ACC_DCF_100 = 0x20, /**< Low pass cutoff freq. ODR/100 Hz. */
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LSM6DS0_ACC_DCF_50 = 0x60, /**< Low pass cutoff freq. ODR/50 Hz. */
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LSM6DS0_ACC_DCF_9 = 0x40 /**< Low pass cutoff freq. ODR/9 Hz. */
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} lsm6ds0_acc_dcf_t;
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/**
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* @brief LSM6DS0 accelerometer subsystem anti aliasing filter bandwidth
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*/
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typedef enum {
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LSM6DS0_ACC_AABW_408Hz = 0x00, /**< Anti Aliasing filter BW 408Hz. */
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LSM6DS0_ACC_AABW_211Hz = 0x01, /**< Anti Aliasing filter BW 211Hz. */
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LSM6DS0_ACC_AABW_105Hz = 0x02, /**< Anti Aliasing filter BW 105Hz. */
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LSM6DS0_ACC_AABW_50Hz = 0x03, /**< Anti Aliasing filter BW 50Hz. */
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LSM6DS0_ACC_AABW_AUTO = 0x04 /**< Anti Aliasing filter BW auto. */
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} lsm6ds0_acc_aabw_t;
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/**
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* @brief LSM6DS0 accelerometer subsystem decimation mode
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*/
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typedef enum {
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LSM6DS0_ACC_DEC_DISABLED = 0x00, /**< Decimation disabled. */
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LSM6DS0_ACC_DEC_X2 = 0x40, /**< Output updated every 2 samples. */
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LSM6DS0_ACC_DEC_X4 = 0x80, /**< Output updated every 4 samples. */
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LSM6DS0_ACC_DEC_X8 = 0xC0 /**< Output updated every 8 samples. */
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} lsm6ds0_acc_dec_t;
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/**
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* @brief LSM6DS0 accelerometer subsystem unit
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*/
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typedef enum {
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LSM6DS0_ACC_UNIT_G = 0x00, /**< Cooked data in g. */
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LSM6DS0_ACC_UNIT_MG = 0x01, /**< Cooked data in mg. */
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LSM6DS0_ACC_UNIT_SI = 0x02, /**< Cooked data in m/s^2. */
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} lsm6ds0_acc_unit_t;
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/**
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* @brief LSM6DS0 accelerometer subsystem configuration structure.
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*/
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typedef struct {
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/**
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* @brief LSM6DS0 accelerometer subsystem full scale
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*/
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lsm6ds0_acc_fs_t fullscale;
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/**
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* @brief LSM6DS0 accelerometer subsystem output data rate
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*/
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lsm6ds0_acc_odr_t outdatarate;
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/**
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* @brief LSM6DS0 accelerometer subsystem axes enabling
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*/
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lsm6ds0_acc_ae_t axesenabling;
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/**
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* @brief LSM6DS0 accelerometer subsystem output bandwidth
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*/
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lsm6ds0_acc_obw_t outbandwidth;
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/**
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* @brief LSM6DS0 accelerometer subsystem high resolution mode
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*/
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lsm6ds0_acc_hr_t highresmode;
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/**
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* @brief LSM6DS0 accelerometer subsystem filtered data selection
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*/
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lsm6ds0_acc_fds_t filtdatasel;
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/**
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* @brief LSM6DS0 accelerometer subsystem digital filter
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*/
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lsm6ds0_acc_dcf_t digifilter;
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/**
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* @brief LSM6DS0 accelerometer subsystem anti aliasing filter bandwidth
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*/
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lsm6ds0_acc_aabw_t aabandwidth;
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/**
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* @brief LSM6DS0 accelerometer subsystem decimation mode
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*/
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lsm6ds0_acc_dec_t decmode;
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/**
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* @brief LSM6DS0 accelerometer subsystem unit
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*/
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lsm6ds0_acc_unit_t unit;
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} LSM6DS0AccConfig;
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/** @} */
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/**
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* @name LSM6DS0 gyroscope subsystem data structures and types
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* @{
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*/
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/**
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* @brief LSM6DS0 gyroscope subsystem full scale
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*/
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typedef enum {
