lsm6dsl  2.0.0.0
lsm6dsl.h
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1 /*
2  * MikroSDK - MikroE Software Development Kit
3  * Copyright© 2020 MikroElektronika d.o.o.
4  *
5  * Permission is hereby granted, free of charge, to any person
6  * obtaining a copy of this software and associated documentation
7  * files (the "Software"), to deal in the Software without restriction,
8  * including without limitation the rights to use, copy, modify, merge,
9  * publish, distribute, sublicense, and/or sell copies of the Software,
10  * and to permit persons to whom the Software is furnished to do so,
11  * subject to the following conditions:
12  *
13  * The above copyright notice and this permission notice shall be
14  * included in all copies or substantial portions of the Software.
15  *
16  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
17  * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
18  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
19  * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
20  * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
21  * ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE
22  * OR OTHER DEALINGS IN THE SOFTWARE.
23  */
32 // ----------------------------------------------------------------------------
33 
34 #ifndef LSM6DSL_H
35 #define LSM6DSL_H
36 
37 #include "drv_digital_out.h"
38 #include "drv_digital_in.h"
39 #include "drv_spi_master.h"
40 
41 // -------------------------------------------------------------- PUBLIC MACROS
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 )
58 
64 #define LSM6DSL_RETVAL uint8_t
65 
66 #define LSM6DSL_OK 0x00
67 #define LSM6DSL_INIT_ERROR 0xFF
68 
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
164 
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
202 
208 #define LSM6DSL_CHECK_ID 0x6A
209 
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
227 
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
242  // End group macro
245 // --------------------------------------------------------------- PUBLIC TYPES
254 typedef struct
255 {
256  float accel_x;
257  float accel_y;
258  float accel_z;
259 
261 
265 typedef struct
266 {
267  float gyro_x;
268  float gyro_y;
269  float gyro_z;
270 
272 
276 typedef struct
277 {
278  digital_out_t cs;
279 
280  // Input pins
281 
282  digital_in_t int_pin;
283 
284  // Modules
285 
286  spi_master_t spi;
287  pin_name_t chip_select;
288 
289 } lsm6dsl_t;
290 
294 typedef struct
295 {
296  // Communication gpio pins
297 
298  pin_name_t miso;
299  pin_name_t mosi;
300  pin_name_t sck;
301  pin_name_t cs;
302 
303  // Additional gpio pins
304 
305  pin_name_t int_pin;
306 
307  // static variable
308 
309  uint32_t spi_speed;
310  uint8_t spi_mode;
311  spi_master_chip_select_polarity_t cs_polarity;
312 
313 } lsm6dsl_cfg_t;
314  // End types group
316 // ----------------------------------------------- PUBLIC FUNCTION DECLARATIONS
317 
322 #ifdef __cplusplus
323 extern "C"{
324 #endif
325 
334 void lsm6dsl_cfg_setup ( lsm6dsl_cfg_t *cfg );
335 
344 
352 void lsm6dsl_default_cfg ( lsm6dsl_t *ctx );
353 
366 (
367  lsm6dsl_t *ctx,
368  uint8_t *wr_buf,
369  uint16_t wr_len,
370  uint8_t *rd_buf,
371  uint16_t rd_len
372 );
373 
383 uint8_t lsm6dsl_read_byte ( lsm6dsl_t *ctx, uint8_t reg_address );
384 
395 void lsm6dsl_write_byte ( lsm6dsl_t *ctx, uint8_t reg_address, uint8_t write_data );
396 
405 uint8_t lsm6dsl_check_id ( lsm6dsl_t *ctx );
406 
417 void lsm6dsl_set_accel_config ( lsm6dsl_t *ctx, uint8_t odr_sel, uint8_t full_scale );
418 
429 void lsm6dsl_set_gyro_config ( lsm6dsl_t *ctx, uint8_t odr_sel, uint8_t full_scale );
430 
439 void lsm6dsl_soft_reset ( lsm6dsl_t *ctx );
440 
449 void lsm6dsl_sleep_gyro ( lsm6dsl_t *ctx );
450 
459 void lsm6dsl_wake_up_gyro ( lsm6dsl_t *ctx );
460 
469 void lsm6dsl_circular_burst_mode ( lsm6dsl_t *ctx, uint8_t burst_mode );
470 
481 void lsm6dsl_set_self_test_mode ( lsm6dsl_t *ctx, uint8_t gyro_self_test, uint8_t accel_self_test );
482 
491 uint8_t lsm6dsl_get_status_reg ( lsm6dsl_t *ctx );
492 
502 uint16_t lsm6dsl_get_axis ( lsm6dsl_t *ctx, uint8_t reg_address_low );
503 
514 float lsm6dsl_get_temperature ( lsm6dsl_t *ctx );
515 
532 void lsm6dsl_get_accel ( lsm6dsl_t *ctx, lsm6dsl_accel_t *accel, uint8_t full_scale );
533 
550 void lsm6dsl_get_gyro ( lsm6dsl_t *ctx, lsm6dsl_gyro_t *gyro, uint8_t full_scale );
551 
552 #ifdef __cplusplus
553 }
554 #endif
555 #endif // _LSM6DSL_H_
556  // End public_function group
559 
560 // ------------------------------------------------------------------------- END
lsm6dsl_cfg_t::spi_speed
uint32_t spi_speed
Definition: lsm6dsl.h:309
lsm6dsl_accel_t::accel_y
float accel_y
Definition: lsm6dsl.h:257
lsm6dsl_init
LSM6DSL_RETVAL lsm6dsl_init(lsm6dsl_t *ctx, lsm6dsl_cfg_t *cfg)
Initialization function.
lsm6dsl_default_cfg
void lsm6dsl_default_cfg(lsm6dsl_t *ctx)
Click Default Configuration function.
lsm6dsl_cfg_t::int_pin
pin_name_t int_pin
Definition: lsm6dsl.h:305
lsm6dsl_cfg_t::cs_polarity
spi_master_chip_select_polarity_t cs_polarity
Definition: lsm6dsl.h:311
lsm6dsl_cfg_t
Click configuration structure definition.
