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65
P3_SETR2/Components/lsm6dsl/Release_Notes.html Normal file
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<!DOCTYPE html>
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
<head>
<meta charset="utf-8" />
<meta name="generator" content="pandoc" />
<meta name="viewport" content="width=device-width, initial-scale=1.0, user-scalable=yes" />
<title>Release Notes for LSM6DSL Component Drivers</title>
<style type="text/css">
code{white-space: pre-wrap;}
span.smallcaps{font-variant: small-caps;}
span.underline{text-decoration: underline;}
div.column{display: inline-block; vertical-align: top; width: 50%;}
</style>
<link rel="stylesheet" href="../../../../_htmresc/mini-st.css" />
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<script src="//cdnjs.cloudflare.com/ajax/libs/html5shiv/3.7.3/html5shiv-printshiv.min.js"></script>
<![endif]-->
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<body>
<div class="row">
<div class="col-sm-12 col-lg-4">
<div class="card fluid">
<div class="sectione dark">
<center>
<h1 id="release-notes-for-lsm6dsl-component-drivers"><small>Release Notes for</small> <mark>LSM6DSL Component Drivers</mark></h1>
<p>Copyright © 2017 STMicroelectronics<br />
</p>
<a href="https://www.st.com" class="logo"><img src="../../../../_htmresc/st_logo.png" alt="ST logo" /></a>
</center>
</div>
</div>
<h1 id="license">License</h1>
<p>Licensed by ST under BSD 3-Clause license (the "License"). You may not use this package except in compliance with the License. You may obtain a copy of the License at:</p>
<p><a href="https://opensource.org/licenses/BSD-3-Clause">https://opensource.org/licenses/BSD-3-Clause</a></p>
<h1 id="purpose">Purpose</h1>
<p>This directory contains the LSM6DSL component drivers.</p>
</div>
<div class="col-sm-12 col-lg-8">
<h1 id="update-history">Update History</h1>
<div class="collapse">
<input type="checkbox" id="collapse-section22" checked aria-hidden="true"> <label for="collapse-section22" aria-hidden="true">V1.0.1 / 03-April-2019</label>
<div>
<h2 id="main-changes">Main Changes</h2>
<ul>
<li>Update release notes format</li>
<li>Reformat the BSD 3-Clause license declaration in the files header (replace license terms by a web reference to OSI website where those terms lie)</li>
</ul>
</div>
</div>
<div class="collapse">
<input type="checkbox" id="collapse-section19" aria-hidden="true"> <label for="collapse-section19" aria-hidden="true">V1.0.0 / 14-February-2017</label>
<div>
<h2 id="main-changes-1">Main Changes</h2>
<ul>
<li>First official release of LSM6DSL Accelerometer/Gyroscope sensor</li>
</ul>
</div>
</div>
</div>
</div>
<footer class="sticky">
For complete documentation on <mark>STM32 Microcontrollers</mark> , visit: <a href="http://www.st.com/STM32">http://www.st.com/STM32</a>
</footer>
</body>
</html>

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P3_SETR2/Components/lsm6dsl/lsm6dsl.c Normal file
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/**
******************************************************************************
* @file lsm6dsl.c
* @author MCD Application Team
* @brief This file provides a set of functions needed to manage the LSM6DSL
* accelero and gyro devices
******************************************************************************
* @attention
*
* <<h2><center>&copy; Copyright (c) 2017 STMicroelectronics.
* All rights reserved.</center></h2>
*
* This software component is licensed by ST under BSD 3-Clause license,
* the "License"; You may not use this file except in compliance with the
* License. You may obtain a copy of the License at:
* opensource.org/licenses/BSD-3-Clause
*
******************************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include "lsm6dsl.h"
/** @addtogroup BSP
* @{
*/
/** @addtogroup Component
* @{
*/
/** @defgroup LSM6DSL LSM6DSL
* @{
*/
/** @defgroup LSM6DSL_Private_Variables LSM6DSL Private Variables
* @{
*/
ACCELERO_DrvTypeDef Lsm6dslAccDrv =
{
LSM6DSL_AccInit,
LSM6DSL_AccDeInit,
LSM6DSL_AccReadID,
0,
LSM6DSL_AccLowPower,
0,
0,
0,
0,
0,
0,
0,
LSM6DSL_AccReadXYZ
};
GYRO_DrvTypeDef Lsm6dslGyroDrv =
{
LSM6DSL_GyroInit,
LSM6DSL_GyroDeInit,
LSM6DSL_GyroReadID,
0,
LSM6DSL_GyroLowPower,
0,
0,
0,
0,
0,
0,
0,
LSM6DSL_GyroReadXYZAngRate
};
/**
* @}
*/
/** @defgroup LSM6DSL_ACC_Private_Functions LSM6DSL ACC Private Functions
* @{
*/
/**
* @brief Set LSM6DSL Accelerometer Initialization.