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LSM6DS0_GYRO_FS_245DSP = 0x00, /**< Full scale ±245 degree per second */
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LSM6DS0_GYRO_FS_500DSP = 0x08, /**< Full scale ±500 degree per second */
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LSM6DS0_GYRO_FS_2000DSP = 0x18 /**< Full scale ±2000 degree per second */
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} lsm6ds0_gyro_fs_t;
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/**
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* @brief LSM6DS0 gyroscope subsystem output data rate
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*/
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typedef enum {
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LSM6DS0_GYRO_ODR_PD = 0x00,
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LSM6DS0_GYRO_ODR_95HZ_FC_25 = 0x10,
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LSM6DS0_GYRO_ODR_14_9HZ_FC_5 = 0X20,
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LSM6DS0_GYRO_ODR_59_5HZ_FC_16 = 0X40,
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LSM6DS0_GYRO_ODR_119HZ_FC_14 = 0X60,
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LSM6DS0_GYRO_ODR_119HZ_FC_31 = 0X61,
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LSM6DS0_GYRO_ODR_238HZ_FC_14 = 0X80,
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LSM6DS0_GYRO_ODR_238HZ_FC_29 = 0X81,
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LSM6DS0_GYRO_ODR_238HZ_FC_63 = 0X82,
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LSM6DS0_GYRO_ODR_238HZ_FC_78 = 0X83,
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LSM6DS0_GYRO_ODR_476HZ_FC_21 = 0XA0,
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LSM6DS0_GYRO_ODR_476HZ_FC_28 = 0XA1,
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LSM6DS0_GYRO_ODR_476HZ_FC_57 = 0XA2,
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LSM6DS0_GYRO_ODR_476HZ_FC_100 = 0XA3,
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LSM6DS0_GYRO_ODR_952HZ_FC_33 = 0XC0,
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LSM6DS0_GYRO_ODR_952HZ_FC_40 = 0XC1,
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LSM6DS0_GYRO_ODR_952HZ_FC_58 = 0XC2,
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LSM6DS0_GYRO_ODR_952HZ_FC_100 = 0XC3
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} lsm6ds0_gyro_odr_t;
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/**
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* @brief LSM6DS0 gyroscope subsystem axes enabling
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*/
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typedef enum {
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LSM6DS0_GYRO_AE_DISABLED = 0x00, /**< All axes disabled. */
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LSM6DS0_GYRO_AE_X = 0x08, /**< Only X-axis enabled. */
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LSM6DS0_GYRO_AE_Y = 0x10, /**< Only Y-axis enabled. */
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LSM6DS0_GYRO_AE_XY = 0x18, /**< X and Y axes enabled. */
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LSM6DS0_GYRO_AE_Z = 0x20, /**< Only Z-axis enabled. */
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LSM6DS0_GYRO_AE_XZ = 0x28, /**< X and Z axes enabled. */
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LSM6DS0_GYRO_AE_YZ = 0x30, /**< Y and Z axes enabled. */
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LSM6DS0_GYRO_AE_XYZ = 0x38 /**< All axes enabled. */
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} lsm6ds0_gyro_ae_t;
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/**
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* @brief LSM6DS0 gyroscope subsystem low mode configuration
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*/
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typedef enum {
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LSM6DS0_GYRO_LP_DISABLED = 0x00, /**< Low power mode disabled. */
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LSM6DS0_GYRO_LP_ENABLED = 0x80 /**< Low power mode enabled. */
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} lsm6ds0_gyro_lp_t;
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/**
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* @brief LSM6DS0 gyroscope subsystem output selection
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*/
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typedef enum {
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LSM6DS0_GYRO_OUT_SEL_0 = 0x00, /**< Low pass filter 1. */
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LSM6DS0_GYRO_OUT_SEL_1 = 0x01, /**< High pass filter 1 if enabled. */
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LSM6DS0_GYRO_OUT_SEL_2 = 0x02 /**< Low pass filter 2. */
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} lsm6ds0_gyro_out_sel_t;
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/**
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* @brief LSM6DS0 gyroscope subsystem high pass filter
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*/
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typedef enum {
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LSM6DS0_GYRO_HP_DISABLED = 0x00, /**< High pass filter disabled. */
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LSM6DS0_GYRO_HP_ENABLED = 0x40 /**< High pass filter enabled. */
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} lsm6ds0_gyro_hp_t;
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/**
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* @brief LSM6DS0 gyroscope subsystem high pass filter configuration
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*/
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typedef enum {
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LSM6DS0_GYRO_HPCF_0 = 0x00, /**< Refer to table 48 of RM */
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LSM6DS0_GYRO_HPCF_1 = 0x01,
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LSM6DS0_GYRO_HPCF_2 = 0x02,
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LSM6DS0_GYRO_HPCF_3 = 0x03,
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LSM6DS0_GYRO_HPCF_4 = 0x04,
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LSM6DS0_GYRO_HPCF_5 = 0x05,
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LSM6DS0_GYRO_HPCF_6 = 0x06,
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LSM6DS0_GYRO_HPCF_7 = 0x07,
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LSM6DS0_GYRO_HPCF_8 = 0x08,
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LSM6DS0_GYRO_HPCF_9 = 0x09
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} lsm6ds0_gyro_hpcf_t;
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/**
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* @brief LSM6DS0 gyroscope subsystem configuration structure.