Definition: lsm6dsl.h:294
lsm6dsl_wake_up_gyro
void lsm6dsl_wake_up_gyro(lsm6dsl_t *ctx)
Set gyroscope wake up mode function.
lsm6dsl_t::cs
digital_out_t cs
Definition: lsm6dsl.h:278
lsm6dsl_cfg_t::sck
pin_name_t sck
Definition: lsm6dsl.h:300
lsm6dsl_accel_t::accel_x
float accel_x
Definition: lsm6dsl.h:256
lsm6dsl_cfg_t::cs
pin_name_t cs
Definition: lsm6dsl.h:301
lsm6dsl_set_self_test_mode
void lsm6dsl_set_self_test_mode(lsm6dsl_t *ctx, uint8_t gyro_self_test, uint8_t accel_self_test)
Set self-test mode function.
lsm6dsl_t::int_pin
digital_in_t int_pin
Definition: lsm6dsl.h:282
lsm6dsl_read_byte
uint8_t lsm6dsl_read_byte(lsm6dsl_t *ctx, uint8_t reg_address)
Read byte of data function.
lsm6dsl_accel_t
Accel object definition.
Definition: lsm6dsl.h:254
lsm6dsl_get_gyro
void lsm6dsl_get_gyro(lsm6dsl_t *ctx, lsm6dsl_gyro_t *gyro, uint8_t full_scale)
Get gyroscope function.
lsm6dsl_gyro_t
Gyro object definition.
Definition: lsm6dsl.h:265
lsm6dsl_get_temperature
float lsm6dsl_get_temperature(lsm6dsl_t *ctx)
lsm6dsl_generic_transfer
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.
lsm6dsl_accel_t::accel_z
float accel_z
Definition: lsm6dsl.h:258
lsm6dsl_gyro_t::gyro_x
float gyro_x
Definition: lsm6dsl.h:267
lsm6dsl_cfg_t::miso
pin_name_t miso
Definition: lsm6dsl.h:298
LSM6DSL_RETVAL
#define LSM6DSL_RETVAL
Definition: lsm6dsl.h:64
lsm6dsl_gyro_t::gyro_z
float gyro_z
Definition: lsm6dsl.h:269
lsm6dsl_sleep_gyro
void lsm6dsl_sleep_gyro(lsm6dsl_t *ctx)
Set gyroscope sleep mode function.
lsm6dsl_t::chip_select
pin_name_t chip_select
Definition: lsm6dsl.h:287
lsm6dsl_circular_burst_mode
void lsm6dsl_circular_burst_mode(lsm6dsl_t *ctx, uint8_t burst_mode)
Set circular burst mode function.
lsm6dsl_set_accel_config
void lsm6dsl_set_accel_config(lsm6dsl_t *ctx, uint8_t odr_sel, uint8_t full_scale)
Set accel configuration function.
lsm6dsl_soft_reset
void lsm6dsl_soft_reset(lsm6dsl_t *ctx)
Set soft reset function.
lsm6dsl_set_gyro_config
void lsm6dsl_set_gyro_config(lsm6dsl_t *ctx, uint8_t odr_sel, uint8_t full_scale)
Set gyro configuration function.
lsm6dsl_gyro_t::gyro_y
float gyro_y
Definition: lsm6dsl.h:268
lsm6dsl_check_id
uint8_t lsm6dsl_check_id(lsm6dsl_t *ctx)
Function check LSM6DSL ID.
lsm6dsl_cfg_t::mosi
pin_name_t mosi
Definition: lsm6dsl.h:299
lsm6dsl_cfg_setup
void lsm6dsl_cfg_setup(lsm6dsl_cfg_t *cfg)
Config Object Initialization function.
lsm6dsl_t::spi
spi_master_t spi
Definition: lsm6dsl.h:286
lsm6dsl_t
Click ctx object definition.
Definition: lsm6dsl.h:276
lsm6dsl_get_axis
uint16_t lsm6dsl_get_axis(lsm6dsl_t *ctx, uint8_t reg_address_low)
Get axis value function.
lsm6dsl_get_status_reg
uint8_t lsm6dsl_get_status_reg(lsm6dsl_t *ctx)
Get status function.
lsm6dsl_cfg_t::spi_mode
uint8_t spi_mode
Definition: lsm6dsl.h:310
lsm6dsl_get_accel
void lsm6dsl_get_accel(lsm6dsl_t *ctx, lsm6dsl_accel_t *accel, uint8_t full_scale)
Get acceleration function.
lsm6dsl_write_byte
void lsm6dsl_write_byte(lsm6dsl_t *ctx, uint8_t reg_address, uint8_t write_data)
Write byte of data function.