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 
41 #ifdef PREINIT_SUPPORTED
42 #include "preinit.h"
43 #endif
44 
45 #ifdef MikroCCoreVersion
46  #if MikroCCoreVersion >= 1
47  #include "delays.h"
48  #endif
49 #endif
50 
51 #include "drv_digital_out.h"
52 #include "drv_digital_in.h"
53 #include "drv_spi_master.h"
54 
55 // -------------------------------------------------------------- PUBLIC MACROS
66 #define LSM6DSL_MAP_MIKROBUS( cfg, mikrobus ) \
67  cfg.miso = MIKROBUS( mikrobus, MIKROBUS_MISO ); \
68  cfg.mosi = MIKROBUS( mikrobus, MIKROBUS_MOSI ); \
69  cfg.sck = MIKROBUS( mikrobus, MIKROBUS_SCK ); \
70  cfg.cs = MIKROBUS( mikrobus, MIKROBUS_CS ); \
71  cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
72 
78 #define LSM6DSL_RETVAL uint8_t
79 
80 #define LSM6DSL_OK 0x00
81 #define LSM6DSL_INIT_ERROR 0xFF
82 
88 #define LSM6DSL_FUNC_CFG_ACCESS 0x01
89 #define LSM6DSL_SENSOR_SYNC_TIME 0x04
90 #define LSM6DSL_SENSOR_RES_RATIO 0x05
91 #define LSM6DSL_FIFO_CTRL1 0x06
92 #define LSM6DSL_FIFO_CTRL2 0x07
93 #define LSM6DSL_FIFO_CTRL3 0x08
94 #define LSM6DSL_FIFO_CTRL4 0x09
95 #define LSM6DSL_FIFO_CTRL5 0x0A
96 #define LSM6DSL_DRDY_PULSE_CFG_G 0x0B
97 #define LSM6DSL_INT1_CTRL 0x0D
98 #define LSM6DSL_INT2_CTRL 0x0E
99 #define LSM6DSL_WHO_AM_I_REG 0x0F
100 #define LSM6DSL_CTRL1_XL 0x10
101 #define LSM6DSL_CTRL2_G 0x11
102 #define LSM6DSL_CTRL3_C 0x12
103 #define LSM6DSL_CTRL4_C 0x13
104 #define LSM6DSL_CTRL5_C 0x14
105 #define LSM6DSL_CTRL6_G 0x15
106 #define LSM6DSL_CTRL7_G 0x16
107 #define LSM6DSL_CTRL8_XL 0x17
108 #define LSM6DSL_CTRL9_XL 0x18
109 #define LSM6DSL_CTRL10_C 0x19
110 #define LSM6DSL_MASTER_CONFIG 0x1A
111 #define LSM6DSL_WAKE_UP_SRC 0x1B
112 #define LSM6DSL_TAP_SRC 0x1C
113 #define LSM6DSL_D6D_SRC 0x1D
114 #define LSM6DSL_STATUS_REG 0x1E
115 #define LSM6DSL_OUT_TEMP_L 0x20
116 #define LSM6DSL_OUT_TEMP_H 0x21
117 #define LSM6DSL_OUTX_L_G 0x22
118 #define LSM6DSL_OUTX_H_G 0x23
119 #define LSM6DSL_OUTY_L_G 0x24
120 #define LSM6DSL_OUTY_H_G 0x25
121 #define LSM6DSL_OUTZ_L_G 0x26
122 #define LSM6DSL_OUTZ_H_G 0x27
123 #define LSM6DSL_OUTX_L_XL 0x28
124 #define LSM6DSL_OUTX_H_XL 0x29
125 #define LSM6DSL_OUTY_L_XL 0x2A
126 #define LSM6DSL_OUTY_H_XL 0x2B
127 #define LSM6DSL_OUTZ_L_XL 0x2C
128 #define LSM6DSL_OUTZ_H_XL 0x2D
129 #define LSM6DSL_SENSORHUB1_REG 0x2E
130 #define LSM6DSL_SENSORHUB2_REG 0x2F
131 #define LSM6DSL_SENSORHUB3_REG 0x30
132 #define LSM6DSL_SENSORHUB4_REG 0x31
133 #define LSM6DSL_SENSORHUB5_REG 0x32
134 #define LSM6DSL_SENSORHUB6_REG 0x33