* @param InitStruct: Init parameters
*/
void LSM6DSL_AccInit(uint16_t InitStruct)
{
uint8_t ctrl = 0x00;
uint8_t tmp;
/* Read CTRL1_XL */
tmp = SENSOR_IO_Read(LSM6DSL_ACC_GYRO_I2C_ADDRESS_LOW, LSM6DSL_ACC_GYRO_CTRL1_XL);
/* Write value to ACC MEMS CTRL1_XL register: FS and Data Rate */
ctrl = (uint8_t) InitStruct;
tmp &= ~(0xFC);
tmp |= ctrl;
SENSOR_IO_Write(LSM6DSL_ACC_GYRO_I2C_ADDRESS_LOW, LSM6DSL_ACC_GYRO_CTRL1_XL, tmp);
/* Read CTRL3_C */
tmp = SENSOR_IO_Read(LSM6DSL_ACC_GYRO_I2C_ADDRESS_LOW, LSM6DSL_ACC_GYRO_CTRL3_C);
/* Write value to ACC MEMS CTRL3_C register: BDU and Auto-increment */
ctrl = ((uint8_t) (InitStruct >> 8));
tmp &= ~(0x44);
tmp |= ctrl;
SENSOR_IO_Write(LSM6DSL_ACC_GYRO_I2C_ADDRESS_LOW, LSM6DSL_ACC_GYRO_CTRL3_C, tmp);
}
/**
* @brief LSM6DSL Accelerometer De-initialization.
*/
void LSM6DSL_AccDeInit(void)
{
uint8_t ctrl = 0x00;
/* Read control register 1 value */
ctrl = SENSOR_IO_Read(LSM6DSL_ACC_GYRO_I2C_ADDRESS_LOW, LSM6DSL_ACC_GYRO_CTRL1_XL);
/* Clear ODR bits */
ctrl &= ~(LSM6DSL_ODR_BITPOSITION);
/* Set Power down */
ctrl |= LSM6DSL_ODR_POWER_DOWN;
/* write back control register */
SENSOR_IO_Write(LSM6DSL_ACC_GYRO_I2C_ADDRESS_LOW, LSM6DSL_ACC_GYRO_CTRL1_XL, ctrl);
}
/**
* @brief Read LSM6DSL ID.
* @retval ID
*/
uint8_t LSM6DSL_AccReadID(void)
{
/* IO interface initialization */
SENSOR_IO_Init();
/* Read value at Who am I register address */
return (SENSOR_IO_Read(LSM6DSL_ACC_GYRO_I2C_ADDRESS_LOW, LSM6DSL_ACC_GYRO_WHO_AM_I_REG));
}
/**
* @brief Set/Unset Accelerometer in low power mode.
