37 #include "drv_digital_out.h" 38 #include "drv_digital_in.h" 39 #include "drv_spi_master.h" 52 #define LSM6DSL_MAP_MIKROBUS( cfg, mikrobus ) \ 53 cfg.miso = MIKROBUS( mikrobus, MIKROBUS_MISO ); \ 54 cfg.mosi = MIKROBUS( mikrobus, MIKROBUS_MOSI ); \ 55 cfg.sck = MIKROBUS( mikrobus, MIKROBUS_SCK ); \ 56 cfg.cs = MIKROBUS( mikrobus, MIKROBUS_CS ); \ 57 cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT ) 64 #define LSM6DSL_RETVAL uint8_t 66 #define LSM6DSL_OK 0x00 67 #define LSM6DSL_INIT_ERROR 0xFF 74 #define LSM6DSL_FUNC_CFG_ACCESS 0x01 75 #define LSM6DSL_SENSOR_SYNC_TIME 0x04 76 #define LSM6DSL_SENSOR_RES_RATIO 0x05 77 #define LSM6DSL_FIFO_CTRL1 0x06 78 #define LSM6DSL_FIFO_CTRL2 0x07 79 #define LSM6DSL_FIFO_CTRL3 0x08 80 #define LSM6DSL_FIFO_CTRL4 0x09 81 #define LSM6DSL_FIFO_CTRL5 0x0A 82 #define LSM6DSL_DRDY_PULSE_CFG_G 0x0B 83 #define LSM6DSL_INT1_CTRL 0x0D 84 #define LSM6DSL_INT2_CTRL 0x0E 85 #define LSM6DSL_WHO_AM_I_REG 0x0F 86 #define LSM6DSL_CTRL1_XL 0x10 87 #define LSM6DSL_CTRL2_G 0x11 88 #define LSM6DSL_CTRL3_C 0x12 89 #define LSM6DSL_CTRL4_C 0x13 90 #define LSM6DSL_CTRL5_C 0x14 91 #define LSM6DSL_CTRL6_G 0x15 92 #define LSM6DSL_CTRL7_G 0x16 93 #define LSM6DSL_CTRL8_XL 0x17 94 #define LSM6DSL_CTRL9_XL 0x18 95 #define LSM6DSL_CTRL10_C 0x19 96 #define LSM6DSL_MASTER_CONFIG 0x1A 97 #define LSM6DSL_WAKE_UP_SRC 0x1B 98 #define LSM6DSL_TAP_SRC 0x1C 99 #define LSM6DSL_D6D_SRC 0x1D 100 #define LSM6DSL_STATUS_REG 0x1E 101 #define LSM6DSL_OUT_TEMP_L 0x20 102 #define LSM6DSL_OUT_TEMP_H 0x21 103 #define LSM6DSL_OUTX_L_G 0x22 104 #define LSM6DSL_OUTX_H_G 0x23 105 #define LSM6DSL_OUTY_L_G 0x24 106 #define LSM6DSL_OUTY_H_G 0x25 107 #define LSM6DSL_OUTZ_L_G 0x26 108 #define LSM6DSL_OUTZ_H_G 0x27 109 #define LSM6DSL_OUTX_L_XL 0x28 110 #define LSM6DSL_OUTX_H_XL 0x29 111 #define LSM6DSL_OUTY_L_XL 0x2A 112 #define LSM6DSL_OUTY_H_XL 0x2B 113 #define LSM6DSL_OUTZ_L_XL 0x2C 114 #define LSM6DSL_OUTZ_H_XL 0x2D 115 #define LSM6DSL_SENSORHUB1_REG 0x2E 116 #define LSM6DSL_SENSORHUB2_REG 0x2F 117 #define LSM6DSL_SENSORHUB3_REG 0x30 118 #define LSM6DSL_SENSORHUB4_REG 0x31 119 #define LSM6DSL_SENSORHUB5_REG 0x32 120 #define LSM6DSL_SENSORHUB6_REG 0x33 121 #define LSM6DSL_SENSORHUB7_REG 0x34 122 #define LSM6DSL_SENSORHUB8_REG 0x35 123 #define LSM6DSL_SENSORHUB9_REG 0x36 124 #define LSM6DSL_SENSORHUB10_REG 0x37 125 #define LSM6DSL_SENSORHUB11_REG 0x38 126 #define LSM6DSL_SENSORHUB12_REG 0x39 127 #define LSM6DSL_FIFO_STATUS1 0x3A 128 #define LSM6DSL_FIFO_STATUS2 0x3B 129 #define LSM6DSL_FIFO_STATUS3 0x3C 130 #define LSM6DSL_FIFO_STATUS4 0x3D 131 #define LSM6DSL_FIFO_DATA_OUT_L 0x3E 132 #define LSM6DSL_FIFO_DATA_OUT_H 0x3F 133 #define LSM6DSL_TIMESTAMP0_REG 0x40 134 #define LSM6DSL_TIMESTAMP1_REG 0x41 135 #define LSM6DSL_TIMESTAMP2_REG 0x42 136 #define LSM6DSL_TIMESTAMP_L 0x49 137 #define LSM6DSL_TIMESTAMP_H 0x4A 138 #define LSM6DSL_STEP_COUNTER_L 0x4B 139 #define LSM6DSL_STEP_COUNTER_H 0x4C 140 #define LSM6DSL_SENSORHUB13_REG 