135 #define LSM6DSL_SENSORHUB7_REG 0x34
136 #define LSM6DSL_SENSORHUB8_REG 0x35
137 #define LSM6DSL_SENSORHUB9_REG 0x36
138 #define LSM6DSL_SENSORHUB10_REG 0x37
139 #define LSM6DSL_SENSORHUB11_REG 0x38
140 #define LSM6DSL_SENSORHUB12_REG 0x39
141 #define LSM6DSL_FIFO_STATUS1 0x3A
142 #define LSM6DSL_FIFO_STATUS2 0x3B
143 #define LSM6DSL_FIFO_STATUS3 0x3C
144 #define LSM6DSL_FIFO_STATUS4 0x3D
145 #define LSM6DSL_FIFO_DATA_OUT_L 0x3E
146 #define LSM6DSL_FIFO_DATA_OUT_H 0x3F
147 #define LSM6DSL_TIMESTAMP0_REG 0x40
148 #define LSM6DSL_TIMESTAMP1_REG 0x41
149 #define LSM6DSL_TIMESTAMP2_REG 0x42
150 #define LSM6DSL_TIMESTAMP_L 0x49
151 #define LSM6DSL_TIMESTAMP_H 0x4A
152 #define LSM6DSL_STEP_COUNTER_L 0x4B
153 #define LSM6DSL_STEP_COUNTER_H 0x4C
154 #define LSM6DSL_SENSORHUB13_REG 0x4D
155 #define LSM6DSL_SENSORHUB14_REG 0x4E
156 #define LSM6DSL_SENSORHUB15_REG 0x4F
157 #define LSM6DSL_SENSORHUB16_REG 0x50
158 #define LSM6DSL_SENSORHUB17_REG 0x51
159 #define LSM6DSL_SENSORHUB18_REG 0x52
160 #define LSM6DSL_FUNC_SRC 0x53
161 #define LSM6DSL_TAP_CFG1 0x58
162 #define LSM6DSL_TAP_THS_6D 0x59
163 #define LSM6DSL_INT_DUR2 0x5A
164 #define LSM6DSL_WAKE_UP_THS 0x5B
165 #define LSM6DSL_WAKE_UP_DUR 0x5C
166 #define LSM6DSL_FREE_FALL 0x5D
167 #define LSM6DSL_MD1_CFG 0x5E
168 #define LSM6DSL_MD2_CFG 0x5F
169 #define LSM6DSL_OUT_MAG_RAW_X_L 0x66
170 #define LSM6DSL_OUT_MAG_RAW_X_H 0x67
171 #define LSM6DSL_OUT_MAG_RAW_Y_L 0x68
172 #define LSM6DSL_OUT_MAG_RAW_Y_H 0x69
173 #define LSM6DSL_OUT_MAG_RAW_Z_L 0x6A
174 #define LSM6DSL_OUT_MAG_RAW_Z_H 0x6B
175 #define LSM6DSL_X_OFS_USR 0x73
176 #define LSM6DSL_Y_OFS_USR 0x74
177 #define LSM6DSL_Z_OFS_USR 0x75
178 
184 #define LSM6DSL_SLV0_ADD 0x02
185 #define LSM6DSL_SLV0_SUBADD 0x03
186 #define LSM6DSL_SLAVE0_CONFIG 0x04
187 #define LSM6DSL_SLV1_ADD 0x05
188 #define LSM6DSL_SLV1_SUBADD 0x06
189 #define LSM6DSL_SLAVE1_CONFIG 0x07
190 #define LSM6DSL_SLV2_ADD 0x08
191 #define LSM6DSL_SLV2_SUBADD 0x09
192 #define LSM6DSL_SLAVE2_CONFIG 0x0A
193 #define LSM6DSL_SLV3_ADD 0x0B
194 #define LSM6DSL_SLV3_SUBADD 0x0C
195 #define LSM6DSL_SLAVE3_CONFIG 0x0D
196 #define LSM6DSL_DATAWRITE_SRC_MODE_SUB_SLV0 0x0E
197 #define LSM6DSL_CONFIG_PEDO_THS_MIN 0x0F
198 #define LSM6DSL_SM_STEP_THS 0x13
199 #define LSM6DSL_PEDO_DEB_REG 0x14
200 #define LSM6DSL_STEP_COUNT_DELTA 0x15
201 #define LSM6DSL_MAG_SI_XX 0x24
202 #define LSM6DSL_MAG_SI_XY 0x25
203 #define LSM6DSL_MAG_SI_XZ 0x26
204 #define LSM6DSL_MAG_SI_YX 0x27
205 #define LSM6DSL_MAG_SI_YY 0x28