* @param status 0 means disable Low Power Mode, otherwise Low Power Mode is enabled
*/
void LSM6DSL_AccLowPower(uint16_t status)
{
uint8_t ctrl = 0x00;
/* Read CTRL6_C value */
ctrl = SENSOR_IO_Read(LSM6DSL_ACC_GYRO_I2C_ADDRESS_LOW, LSM6DSL_ACC_GYRO_CTRL6_C);
/* Clear Low Power Mode bit */
ctrl &= ~(0x10);
/* Set Low Power Mode */
if(status)
{
ctrl |= LSM6DSL_ACC_GYRO_LP_XL_ENABLED;
}else
{
ctrl |= LSM6DSL_ACC_GYRO_LP_XL_DISABLED;
}
/* write back control register */
SENSOR_IO_Write(LSM6DSL_ACC_GYRO_I2C_ADDRESS_LOW, LSM6DSL_ACC_GYRO_CTRL6_C, ctrl);
}
/**
* @brief Read X, Y & Z Acceleration values
* @param pData: Data out pointer
*/
void LSM6DSL_AccReadXYZ(int16_t* pData)
{
int16_t pnRawData[3];
uint8_t ctrlx= 0;
uint8_t buffer[6];
uint8_t i = 0;
float sensitivity = 0;
/* Read the acceleration control register content */
ctrlx = SENSOR_IO_Read(LSM6DSL_ACC_GYRO_I2C_ADDRESS_LOW, LSM6DSL_ACC_GYRO_CTRL1_XL);
/* Read output register X, Y & Z acceleration */
SENSOR_IO_ReadMultiple(LSM6DSL_ACC_GYRO_I2C_ADDRESS_LOW, LSM6DSL_ACC_GYRO_OUTX_L_XL, buffer, 6);
for(i=0; i<3; i++)
{
pnRawData[i]=((((uint16_t)buffer[2*i+1]) << 8) + (uint16_t)buffer[2*i]);
}
/* Normal mode */
/* Switch the sensitivity value set in the CRTL1_XL */
switch(ctrlx & 0x0C)
{
case LSM6DSL_ACC_FULLSCALE_2G:
sensitivity = LSM6DSL_ACC_SENSITIVITY_2G;
break;
case LSM6DSL_ACC_FULLSCALE_4G:
sensitivity = LSM6DSL_ACC_SENSITIVITY_4G;
break;
case LSM6DSL_ACC_FULLSCALE_8G:
sensitivity = LSM6DSL_ACC_SENSITIVITY_8G;
break;
case LSM6DSL_ACC_FULLSCALE_16G:
sensitivity = LSM6DSL_ACC_SENSITIVITY_16G;
break;
}
/* Obtain the mg value for the three axis */
for(i=0; i<3; i++)
{
pData[i]=( int16_t )(pnRawData[i] * sensitivity);
}
}
/**
* @}
*/
/** @defgroup LSM6DSL_GYRO_Private_Functions LSM6DSL GYRO Private Functions
* @{
*/
/**
* @brief Set LSM6DSL Gyroscope Initialization.
* @param InitStruct: pointer to a LSM6DSL_InitTypeDef structure
* that contains the configuration setting for the LSM6DSL.
*/
void LSM6DSL_GyroInit(uint16_t InitStruct)
{
uint8_t ctrl = 0x00;
uint8_t tmp;
/* Read CTRL2_G */
tmp = SENSOR_IO_Read(LSM6DSL_ACC_GYRO_I2C_ADDRESS_LOW, LSM6DSL_ACC_GYRO_CTRL2_G);
/* Write value to GYRO MEMS CTRL2_G register: FS and Data Rate */
ctrl = (uint8_t) InitStruct;
tmp &= ~(0xFC);
tmp |= ctrl;
SENSOR_IO_Write(LSM6DSL_ACC_GYRO_I2C_ADDRESS_LOW, LSM6DSL_ACC_GYRO_CTRL2_G, tmp);
/* Read CTRL3_C */
tmp = SENSOR_IO_Read(LSM6DSL_ACC_GYRO_I2C_ADDRESS_LOW, LSM6DSL_ACC_GYRO_CTRL3_C);
/* Write value to GYRO MEMS CTRL3_C register: BDU and Auto-increment */
ctrl = ((uint8_t) (InitStruct >> 8));
tmp &= ~(0x44);
tmp |= ctrl;
SENSOR_IO_Write(LSM6DSL_ACC_GYRO_I2C_ADDRESS_LOW, LSM6DSL_ACC_GYRO_CTRL3_C, tmp);
}
/**
* @brief LSM6DSL Gyroscope De-initialization
*/
void LSM6DSL_GyroDeInit(void)
{
uint8_t ctrl = 0x00;
/* Read control register 1 value */
ctrl = SENSOR_IO_Read(LSM6DSL_ACC_GYRO_I2C_ADDRESS_LOW, LSM6DSL_ACC_GYRO_CTRL2_G);
/* Clear ODR bits */
ctrl &= ~(LSM6DSL_ODR_BITPOSITION);
/* Set Power down */
ctrl |= LSM6DSL_ODR_POWER_DOWN;
/* write back control register */
SENSOR_IO_Write(LSM6DSL_ACC_GYRO_I2C_ADDRESS_LOW, LSM6DSL_ACC_GYRO_CTRL2_G, ctrl);
}
/**
* @brief Read ID address of LSM6DSL
* @retval ID
*/
uint8_t LSM6DSL_GyroReadID(void)
{
/* IO interface initialization */
SENSOR_IO_Init();
/* Read value at Who am I register address */
return SENSOR_IO_Read(LSM6DSL_ACC_GYRO_I2C_ADDRESS_LOW, LSM6DSL_ACC_GYRO_WHO_AM_I_REG);
}
/**
* @brief Set/Unset LSM6DSL Gyroscope in low power mode
* @param status 0 means disable Low Power Mode, otherwise Low Power Mode is enabled
*/
void LSM6DSL_GyroLowPower(uint16_t status)
{
uint8_t ctrl = 0x00;
/* Read CTRL7_G value */
ctrl = SENSOR_IO_Read(LSM6DSL_ACC_GYRO_I2C_ADDRESS_LOW, LSM6DSL_ACC_GYRO_CTRL7_G);
/* Clear Low Power Mode bit */
ctrl &= ~(0x80);
/* Set Low Power Mode */
if(status)
{
ctrl |= LSM6DSL_ACC_GYRO_LP_G_ENABLED;
}else
{
ctrl |= LSM6DSL_ACC_GYRO_LP_G_DISABLED;
}
/* write back control register */
SENSOR_IO_Write(LSM6DSL_ACC_GYRO_I2C_ADDRESS_LOW, LSM6DSL_ACC_GYRO_CTRL7_G, ctrl);
}
/**
* @brief Calculate the LSM6DSL angular data.
