49 #if (LSM6DSL_USE_I2C) || defined(__DOXYGEN__) 64 uint8_t* rxbuf,
size_t n) {
83 #define lsm6dslI2CWriteRegister(i2cp, sad, txbuf, n) \ 84 i2cMasterTransmitTimeout(i2cp, sad, txbuf, n + 1, NULL, 0, \ 129 "acc_read_raw(), invalid state");
132 "acc_read_raw(), channel not ready");
134 #if LSM6DSL_SHARED_I2C 137 devp->config->i2ccfg);
141 LSM6DSL_AD_OUTX_L_XL, buff,
144 #if LSM6DSL_SHARED_I2C 150 tmp = buff[2 * i] + (buff[2 * i + 1] << 8);
151 axes[i] = (int32_t)tmp;
185 "acc_read_cooked(), invalid state");
189 axes[i] = (raw[i] * devp->accsensitivity[i]) - devp->accbias[i];
217 "acc_set_bias(), invalid state");
220 devp->accbias[i] = bp[i];
246 "acc_reset_bias(), invalid state");
249 devp->accbias[i] = LSM6DSL_ACC_BIAS;
276 "acc_set_sensivity(), invalid state");
279 devp->accsensitivity[i] = sp[i];
305 "acc_reset_sensivity(), invalid state");
309 devp->accsensitivity[i] = LSM6DSL_ACC_SENS_2G;
312 devp->accsensitivity[i] = LSM6DSL_ACC_SENS_4G;
315 devp->accsensitivity[i] = LSM6DSL_ACC_SENS_8G;
318 devp->accsensitivity[i] = LSM6DSL_ACC_SENS_16G;
347 "acc_set_full_scale(), invalid state");
349 "acc_set_full_scale(), channel not ready");
353 newfs = LSM6DSL_ACC_2G;
356 newfs = LSM6DSL_ACC_4G;
359 newfs = LSM6DSL_ACC_8G;
362 newfs = LSM6DSL_ACC_16G;
369 if(newfs != devp->accfullscale) {
371 scale = newfs / devp->accfullscale;
372 devp->accfullscale = newfs;
374 #if LSM6DSL_SHARED_I2C 377 devp->config->i2ccfg);
382 devp->config->slaveaddress,
383 LSM6DSL_AD_CTRL1_XL, &buff[1], 1);
385 #if LSM6DSL_SHARED_I2C 392 buff[1] &= ~(LSMDSL_CTRL1_XL_FS_MASK);
394 buff[0] = LSM6DSL_AD_CTRL1_XL;
396 #if LSM6DSL_SHARED_I2C 398 i2cStart(devp->config->i2cp, devp->config->i2ccfg);
402 devp->config->slaveaddress, buff, 1);
404 #if LSM6DSL_SHARED_I2C 413 devp->accsensitivity[i] *= scale;
414 devp->accbias[i] *= scale;
461 "gyro_read_raw(), invalid state");
464 "gyro_read_raw(), channel not ready");
466 #if LSM6DSL_SHARED_I2C 469 devp->config->i2ccfg);
473 LSM6DSL_AD_OUTX_L_G, buff,
474 LSM6DSL_GYRO_NUMBER_OF_AXES * 2);
476 #if LSM6DSL_SHARED_I2C 482 tmp = buff[2 * i] + (buff[2 * i + 1] << 8);
483 axes[i] = (int32_t)tmp;
517 "gyro_read_cooked(), invalid state");
521 axes[i] = (raw[i] * devp->gyrosensitivity[i]) - devp->gyrobias[i];
551 "gyro_sample_bias(), invalid state");
554 "gyro_sample_bias(), channel not ready");
569 devp->gyrobias[i] *= devp->gyrosensitivity[i];
597 "gyro_set_bias(), invalid state");
600 devp->gyrobias[i] = bp[i];
626 "gyro_reset_bias(), invalid state");
629 devp->gyrobias[i] = LSM6DSL_GYRO_BIAS;
656 "gyro_set_sensivity(), invalid state");
659 devp->gyrosensitivity[i] = sp[i];
685 "gyro_reset_sensivity(), invalid state");
688 devp->gyrosensitivity[i] = LSM6DSL_GYRO_SENS_125DPS;