206 #define LSM6DSL_MAG_SI_YZ 0x29
207 #define LSM6DSL_MAG_SI_ZX 0x2A
208 #define LSM6DSL_MAG_SI_ZY 0x2B
209 #define LSM6DSL_MAG_SI_ZZ 0x2C
210 #define LSM6DSL_MAG_OFFX_L 0x2D
211 #define LSM6DSL_MAG_OFFX_H 0x2E
212 #define LSM6DSL_MAG_OFFY_L 0x2F
213 #define LSM6DSL_MAG_OFFY_H 0x30
214 #define LSM6DSL_MAG_OFFZ_L 0x31
215 #define LSM6DSL_MAG_OFFZ_H 0x32
216 
222 #define LSM6DSL_CHECK_ID 0x6A
223 
229 #define LSM6DSL_DISABLE_MEASUREMENT 0x00
230 #define LSM6DSL_ODR_6660_HZ 0xA0
231 #define LSM6DSL_ODR_3330_HZ 0x90
232 #define LSM6DSL_ODR_1660_HZ 0x80
233 #define LSM6DSL_ODR_833_HZ 0x70
234 #define LSM6DSL_ODR_416_HZ 0x60
235 #define LSM6DSL_ODR_208_HZ 0x50
236 #define LSM6DSL_ODR_104_HZ 0x40
237 #define LSM6DSL_ODR_52_HZ 0x30
238 #define LSM6DSL_ODR_26_HZ 0x20
239 #define LSM6DSL_ODR_12_5_HZ 0x10
240 #define LSM6DSL_ODR_XL_1_6_HZ 0xB0
241 
247 #define LSM6DSL_FULLSCALE_XL_2 0x00
248 #define LSM6DSL_FULLSCALE_XL_4 0x04
249 #define LSM6DSL_FULLSCALE_XL_8 0x08
250 #define LSM6DSL_FULLSCALE_XL_16 0x0C
251 #define LSM6DSL_FULLSCALE_G_125 0x02
252 #define LSM6DSL_FULLSCALE_G_245 0x00
253 #define LSM6DSL_FULLSCALE_G_500 0x04
254 #define LSM6DSL_FULLSCALE_G_1000 0x08
255 #define LSM6DSL_FULLSCALE_G_2000 0x0C
256  // End group macro
259 // --------------------------------------------------------------- PUBLIC TYPES
268 typedef struct
269 {
270  float accel_x;
271  float accel_y;
272  float accel_z;
273 
275 
279 typedef struct
280 {
281  float gyro_x;
282  float gyro_y;
283  float gyro_z;
284 
286 
290 typedef struct
291 {
292  digital_out_t cs;
293 
294  // Input pins
295 
296  digital_in_t int_pin;
297 
298  // Modules
299 
300  spi_master_t spi;
301  pin_name_t chip_select;
302 
303 } lsm6dsl_t;
304 
308 typedef struct
309 {
310  // Communication gpio pins
311 
312  pin_name_t miso;
313  pin_name_t mosi;
314  pin_name_t sck;
315  pin_name_t cs;
316 
317  // Additional gpio pins
318 
319  pin_name_t int_pin;
320 
321  // static variable
322 
323  uint32_t spi_speed;
324  uint8_t spi_mode;
325  spi_master_chip_select_polarity_t cs_polarity;
326 
327 } lsm6dsl_cfg_t;
328  // End types group
330 // ----------------------------------------------- PUBLIC FUNCTION DECLARATIONS
331 
336 #ifdef __cplusplus
337 extern "C"{
338 #endif
339 
349 
358 
367 
380 (
381  lsm6dsl_t *ctx,
382  uint8_t *wr_buf,
383  uint16_t wr_len,
384  uint8_t *rd_buf,
385  uint16_t rd_len
386 );
387 
397 uint8_t lsm6dsl_read_byte ( lsm6dsl_t *ctx, uint8_t reg_address );
398 