* @param pfData: Data out pointer
*/
void LSM6DSL_GyroReadXYZAngRate(float *pfData)
{
int16_t pnRawData[3];
uint8_t ctrlg= 0;
uint8_t buffer[6];
uint8_t i = 0;
float sensitivity = 0;
/* Read the gyro control register content */
ctrlg = SENSOR_IO_Read(LSM6DSL_ACC_GYRO_I2C_ADDRESS_LOW, LSM6DSL_ACC_GYRO_CTRL2_G);
/* Read output register X, Y & Z acceleration */
SENSOR_IO_ReadMultiple(LSM6DSL_ACC_GYRO_I2C_ADDRESS_LOW, LSM6DSL_ACC_GYRO_OUTX_L_G, buffer, 6);
for(i=0; i<3; i++)
{
pnRawData[i]=((((uint16_t)buffer[2*i+1]) << 8) + (uint16_t)buffer[2*i]);
}
/* Normal mode */
/* Switch the sensitivity value set in the CRTL2_G */
switch(ctrlg & 0x0C)
{
case LSM6DSL_GYRO_FS_245:
sensitivity = LSM6DSL_GYRO_SENSITIVITY_245DPS;
break;
case LSM6DSL_GYRO_FS_500:
sensitivity = LSM6DSL_GYRO_SENSITIVITY_500DPS;
break;
case LSM6DSL_GYRO_FS_1000:
sensitivity = LSM6DSL_GYRO_SENSITIVITY_1000DPS;
break;
case LSM6DSL_GYRO_FS_2000:
sensitivity = LSM6DSL_GYRO_SENSITIVITY_2000DPS;
break;
}
/* Obtain the mg value for the three axis */
for(i=0; i<3; i++)
{
pfData[i]=( float )(pnRawData[i] * sensitivity);
}
}
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

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P3_SETR2/Components/lsm6dsl/lsm6dsl.h Normal file
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/**
******************************************************************************
* @file lsm6dsl.h
* @author MCD Application Team
* @brief LSM6DSL header driver file
******************************************************************************
* @attention
*
* <h2><center>&copy; Copyright (c) 2017 STMicroelectronics.