691 devp->gyrosensitivity[i] = LSM6DSL_GYRO_SENS_250DPS;
694 devp->gyrosensitivity[i] = LSM6DSL_GYRO_SENS_500DPS;
697 devp->gyrosensitivity[i] = LSM6DSL_GYRO_SENS_1000DPS;
700 devp->gyrosensitivity[i] = LSM6DSL_GYRO_SENS_2000DPS;
729 "gyro_set_full_scale(), invalid state");
732 "gyro_set_full_scale(), channel not ready");
736 newfs = LSM6DSL_GYRO_125DPS;
739 newfs = LSM6DSL_GYRO_250DPS;
742 newfs = LSM6DSL_GYRO_500DPS;
745 newfs = LSM6DSL_GYRO_1000DPS;
748 newfs = LSM6DSL_GYRO_2000DPS;
754 if(newfs != devp->gyrofullscale) {
755 scale = newfs / devp->gyrofullscale;
756 devp->gyrofullscale = newfs;
759 #if LSM6DSL_SHARED_I2C 762 devp->config->i2ccfg);
767 devp->config->slaveaddress,
768 LSM6DSL_AD_CTRL2_G, &buff[1], 1);
770 #if LSM6DSL_SHARED_I2C 775 buff[1] &= ~(LSMDSL_CTRL2_G_FS_MASK);
777 buff[0] = LSM6DSL_AD_CTRL2_G;
780 #if LSM6DSL_SHARED_I2C 783 devp->config->i2ccfg);
789 #if LSM6DSL_SHARED_I2C 796 devp->gyrosensitivity[i] *= scale;
797 devp->gyrobias[i] *= scale;
833 devp->
vmt = &vmt_device;
860 "lsm6dslStart(), invalid state");
862 devp->config = config;
866 cr[0] = LSM6DSL_AD_CTRL3_C;
867 cr[1] = LSMDSL_CTRL3_C_IF_INC;
870 #if LSM6DSL_SHARED_I2C 874 i2cStart(devp->config->i2cp, devp->config->i2ccfg);
878 #if LSM6DSL_SHARED_I2C 885 cr[0] = LSM6DSL_AD_CTRL1_XL;
888 cr[1] = devp->config->accoutdatarate |
889 devp->config->accfullscale;
893 cr[2] = devp->config->gyrooutdatarate |
894 devp->config->gyrofullscale;
898 cr[3] = LSMDSL_CTRL3_C_IF_INC;
899 #if LSM6DSL_USE_ADVANCED || defined(__DOXYGEN__) 900 cr[3] |= devp->config->endianness | devp->config->blockdataupdate;
906 #if LSM6DSL_USE_ADVANCED || defined(__DOXYGEN__) 908 cr[4] |= LSMDSL_CTRL4_C_LPF1_SEL_G;
922 #if LSM6DSL_USE_ADVANCED || defined(__DOXYGEN__) 923 cr[6] |= devp->config->acclpmode;
926 #if LSM6DSL_USE_ADVANCED || defined(__DOXYGEN__) 928 cr[6] |= devp->config->gyrolowpassfilter;
938 #if LSM6DSL_USE_ADVANCED || defined(__DOXYGEN__) 939 cr[7] |= devp->config->gyrolpmode;
957 #if LSM6DSL_SHARED_I2C 959 i2cStart(devp->config->i2cp, devp->config->i2ccfg);
965 #if LSM6DSL_SHARED_I2C 973 if(devp->config->accsensitivity == NULL)
974 devp->accsensitivity[i] = LSM6DSL_ACC_SENS_2G;
976 devp->accsensitivity[i] = devp->config->accsensitivity[i];
978 devp->accfullscale = LSM6DSL_ACC_2G;
982 if(devp->config->accsensitivity == NULL)
983 devp->accsensitivity[i] = LSM6DSL_ACC_SENS_4G;
985 devp->accsensitivity[i] = devp->config->accsensitivity[i];
987 devp->accfullscale = LSM6DSL_ACC_4G;
991 if(devp->config->accsensitivity == NULL)
992 devp->accsensitivity[i] = LSM6DSL_ACC_SENS_8G;
994 devp->accsensitivity[i] = devp->config->accsensitivity[i];
996 devp->accfullscale = LSM6DSL_ACC_8G;
1000 if(devp->config->accsensitivity == NULL)
1001 devp->accsensitivity[i] = LSM6DSL_ACC_SENS_16G;