409 void lsm6dsl_write_byte ( lsm6dsl_t *ctx, uint8_t reg_address, uint8_t write_data );
410 
419 uint8_t lsm6dsl_check_id ( lsm6dsl_t *ctx );
420 
431 void lsm6dsl_set_accel_config ( lsm6dsl_t *ctx, uint8_t odr_sel, uint8_t full_scale );
432 
443 void lsm6dsl_set_gyro_config ( lsm6dsl_t *ctx, uint8_t odr_sel, uint8_t full_scale );
444 
454 
464 
474 
483 void lsm6dsl_circular_burst_mode ( lsm6dsl_t *ctx, uint8_t burst_mode );
484 
495 void lsm6dsl_set_self_test_mode ( lsm6dsl_t *ctx, uint8_t gyro_self_test, uint8_t accel_self_test );
496 
506 
516 uint16_t lsm6dsl_get_axis ( lsm6dsl_t *ctx, uint8_t reg_address_low );
517 
529 
546 void lsm6dsl_get_accel ( lsm6dsl_t *ctx, lsm6dsl_accel_t *accel, uint8_t full_scale );
547 
564 void lsm6dsl_get_gyro ( lsm6dsl_t *ctx, lsm6dsl_gyro_t *gyro, uint8_t full_scale );
565 
566 #ifdef __cplusplus
567 }
568 #endif
569 #endif // _LSM6DSL_H_
570  // End public_function group
573 
574 // ------------------------------------------------------------------------- END
lsm6dsl_cfg_t::spi_speed
uint32_t spi_speed
Definition: lsm6dsl.h:323
lsm6dsl_accel_t::accel_y
float accel_y
Definition: lsm6dsl.h:271
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:319
lsm6dsl_cfg_t::cs_polarity
spi_master_chip_select_polarity_t cs_polarity
Definition: lsm6dsl.h:325
lsm6dsl_cfg_t
Click configuration structure definition.
Definition: lsm6dsl.h:309
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:292
lsm6dsl_cfg_t::sck
pin_name_t sck
Definition: lsm6dsl.h:314
lsm6dsl_accel_t::accel_x
float accel_x
Definition: lsm6dsl.h:270
lsm6dsl_cfg_t::cs
pin_name_t cs
Definition: lsm6dsl.h:315
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:296
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:269
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:280
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:272
lsm6dsl_gyro_t::gyro_x
float gyro_x
Definition: lsm6dsl.h:281
lsm6dsl_cfg_t::miso
pin_name_t miso
Definition: lsm6dsl.h:312
LSM6DSL_RETVAL
#define LSM6DSL_RETVAL
Definition: lsm6dsl.h:78
lsm6dsl_gyro_t::gyro_z
float gyro_z
Definition: lsm6dsl.h:283
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:301
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:282
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:313
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:300
lsm6dsl_t
Click ctx object definition.
Definition: lsm6dsl.h:291
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:324
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.