* All rights reserved.</center></h2>
*
* This software component is licensed by ST under BSD 3-Clause license,
* the "License"; You may not use this file except in compliance with the
* License. You may obtain a copy of the License at:
* opensource.org/licenses/BSD-3-Clause
*
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __LSM6DSL__H
#define __LSM6DSL__H
#ifdef __cplusplus
extern "C" {
#endif
/* Includes ------------------------------------------------------------------*/
#include "../Common/accelero.h"
#include "../Common/gyro.h"
/** @addtogroup BSP
* @{
*/
/** @addtogroup Component
* @{
*/
/** @addtogroup LSM6DSL
* @{
*/
/** @defgroup LSM6DSL_Exported_Constants LSM6DSL Exported Constants
* @{
*/
/************** I2C Address *****************/
#define LSM6DSL_ACC_GYRO_I2C_ADDRESS_LOW 0xD4 // SAD[0] = 0
#define LSM6DSL_ACC_GYRO_I2C_ADDRESS_HIGH 0xD6 // SAD[0] = 1
/************** Who am I *******************/
#define LSM6DSL_ACC_GYRO_WHO_AM_I 0x6A
/************** Device Register *******************/
#define LSM6DSL_ACC_GYRO_FUNC_CFG_ACCESS 0x01
#define LSM6DSL_ACC_GYRO_SENSOR_SYNC_TIME 0x04
#define LSM6DSL_ACC_GYRO_SENSOR_RES_RATIO 0x05
#define LSM6DSL_ACC_GYRO_FIFO_CTRL1 0x06
#define LSM6DSL_ACC_GYRO_FIFO_CTRL2 0x07
#define LSM6DSL_ACC_GYRO_FIFO_CTRL3 0x08
#define LSM6DSL_ACC_GYRO_FIFO_CTRL4 0x09
#define LSM6DSL_ACC_GYRO_FIFO_CTRL5 0x0A
#define LSM6DSL_ACC_GYRO_DRDY_PULSE_CFG_G 0x0B
#define LSM6DSL_ACC_GYRO_INT1_CTRL 0x0D
#define LSM6DSL_ACC_GYRO_INT2_CTRL 0x0E
#define LSM6DSL_ACC_GYRO_WHO_AM_I_REG 0x0F
#define LSM6DSL_ACC_GYRO_CTRL1_XL 0x10
#define LSM6DSL_ACC_GYRO_CTRL2_G 0x11
#define LSM6DSL_ACC_GYRO_CTRL3_C 0x12
#define LSM6DSL_ACC_GYRO_CTRL4_C 0x13
#define LSM6DSL_ACC_GYRO_CTRL5_C 0x14
#define LSM6DSL_ACC_GYRO_CTRL6_C 0x15
#define LSM6DSL_ACC_GYRO_CTRL7_G 0x16
#define LSM6DSL_ACC_GYRO_CTRL8_XL 0x17
#define LSM6DSL_ACC_GYRO_CTRL9_XL 0x18
#define LSM6DSL_ACC_GYRO_CTRL10_C 0x19
#define LSM6DSL_ACC_GYRO_MASTER_CONFIG 0x1A
#define LSM6DSL_ACC_GYRO_WAKE_UP_SRC 0x1B
#define LSM6DSL_ACC_GYRO_TAP_SRC 0x1C
#define LSM6DSL_ACC_GYRO_D6D_SRC 0x1D
#define LSM6DSL_ACC_GYRO_STATUS_REG 0x1E
#define LSM6DSL_ACC_GYRO_OUT_TEMP_L 0x20
#define LSM6DSL_ACC_GYRO_OUT_TEMP_H 0x21
#define LSM6DSL_ACC_GYRO_OUTX_L_G 0x22
#define LSM6DSL_ACC_GYRO_OUTX_H_G 0x23
#define LSM6DSL_ACC_GYRO_OUTY_L_G 0x24
#define LSM6DSL_ACC_GYRO_OUTY_H_G 0x25
#define LSM6DSL_ACC_GYRO_OUTZ_L_G 0x26
#define LSM6DSL_ACC_GYRO_OUTZ_H_G 0x27
#define LSM6DSL_ACC_GYRO_OUTX_L_XL 0x28
#define LSM6DSL_ACC_GYRO_OUTX_H_XL 0x29
#define LSM6DSL_ACC_GYRO_OUTY_L_XL 0x2A
#define LSM6DSL_ACC_GYRO_OUTY_H_XL 0x2B
#define LSM6DSL_ACC_GYRO_OUTZ_L_XL 0x2C
#define LSM6DSL_ACC_GYRO_OUTZ_H_XL 0x2D