1003 devp->accsensitivity[i] = devp->config->accsensitivity[i];
1005 devp->accfullscale = LSM6DSL_ACC_16G;
1011 if(devp->config->accbias != NULL)
1013 devp->accbias[i] = devp->config->accbias[i];
1015 for(i = 0; i < LSM6DSL_ACC_NUMBER_OF_AXES; i++)
1016 devp->accbias[i] = LSM6DSL_ACC_BIAS;
1020 if(devp->config->gyrosensitivity == NULL)
1021 devp->gyrosensitivity[i] = LSM6DSL_GYRO_SENS_125DPS;
1023 devp->gyrosensitivity[i] = devp->config->gyrosensitivity[i];
1025 devp->gyrofullscale = LSM6DSL_GYRO_125DPS;
1029 if(devp->config->gyrosensitivity == NULL)
1030 devp->gyrosensitivity[i] = LSM6DSL_GYRO_SENS_250DPS;
1032 devp->gyrosensitivity[i] = devp->config->gyrosensitivity[i];
1034 devp->gyrofullscale = LSM6DSL_GYRO_250DPS;
1038 if(devp->config->gyrosensitivity == NULL)
1039 devp->gyrosensitivity[i] = LSM6DSL_GYRO_SENS_500DPS;
1041 devp->gyrosensitivity[i] = devp->config->gyrosensitivity[i];
1043 devp->gyrofullscale = LSM6DSL_GYRO_500DPS;
1047 if(devp->config->gyrosensitivity == NULL)
1048 devp->gyrosensitivity[i] = LSM6DSL_GYRO_SENS_1000DPS;
1050 devp->gyrosensitivity[i] = devp->config->gyrosensitivity[i];
1052 devp->gyrofullscale = LSM6DSL_GYRO_1000DPS;
1056 if(devp->config->gyrosensitivity == NULL)
1057 devp->gyrosensitivity[i] = LSM6DSL_GYRO_SENS_2000DPS;
1059 devp->gyrosensitivity[i] = devp->config->gyrosensitivity[i];
1061 devp->gyrofullscale = LSM6DSL_GYRO_2000DPS;
1067 if(devp->config->gyrobias != NULL)
1069 devp->gyrobias[i] = devp->config->gyrobias[i];
1071 for(i = 0; i < LSM6DSL_GYRO_NUMBER_OF_AXES; i++)
1072 devp->gyrobias[i] = LSM6DSL_GYRO_BIAS;
1093 "lsm6dslStop(), invalid state");
1097 #if LSM6DSL_SHARED_I2C 1099 i2cStart(devp->config->i2cp, devp->config->i2ccfg);
1103 cr[0] = LSM6DSL_AD_CTRL1_XL;
1112 #if LSM6DSL_SHARED_I2C
lsm6dsl_gyro_fs_t
LSM6DSL gyroscope subsystem full scale.
msg_t i2cMasterTransmitTimeout(I2CDriver *i2cp, i2caddr_t addr, const uint8_t *txbuf, size_t txbytes, uint8_t *rxbuf, size_t rxbytes, sysinterval_t timeout)
Sends data via the I2C bus.
void lsm6dslObjectInit(LSM6DSLDriver *devp)
Initializes an instance.
void i2cStart(I2CDriver *i2cp, const I2CConfig *config)
Configures and activates the I2C peripheral.
msg_t lsm6dslI2CReadRegister(I2CDriver *i2cp, lsm6dsl_sad_t sad, uint8_t reg, uint8_t *rxbuf, size_t n)
Reads registers value using I2C.
#define osalThreadSleepMicroseconds(usecs)
Delays the invoking thread for the specified number of microseconds.
static msg_t gyro_read_raw(void *ip, int32_t axes[LSM6DSL_GYRO_NUMBER_OF_AXES])
Retrieves raw data from the BaseGyroscope.
void lsm6dslStop(LSM6DSLDriver *devp)
Deactivates the LSM6DSL Complex Driver peripheral.
static msg_t gyro_read_cooked(void *ip, float axes[])
Retrieves cooked data from the BaseGyroscope.