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*/
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typedef struct {
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/**
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* @brief LSM6DS0 gyroscope subsystem full scale
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*/
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lsm6ds0_gyro_fs_t fullscale;
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/**
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* @brief LSM6DS0 gyroscope subsystem output data rate
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*/
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lsm6ds0_gyro_odr_t outdatarate;
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/**
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* @brief LSM6DS0 gyroscope subsystem axes enabling
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*/
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lsm6ds0_gyro_ae_t axesenabling;
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/**
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* @brief LSM6DS0 gyroscope subsystem low mode configuration
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*/
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lsm6ds0_gyro_lp_t lowmodecfg;
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/**
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* @brief LSM6DS0 gyroscope subsystem output selection
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*/
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lsm6ds0_gyro_out_sel_t outsel;
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/**
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* @brief LSM6DS0 gyroscope subsystem high pass filter
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*/
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lsm6ds0_gyro_hp_t hpfenable;
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/**
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* @brief LSM6DS0 gyroscope subsystem high pass filter configuration
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*/
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lsm6ds0_gyro_hpcf_t hpcfg;
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} LSM6DS0GyroConfig;
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/** @} */
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/**
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* @name LSM6DS0 main system 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, /**< SAD pin connected to GND. */
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LSM6DS0_SAD_VCC = 0x6B /**< SAD pin connected to VCC. */
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} lsm6ds0_sad_t;
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/**
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* @brief LSM6DS0 block data update
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*/
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typedef enum {
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LSM6DS0_BDU_CONTINOUS = 0x00, /**< Block data continuously updated. */
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LSM6DS0_BDU_BLOCKED = 0x40 /**< Block data updated after reading. */
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} lsm6ds0_bdu_t;
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/**
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* @brief LSM6DS0 endianness
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*/
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typedef enum {
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LSM6DS0_END_LITTLE = 0x00, /**< Little endian. */
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LSM6DS0_END_BIG = 0x20 /**< Big endian. */
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} lsm6ds0_end_t;
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/**
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* @brief Driver state machine possible states.
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*/
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typedef enum {
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LSM6DS0_UNINIT = 0, /**< Not initialized. */
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LSM6DS0_STOP = 1, /**< Stopped. */
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LSM6DS0_READY = 2, /**< Ready. */
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} lsm6ds0_state_t;
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/**
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* @brief LSM6DS0 configuration structure.
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*/
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typedef struct {
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#if (LSM6DS0_USE_SPI) || defined(__DOXYGEN__)
|
||
/**
|
||
* @brief SPI driver associated to this LSM6DS0.
|
||
*/
|
||
SPIDriver *spip;
|
||
/**
|
||
* @brief SPI configuration associated to this LSM6DS0 accelerometer
|
||
* subsystem.
|
||
*/
|
||
const SPIConfig *accspicfg;
|
||
/**
|
||
* @brief SPI configuration associated to this LSM6DS0 compass
|
||
* subsystem.
|
||
*/
|
||
const SPIConfig *gyrospicfg;
|
||
#endif /* LSM6DS0_USE_SPI */
|
||
#if (LSM6DS0_USE_I2C) || defined(__DOXYGEN__)
|
||
/**
|
||
* @brief I2C driver associated to this LSM6DS0.
|
||
*/
|
||
I2CDriver *i2cp;
|
||
/**
|
||
* @brief I2C configuration associated to this LSM6DS0 accelerometer
|
||
* subsystem.