#define LSM6DSL_ACC_GYRO_SENSORHUB1_REG 0x2E
#define LSM6DSL_ACC_GYRO_SENSORHUB2_REG 0x2F
#define LSM6DSL_ACC_GYRO_SENSORHUB3_REG 0x30
#define LSM6DSL_ACC_GYRO_SENSORHUB4_REG 0x31
#define LSM6DSL_ACC_GYRO_SENSORHUB5_REG 0x32
#define LSM6DSL_ACC_GYRO_SENSORHUB6_REG 0x33
#define LSM6DSL_ACC_GYRO_SENSORHUB7_REG 0x34
#define LSM6DSL_ACC_GYRO_SENSORHUB8_REG 0x35
#define LSM6DSL_ACC_GYRO_SENSORHUB9_REG 0x36
#define LSM6DSL_ACC_GYRO_SENSORHUB10_REG 0x37
#define LSM6DSL_ACC_GYRO_SENSORHUB11_REG 0x38
#define LSM6DSL_ACC_GYRO_SENSORHUB12_REG 0x39
#define LSM6DSL_ACC_GYRO_FIFO_STATUS1 0x3A
#define LSM6DSL_ACC_GYRO_FIFO_STATUS2 0x3B
#define LSM6DSL_ACC_GYRO_FIFO_STATUS3 0x3C
#define LSM6DSL_ACC_GYRO_FIFO_STATUS4 0x3D
#define LSM6DSL_ACC_GYRO_FIFO_DATA_OUT_L 0x3E
#define LSM6DSL_ACC_GYRO_FIFO_DATA_OUT_H 0x3F
#define LSM6DSL_ACC_GYRO_TIMESTAMP0_REG 0x40
#define LSM6DSL_ACC_GYRO_TIMESTAMP1_REG 0x41
#define LSM6DSL_ACC_GYRO_TIMESTAMP2_REG 0x42
#define LSM6DSL_ACC_GYRO_TIMESTAMP_L 0x49
#define LSM6DSL_ACC_GYRO_TIMESTAMP_H 0x4A
#define LSM6DSL_ACC_GYRO_STEP_COUNTER_L 0x4B
#define LSM6DSL_ACC_GYRO_STEP_COUNTER_H 0x4C
#define LSM6DSL_ACC_GYRO_SENSORHUB13_REG 0x4D
#define LSM6DSL_ACC_GYRO_SENSORHUB14_REG 0x4E
#define LSM6DSL_ACC_GYRO_SENSORHUB15_REG 0x4F
#define LSM6DSL_ACC_GYRO_SENSORHUB16_REG 0x50
#define LSM6DSL_ACC_GYRO_SENSORHUB17_REG 0x51
#define LSM6DSL_ACC_GYRO_SENSORHUB18_REG 0x52
#define LSM6DSL_ACC_GYRO_FUNC_SRC 0x53
#define LSM6DSL_ACC_GYRO_TAP_CFG1 0x58
#define LSM6DSL_ACC_GYRO_TAP_THS_6D 0x59
#define LSM6DSL_ACC_GYRO_INT_DUR2 0x5A
#define LSM6DSL_ACC_GYRO_WAKE_UP_THS 0x5B
#define LSM6DSL_ACC_GYRO_WAKE_UP_DUR 0x5C
#define LSM6DSL_ACC_GYRO_FREE_FALL 0x5D
#define LSM6DSL_ACC_GYRO_MD1_CFG 0x5E
#define LSM6DSL_ACC_GYRO_MD2_CFG 0x5F
#define LSM6DSL_ACC_GYRO_OUT_MAG_RAW_X_L 0x66
#define LSM6DSL_ACC_GYRO_OUT_MAG_RAW_X_H 0x67
#define LSM6DSL_ACC_GYRO_OUT_MAG_RAW_Y_L 0x68
#define LSM6DSL_ACC_GYRO_OUT_MAG_RAW_Y_H 0x69
#define LSM6DSL_ACC_GYRO_OUT_MAG_RAW_Z_L 0x6A
#define LSM6DSL_ACC_GYRO_OUT_MAG_RAW_Z_H 0x6B
#define LSM6DSL_ACC_GYRO_X_OFS_USR 0x73
#define LSM6DSL_ACC_GYRO_Y_OFS_USR 0x74
#define LSM6DSL_ACC_GYRO_Z_OFS_USR 0x75
/************** Embedded functions register mapping *******************/
#define LSM6DSL_ACC_GYRO_SLV0_ADD 0x02
#define LSM6DSL_ACC_GYRO_SLV0_SUBADD 0x03
#define LSM6DSL_ACC_GYRO_SLAVE0_CONFIG 0x04
#define LSM6DSL_ACC_GYRO_SLV1_ADD 0x05
#define LSM6DSL_ACC_GYRO_SLV1_SUBADD 0x06
#define LSM6DSL_ACC_GYRO_SLAVE1_CONFIG 0x07
#define LSM6DSL_ACC_GYRO_SLV2_ADD 0x08
#define LSM6DSL_ACC_GYRO_SLV2_SUBADD 0x09
#define LSM6DSL_ACC_GYRO_SLAVE2_CONFIG 0x0A
#define LSM6DSL_ACC_GYRO_SLV3_ADD 0x0B
#define LSM6DSL_ACC_GYRO_SLV3_SUBADD 0x0C