0x4D 141 #define LSM6DSL_SENSORHUB14_REG 0x4E 142 #define LSM6DSL_SENSORHUB15_REG 0x4F 143 #define LSM6DSL_SENSORHUB16_REG 0x50 144 #define LSM6DSL_SENSORHUB17_REG 0x51 145 #define LSM6DSL_SENSORHUB18_REG 0x52 146 #define LSM6DSL_FUNC_SRC 0x53 147 #define LSM6DSL_TAP_CFG1 0x58 148 #define LSM6DSL_TAP_THS_6D 0x59 149 #define LSM6DSL_INT_DUR2 0x5A 150 #define LSM6DSL_WAKE_UP_THS 0x5B 151 #define LSM6DSL_WAKE_UP_DUR 0x5C 152 #define LSM6DSL_FREE_FALL 0x5D 153 #define LSM6DSL_MD1_CFG 0x5E 154 #define LSM6DSL_MD2_CFG 0x5F 155 #define LSM6DSL_OUT_MAG_RAW_X_L 0x66 156 #define LSM6DSL_OUT_MAG_RAW_X_H 0x67 157 #define LSM6DSL_OUT_MAG_RAW_Y_L 0x68 158 #define LSM6DSL_OUT_MAG_RAW_Y_H 0x69 159 #define LSM6DSL_OUT_MAG_RAW_Z_L 0x6A 160 #define LSM6DSL_OUT_MAG_RAW_Z_H 0x6B 161 #define LSM6DSL_X_OFS_USR 0x73 162 #define LSM6DSL_Y_OFS_USR 0x74 163 #define LSM6DSL_Z_OFS_USR 0x75 170 #define LSM6DSL_SLV0_ADD 0x02 171 #define LSM6DSL_SLV0_SUBADD 0x03 172 #define LSM6DSL_SLAVE0_CONFIG 0x04 173 #define LSM6DSL_SLV1_ADD 0x05 174 #define LSM6DSL_SLV1_SUBADD 0x06 175 #define LSM6DSL_SLAVE1_CONFIG 0x07 176 #define LSM6DSL_SLV2_ADD 0x08 177 #define LSM6DSL_SLV2_SUBADD 0x09 178 #define LSM6DSL_SLAVE2_CONFIG 0x0A 179 #define LSM6DSL_SLV3_ADD 0x0B 180 #define LSM6DSL_SLV3_SUBADD 0x0C 181 #define LSM6DSL_SLAVE3_CONFIG 0x0D 182 #define LSM6DSL_DATAWRITE_SRC_MODE_SUB_SLV0 0x0E 183 #define LSM6DSL_CONFIG_PEDO_THS_MIN 0x0F 184 #define LSM6DSL_SM_STEP_THS 0x13 185 #define LSM6DSL_PEDO_DEB_REG 0x14 186 #define LSM6DSL_STEP_COUNT_DELTA 0x15 187 #define LSM6DSL_MAG_SI_XX 0x24 188 #define LSM6DSL_MAG_SI_XY 0x25 189 #define LSM6DSL_MAG_SI_XZ 0x26 190 #define LSM6DSL_MAG_SI_YX 0x27 191 #define LSM6DSL_MAG_SI_YY 0x28 192 #define LSM6DSL_MAG_SI_YZ 0x29 193 #define LSM6DSL_MAG_SI_ZX 0x2A 194 #define LSM6DSL_MAG_SI_ZY 0x2B 195 #define LSM6DSL_MAG_SI_ZZ 0x2C 196 #define LSM6DSL_MAG_OFFX_L 0x2D 197 #define LSM6DSL_MAG_OFFX_H 0x2E 198 #define LSM6DSL_MAG_OFFY_L 0x2F 199 #define LSM6DSL_MAG_OFFY_H 0x30 200 #define LSM6DSL_MAG_OFFZ_L 0x31 201 #define LSM6DSL_MAG_OFFZ_H 0x32 208 #define LSM6DSL_CHECK_ID 0x6A 215 #define LSM6DSL_DISABLE_MEASUREMENT 0x00 216 #define LSM6DSL_ODR_6660_HZ 0xA0 217 #define LSM6DSL_ODR_3330_HZ 0x90 218 #define LSM6DSL_ODR_1660_HZ 0x80 219 #define LSM6DSL_ODR_833_HZ 0x70 220 #define LSM6DSL_ODR_416_HZ 0x60 221 #define LSM6DSL_ODR_208_HZ 0x50 222 #define LSM6DSL_ODR_104_HZ 0x40 223 #define LSM6DSL_ODR_52_HZ 0x30 224 #define LSM6DSL_ODR_26_HZ 0x20 225 #define LSM6DSL_ODR_12_5_HZ 0x10 226 #define LSM6DSL_ODR_XL_1_6_HZ 0xB0 233 #define LSM6DSL_FULLSCALE_XL_2 0x00 234 #define LSM6DSL_FULLSCALE_XL_4 0x04 235 #define LSM6DSL_FULLSCALE_XL_8 0x08 236 #define LSM6DSL_FULLSCALE_XL_16 0x0C 237 #define LSM6DSL_FULLSCALE_G_125 0x02 238 #define LSM6DSL_FULLSCALE_G_245 0x00 239 #define LSM6DSL_FULLSCALE_G_500 0x04 240 #define LSM6DSL_FULLSCALE_G_1000 0x08 241 #define LSM6DSL_FULLSCALE_G_2000 0x0C 555 #endif // _LSM6DSL_H_ Accel object definition.