LSM6DSL MEMS interface module header.
BaseAccelerometer acc_if
Base accelerometer interface.
void i2cAcquireBus(I2CDriver *i2cp)
Gains exclusive access to the I2C bus.
void i2cReleaseBus(I2CDriver *i2cp)
Releases exclusive access to the I2C bus.
static msg_t acc_set_full_scale(LSM6DSLDriver *devp, lsm6dsl_acc_fs_t fs)
Changes the LSM6DSLDriver accelerometer fullscale value.
static msg_t gyro_sample_bias(void *ip)
Samples bias values for the BaseGyroscope.
BaseGyroscope virtual methods table.
#define LSM6DSL_GYRO_BIAS_SETTLING_US
Settling time for gyroscope bias removal.
static msg_t acc_reset_sensivity(void *ip)
Reset sensitivity values for the BaseAccelerometer.
static size_t gyro_get_axes_number(void *ip)
Return the number of axes of the BaseGyroscope.
static msg_t acc_set_sensivity(void *ip, float *sp)
Set sensitivity values for the BaseAccelerometer.
LSM6DSL virtual methods table.
#define objGetInstance(type, ip)
Returns the instance pointer starting from an interface pointer.
LSM6DSL configuration structure.
static msg_t gyro_set_bias(void *ip, float *bp)
Set bias values for the BaseGyroscope.
#define LSM6DSL_GYRO_NUMBER_OF_AXES
L3GD20 gyroscope system characteristics.
lsm6dsl_acc_fs_t
LSM6DSL accelerometer subsystem full scale.
#define osalThreadSleepMilliseconds(msecs)
Delays the invoking thread for the specified number of milliseconds.
static size_t acc_get_axes_number(void *ip)
Return the number of axes of the BaseAccelerometer.
void i2cStop(I2CDriver *i2cp)
Deactivates the I2C peripheral.
const struct BaseGyroscopeVMT * vmt
Virtual Methods Table.
Structure representing an I2C driver.
#define TIME_INFINITE
Infinite interval specification for all functions with a timeout specification.
#define lsm6dslI2CWriteRegister(i2cp, sad, txbuf, n)
Writes a value into a register using I2C.
#define osalDbgCheck(c)
Function parameters check.
void lsm6dslStart(LSM6DSLDriver *devp, const LSM6DSLConfig *config)
Configures and activates LSM6DSL Complex Driver peripheral.
lsm6dsl_sad_t
Accelerometer and Gyroscope Slave Address.
#define MSG_OK
Normal wakeup message.
static msg_t gyro_set_sensivity(void *ip, float *sp)
Set sensitivity values for the BaseGyroscope.
BaseGyroscope gyro_if
Base gyroscope interface.
static msg_t acc_reset_bias(void *ip)
Reset bias values for the BaseAccelerometer.
static msg_t acc_read_raw(void *ip, int32_t axes[])
Retrieves raw data from the BaseAccelerometer.
#define LSM6DSL_GYRO_BIAS_ACQ_TIMES
Number of acquisitions for gyroscope bias removal.
static msg_t gyro_reset_bias(void *ip)
Reset bias values for the BaseGyroscope.
static msg_t gyro_reset_sensivity(void *ip)
Reset sensitivity values for the BaseGyroscope.
#define osalDbgAssert(c, remark)
Condition assertion.
const struct LSM6DSLVMT * vmt
Virtual Methods Table.
static msg_t acc_read_cooked(void *ip, float axes[])
Retrieves cooked data from the BaseAccelerometer.
#define LSM6DSL_ACC_NUMBER_OF_AXES
LSM6DSL accelerometer subsystem characteristics.
BaseAccelerometer virtual methods table.
Base accelerometer class.
static msg_t acc_set_bias(void *ip, float *bp)
Set bias values for the BaseAccelerometer.
const struct BaseAccelerometerVMT * vmt
Virtual Methods Table.
LSM6DSL 6-axis accelerometer/gyroscope class.
#define FALSE
Generic 'false' preprocessor boolean constant.
#define MSG_RESET
Wakeup caused by a reset condition.
static msg_t gyro_set_full_scale(LSM6DSLDriver *devp, lsm6dsl_gyro_fs_t fs)
Changes the LSM6DSLDriver gyroscope fullscale value.