#define LSM6DSL_ACC_GYRO_SLAVE3_CONFIG 0x0D
#define LSM6DSL_ACC_GYRO_DATAWRITE_SRC_MODE_SUB_SLV0 0x0E
#define LSM6DSL_ACC_GYRO_CONFIG_PEDO_THS_MIN 0x0F
#define LSM6DSL_ACC_GYRO_SM_STEP_THS 0x13
#define LSM6DSL_ACC_GYRO_PEDO_DEB_REG 0x14
#define LSM6DSL_ACC_GYRO_STEP_COUNT_DELTA 0x15
#define LSM6DSL_ACC_GYRO_MAG_SI_XX 0x24
#define LSM6DSL_ACC_GYRO_MAG_SI_XY 0x25
#define LSM6DSL_ACC_GYRO_MAG_SI_XZ 0x26
#define LSM6DSL_ACC_GYRO_MAG_SI_YX 0x27
#define LSM6DSL_ACC_GYRO_MAG_SI_YY 0x28
#define LSM6DSL_ACC_GYRO_MAG_SI_YZ 0x29
#define LSM6DSL_ACC_GYRO_MAG_SI_ZX 0x2A
#define LSM6DSL_ACC_GYRO_MAG_SI_ZY 0x2B
#define LSM6DSL_ACC_GYRO_MAG_SI_ZZ 0x2C
#define LSM6DSL_ACC_GYRO_MAG_OFFX_L 0x2D
#define LSM6DSL_ACC_GYRO_MAG_OFFX_H 0x2E
#define LSM6DSL_ACC_GYRO_MAG_OFFY_L 0x2F
#define LSM6DSL_ACC_GYRO_MAG_OFFY_H 0x30
#define LSM6DSL_ACC_GYRO_MAG_OFFZ_L 0x31
#define LSM6DSL_ACC_GYRO_MAG_OFFZ_H 0x32
/* Accelero Full_ScaleSelection */
#define LSM6DSL_ACC_FULLSCALE_2G ((uint8_t)0x00) /*!< <20>2 g */
#define LSM6DSL_ACC_FULLSCALE_4G ((uint8_t)0x08) /*!< <20>4 g */
#define LSM6DSL_ACC_FULLSCALE_8G ((uint8_t)0x0C) /*!< <20>8 g */
#define LSM6DSL_ACC_FULLSCALE_16G ((uint8_t)0x04) /*!< <20>16 g */
/* Accelero Full Scale Sensitivity */
#define LSM6DSL_ACC_SENSITIVITY_2G ((float)0.061f) /*!< accelerometer sensitivity with 2 g full scale [mgauss/LSB] */
#define LSM6DSL_ACC_SENSITIVITY_4G ((float)0.122f) /*!< accelerometer sensitivity with 4 g full scale [mgauss/LSB] */
#define LSM6DSL_ACC_SENSITIVITY_8G ((float)0.244f) /*!< accelerometer sensitivity with 8 g full scale [mgauss/LSB] */
#define LSM6DSL_ACC_SENSITIVITY_16G ((float)0.488f) /*!< accelerometer sensitivity with 12 g full scale [mgauss/LSB] */
/* Accelero Power Mode selection */
#define LSM6DSL_ACC_GYRO_LP_XL_DISABLED ((uint8_t)0x00) /* LP disabled*/
#define LSM6DSL_ACC_GYRO_LP_XL_ENABLED ((uint8_t)0x10) /* LP enabled*/
/* Output Data Rate */
#define LSM6DSL_ODR_BITPOSITION ((uint8_t)0xF0) /*!< Output Data Rate bit position */
#define LSM6DSL_ODR_POWER_DOWN ((uint8_t)0x00) /* Power Down mode */
#define LSM6DSL_ODR_13Hz ((uint8_t)0x10) /* Low Power mode */
#define LSM6DSL_ODR_26Hz ((uint8_t)0x20) /* Low Power mode */
#define LSM6DSL_ODR_52Hz ((uint8_t)0x30) /* Low Power mode */
#define LSM6DSL_ODR_104Hz ((uint8_t)0x40) /* Normal mode */
#define LSM6DSL_ODR_208Hz ((uint8_t)0x50) /* Normal mode */
#define LSM6DSL_ODR_416Hz ((uint8_t)0x60) /* High Performance mode */
#define LSM6DSL_ODR_833Hz ((uint8_t)0x70) /* High Performance mode */
#define LSM6DSL_ODR_1660Hz ((uint8_t)0x80) /* High Performance mode */
#define LSM6DSL_ODR_3330Hz ((uint8_t)0x90) /* High Performance mode */
#define LSM6DSL_ODR_6660Hz ((uint8_t)0xA0) /* High Performance mode */