Definition: lsm6dsl.h:254
void lsm6dsl_generic_transfer(lsm6dsl_t *ctx, uint8_t *wr_buf, uint16_t wr_len, uint8_t *rd_buf, uint16_t rd_len)
Generic transfer function.
void lsm6dsl_default_cfg(lsm6dsl_t *ctx)
Click Default Configuration function.
pin_name_t miso
Definition: lsm6dsl.h:298
digital_in_t int_pin
Definition: lsm6dsl.h:282
Click ctx object definition.
Definition: lsm6dsl.h:276
digital_out_t cs
Definition: lsm6dsl.h:278
LSM6DSL_RETVAL lsm6dsl_init(lsm6dsl_t *ctx, lsm6dsl_cfg_t *cfg)
Initialization function.
void lsm6dsl_get_accel(lsm6dsl_t *ctx, lsm6dsl_accel_t *accel, uint8_t full_scale)
Get acceleration function.
void lsm6dsl_get_gyro(lsm6dsl_t *ctx, lsm6dsl_gyro_t *gyro, uint8_t full_scale)
Get gyroscope function.
void lsm6dsl_wake_up_gyro(lsm6dsl_t *ctx)
Set gyroscope wake up mode function.
void lsm6dsl_cfg_setup(lsm6dsl_cfg_t *cfg)
Config Object Initialization function.
void lsm6dsl_sleep_gyro(lsm6dsl_t *ctx)
Set gyroscope sleep mode function.
void lsm6dsl_write_byte(lsm6dsl_t *ctx, uint8_t reg_address, uint8_t write_data)
Write byte of data function.
pin_name_t mosi
Definition: lsm6dsl.h:299
uint8_t lsm6dsl_read_byte(lsm6dsl_t *ctx, uint8_t reg_address)
Read byte of data function.
#define LSM6DSL_RETVAL
Definition: lsm6dsl.h:64
void lsm6dsl_circular_burst_mode(lsm6dsl_t *ctx, uint8_t burst_mode)
Set circular burst mode function.
float gyro_x
Definition: lsm6dsl.h:267
void lsm6dsl_soft_reset(lsm6dsl_t *ctx)
Set soft reset function.
uint32_t spi_speed
Definition: lsm6dsl.h:309
uint8_t spi_mode
Definition: lsm6dsl.h:310
float accel_z
Definition: lsm6dsl.h:258
pin_name_t cs
Definition: lsm6dsl.h:301
float accel_y
Definition: lsm6dsl.h:257
float lsm6dsl_get_temperature(lsm6dsl_t *ctx)
void lsm6dsl_set_gyro_config(lsm6dsl_t *ctx, uint8_t odr_sel, uint8_t full_scale)
Set gyro configuration function.
Click configuration structure definition.
Definition: lsm6dsl.h:294
float gyro_z
Definition: lsm6dsl.h:269
Gyro object definition.
Definition: lsm6dsl.h:265
float accel_x
Definition: lsm6dsl.h:256
pin_name_t chip_select
Definition: lsm6dsl.h:287
pin_name_t int_pin
Definition: lsm6dsl.h:305
pin_name_t sck
Definition: lsm6dsl.h:300
spi_master_chip_select_polarity_t cs_polarity
Definition: lsm6dsl.h:311
uint8_t lsm6dsl_check_id(lsm6dsl_t *ctx)
Function check LSM6DSL ID.
void lsm6dsl_set_accel_config(lsm6dsl_t *ctx, uint8_t odr_sel, uint8_t full_scale)
Set accel configuration function.
void lsm6dsl_set_self_test_mode(lsm6dsl_t *ctx, uint8_t gyro_self_test, uint8_t accel_self_test)
Set self-test mode function.
uint8_t lsm6dsl_get_status_reg(lsm6dsl_t *ctx)
Get status function.
float gyro_y
Definition: lsm6dsl.h:268
uint16_t lsm6dsl_get_axis(lsm6dsl_t *ctx, uint8_t reg_address_low)
Get axis value function.
spi_master_t spi
Definition: lsm6dsl.h:286