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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_
uint32_t spi_speed
Definition: lsm6dsl.h:309
float accel_y
Definition: lsm6dsl.h:257
LSM6DSL_RETVAL lsm6dsl_init(lsm6dsl_t *ctx, lsm6dsl_cfg_t *cfg)
Initialization function.
void lsm6dsl_default_cfg(lsm6dsl_t *ctx)
Click Default Configuration function.
pin_name_t int_pin
Definition: lsm6dsl.h:305
spi_master_chip_select_polarity_t cs_polarity
Definition: lsm6dsl.h:311
Click configuration structure definition.
Definition: lsm6dsl.h:295
void lsm6dsl_wake_up_gyro(lsm6dsl_t *ctx)
Set gyroscope wake up mode function.
digital_out_t cs
Definition: lsm6dsl.h:278
pin_name_t sck
Definition: lsm6dsl.h:300
float accel_x
Definition: lsm6dsl.h:256
pin_name_t cs
Definition: lsm6dsl.h:301
void lsm6dsl_set_self_test_mode(lsm6dsl_t *ctx, uint8_t gyro_self_test, uint8_t accel_self_test)
Set self-test mode function.
digital_in_t int_pin
Definition: lsm6dsl.h:282
uint8_t lsm6dsl_read_byte(lsm6dsl_t *ctx, uint8_t reg_address)
Read byte of data function.
Accel object definition.
Definition: lsm6dsl.h:255
void lsm6dsl_get_gyro(lsm6dsl_t *ctx, lsm6dsl_gyro_t *gyro, uint8_t full_scale)
Get gyroscope function.
Gyro object definition.
Definition: lsm6dsl.h:266
float lsm6dsl_get_temperature(lsm6dsl_t *ctx)
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.
float accel_z
Definition: lsm6dsl.h:258
float gyro_x
Definition: lsm6dsl.h:267
pin_name_t miso
Definition: lsm6dsl.h:298
#define LSM6DSL_RETVAL
Definition: lsm6dsl.h:64
float gyro_z
Definition: lsm6dsl.h:269
void lsm6dsl_sleep_gyro(lsm6dsl_t *ctx)
Set gyroscope sleep mode function.
pin_name_t chip_select
Definition: lsm6dsl.h:287
void lsm6dsl_circular_burst_mode(lsm6dsl_t *ctx, uint8_t burst_mode)
Set circular burst mode function.
void lsm6dsl_set_accel_config(lsm6dsl_t *ctx, uint8_t odr_sel, uint8_t full_scale)
Set accel configuration function.
void lsm6dsl_soft_reset(lsm6dsl_t *ctx)
Set soft reset function.
void lsm6dsl_set_gyro_config(lsm6dsl_t *ctx, uint8_t odr_sel, uint8_t full_scale)
Set gyro configuration function.
float gyro_y
Definition: lsm6dsl.h:268
uint8_t lsm6dsl_check_id(lsm6dsl_t *ctx)
Function check LSM6DSL ID.
pin_name_t mosi
Definition: lsm6dsl.h:299
void lsm6dsl_cfg_setup(lsm6dsl_cfg_t *cfg)
Config Object Initialization function.
spi_master_t spi
Definition: lsm6dsl.h:286
Click ctx object definition.
Definition: lsm6dsl.h:277
uint16_t lsm6dsl_get_axis(lsm6dsl_t *ctx, uint8_t reg_address_low)
Get axis value function.
uint8_t lsm6dsl_get_status_reg(lsm6dsl_t *ctx)
Get status function.
uint8_t spi_mode
Definition: lsm6dsl.h:310
void lsm6dsl_get_accel(lsm6dsl_t *ctx, lsm6dsl_accel_t *accel, uint8_t full_scale)
Get acceleration function.
void lsm6dsl_write_byte(lsm6dsl_t *ctx, uint8_t reg_address, uint8_t write_data)
Write byte of data function.