/* Gyro Full Scale Selection */
#define LSM6DSL_GYRO_FS_245 ((uint8_t)0x00)
#define LSM6DSL_GYRO_FS_500 ((uint8_t)0x04)
#define LSM6DSL_GYRO_FS_1000 ((uint8_t)0x08)
#define LSM6DSL_GYRO_FS_2000 ((uint8_t)0x0C)
/* Gyro Full Scale Sensitivity */
#define LSM6DSL_GYRO_SENSITIVITY_245DPS ((float)8.750f) /**< Sensitivity value for 245 dps full scale [mdps/LSB] */
#define LSM6DSL_GYRO_SENSITIVITY_500DPS ((float)17.50f) /**< Sensitivity value for 500 dps full scale [mdps/LSB] */
#define LSM6DSL_GYRO_SENSITIVITY_1000DPS ((float)35.00f) /**< Sensitivity value for 1000 dps full scale [mdps/LSB] */
#define LSM6DSL_GYRO_SENSITIVITY_2000DPS ((float)70.00f) /**< Sensitivity value for 2000 dps full scale [mdps/LSB] */
/* Gyro Power Mode selection */
#define LSM6DSL_ACC_GYRO_LP_G_DISABLED ((uint8_t)0x00) /* LP disabled*/
#define LSM6DSL_ACC_GYRO_LP_G_ENABLED ((uint8_t)0x80) /* LP enabled*/
/* Block Data Update */
#define LSM6DSL_BDU_CONTINUOS ((uint8_t)0x00)
#define LSM6DSL_BDU_BLOCK_UPDATE ((uint8_t)0x40)
/* Auto-increment */
#define LSM6DSL_ACC_GYRO_IF_INC_DISABLED ((uint8_t)0x00)
#define LSM6DSL_ACC_GYRO_IF_INC_ENABLED ((uint8_t)0x04)
/**
* @}
*/
/** @defgroup LSM6DSL_AccExported_Functions ACCELEROMETER Exported functions
* @{
*/
void LSM6DSL_AccInit(uint16_t InitStruct);
void LSM6DSL_AccDeInit(void);
uint8_t LSM6DSL_AccReadID(void);
void LSM6DSL_AccLowPower(uint16_t status);
void LSM6DSL_AccReadXYZ(int16_t* pData);
/**
* @}
*/
/** @defgroup LSM6DSL_AccImported_Globals ACCELEROMETER Imported Globals
* @{
*/
extern ACCELERO_DrvTypeDef Lsm6dslAccDrv;
/**
* @}
*/
/** @defgroup LSM6DSL_GyroExported_Functions GYROSCOPE Exported functions
* @{
*/
/* Sensor Configuration Functions */
void LSM6DSL_GyroInit(uint16_t InitStruct);
void LSM6DSL_GyroDeInit(void);
uint8_t LSM6DSL_GyroReadID(void);
void LSM6DSL_GyroLowPower(uint16_t status);
void LSM6DSL_GyroReadXYZAngRate(float *pfData);
/**
* @}
*/
/** @defgroup LSM6DSL_GyroImported_Globals GYROSCOPE Imported Globals
* @{
*/
/* Gyroscope driver structure */
extern GYRO_DrvTypeDef Lsm6dslGyroDrv;
/**
* @}
*/
/** @defgroup LSM6DSL_Imported_Functions LSM6DSL Imported Functions
* @{
*/
/* IO functions */
extern void SENSOR_IO_Init(void);
extern void SENSOR_IO_Write(uint8_t Addr, uint8_t Reg, uint8_t Value);
extern uint8_t SENSOR_IO_Read(uint8_t Addr, uint8_t Reg);
extern uint16_t SENSOR_IO_ReadMultiple(uint8_t Addr, uint8_t Reg, uint8_t *Buffer, uint16_t Length);
extern void SENSOR_IO_WriteMultiple(uint8_t Addr, uint8_t Reg, uint8_t *Buffer, uint16_t Length);
/**
* @}
*/
#ifdef __cplusplus
}
#endif
#endif /* __LSM6DSL__H */
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/