|
||
*/
|
||
const I2CConfig *i2ccfg;
|
||
#endif /* LSM6DS0_USE_I2C */
|
||
/**
|
||
* @brief LSM6DS0 accelerometer subsystem configuration structure
|
||
*/
|
||
const LSM6DS0AccConfig *acccfg;
|
||
/**
|
||
* @brief LSM6DS0 gyroscope subsystem configuration structure
|
||
*/
|
||
const LSM6DS0GyroConfig *gyrocfg;
|
||
/**
|
||
* @brief Accelerometer and Gyroscope Slave Address
|
||
*/
|
||
lsm6ds0_sad_t slaveaddress;
|
||
/**
|
||
* @brief LSM6DS0 block data update
|
||
*/
|
||
lsm6ds0_bdu_t blockdataupdate;
|
||
/**
|
||
* @brief LSM6DS0 endianness
|
||
*/
|
||
lsm6ds0_end_t endianness;
|
||
} LSM6DS0Config;
|
||
|
||
/**
|
||
* @brief Structure representing a LSM6DS0 driver.
|
||
*/
|
||
typedef struct LSM6DS0Driver LSM6DS0Driver;
|
||
|
||
/**
|
||
* @brief @p LSM6DS0 accelerometer subsystem specific methods.
|
||
*/
|
||
#define _lsm6ds0_acc_methods \
|
||
_base_accelerometer_methods
|
||
|
||
/**
|
||
* @brief @p LSM6DS0 gyroscope subsystem specific methods.
|
||
*/
|
||
#define _lsm6ds0_gyro_methods \
|
||
_base_gyroscope_methods
|
||
|
||
/**
|
||
* @extends BaseAccelerometerVMT
|
||
*
|
||
* @brief @p LSM6DS0 accelerometer virtual methods table.
|
||
*/
|
||
struct LSM6DS0ACCVMT {
|
||
_lsm6ds0_acc_methods
|
||
};
|
||
|
||
/**
|
||
* @extends BaseCompassVMT
|
||
*
|
||
* @brief @p LSM6DS0 gyroscope virtual methods table.
|
||
*/
|
||
struct LSM6DS0GYROVMT {
|
||
_lsm6ds0_gyro_methods
|
||
};
|
||
|
||
/**
|
||
* @brief @p LSM6DS0Driver specific data.
|
||
*/
|
||
#define _lsm6ds0_data \
|
||
_base_accelerometer_data \
|
||
_base_gyroscope_data \
|
||
/* Driver state.*/ \
|
||
lsm6ds0_state_t state; \
|
||
/* Current configuration data.*/ \
|
||
const LSM6DS0Config *config; \
|
||
/* Current accelerometer sensitivity.*/ \
|
||
float accsens; \
|
||
/* Current gyroscope sensitivity.*/ \
|
||
float gyrosens; \
|
||
/* Bias data.*/ \
|
||
int32_t gyrobias[LSM6DS0_GYRO_NUMBER_OF_AXES];
|
||
|
||
/**
|
||
* @brief LSM6DS0 6-axis accelerometer/gyroscope class.
|
||
*/
|
||
struct LSM6DS0Driver {
|
||
/** @brief Accelerometer Virtual Methods Table.*/
|
||
const struct LSM6DS0ACCVMT *vmt_baseaccelerometer;
|
||
/** @brief Gyroscope Virtual Methods Table.*/
|
||
const struct LSM6DS0GYROVMT *vmt_basegyroscope;
|
||
_lsm6ds0_data
|
||
};
|
||
/** @} */
|
||
|
||
/*===========================================================================*/
|
||
/* Driver macros. */
|
||
/*===========================================================================*/
|
||
|
||
/*===========================================================================*/
|
||
/* External declarations. */
|
||
/*===========================================================================*/
|
||
|
||
#ifdef __cplusplus
|
||
extern "C" {
|
||
#endif
|
||
void lsm6ds0ObjectInit(LSM6DS0Driver *devp);
|
||
void lsm6ds0Start(LSM6DS0Driver *devp, const LSM6DS0Config *config);
|
||
void lsm6ds0Stop(LSM6DS0Driver *devp);
|
||
#ifdef __cplusplus
|
||
}
|
||
#endif
|
||
|
||
#endif /* _LSM6DS0_H_ */
|
||
|
||
/** @} */
|