602 lines
23 KiB
C
602 lines
23 KiB
C
/**
|
||
******************************************************************************
|
||
* @file lsm6ds0.h
|
||
* @author MEMS Application Team
|
||
* @version V1.3.0
|
||
* @date 28-May-2015
|
||
* @brief This file contains definitions for the lsm6ds0.c
|
||
* firmware driver.
|
||
******************************************************************************
|
||
* @attention
|
||
*
|
||
* <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
|
||
*
|
||
* Redistribution and use in source and binary forms, with or without modification,
|
||
* are permitted provided that the following conditions are met:
|
||
* 1. Redistributions of source code must retain the above copyright notice,
|
||
* this list of conditions and the following disclaimer.
|
||
* 2. Redistributions in binary form must reproduce the above copyright notice,
|
||
* this list of conditions and the following disclaimer in the documentation
|
||
* and/or other materials provided with the distribution.
|
||
* 3. Neither the name of STMicroelectronics nor the names of its contributors
|
||
* may be used to endorse or promote products derived from this software
|
||
* without specific prior written permission.
|
||
*
|
||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
||
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
||
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
|
||
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
|
||
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
|
||
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
||
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
|
||
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
|
||
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||
*
|
||
******************************************************************************
|
||
*/
|
||
|
||
/* Define to prevent recursive inclusion -------------------------------------*/
|
||
#ifndef __LSM6DS0_H
|
||
#define __LSM6DS0_H
|
||
|
||
#ifdef __cplusplus
|
||
extern "C" {
|
||
#endif
|
||
|
||
/* Includes ------------------------------------------------------------------*/
|
||
#include "imu_6axes.h"
|
||
|
||
/** @addtogroup BSP
|
||
* @{
|
||
*/
|
||
|
||
/** @addtogroup Components
|
||
* @{
|
||
*/
|
||
|
||
/** @addtogroup LSM6DS0
|
||
* @{
|
||
*/
|
||
|
||
/** @defgroup LSM6DS0_Exported_Defines LSM6DS0_Exported_Defines
|
||
* @{
|
||
*/
|
||
#ifndef NULL
|
||
#define NULL (void *) 0
|
||
#endif
|
||
|
||
|
||
/******************************************************************************/
|
||
/*********** START ACCELEROMETER AND GYROSCOPE REGISTER MAPPING **************/
|
||
/******************************************************************************/
|
||
|
||
|
||
/***************************************** COMMON REGISTERS ********************************************/
|
||
|
||
/**
|
||
* @brief Interrupt config register
|
||
* \code
|
||
* Read/write
|
||
* Default value: 0x00
|
||
* [7] INT_IG_G: Gyroscope interrupt enable on INT pin
|
||
* [6] INT_IG_XL: Accelerometer interrupt generator on INT pin
|
||
* [5] INT_FSS5: FSS5 interrupt enable on INT pin
|
||
* [4] INT_OVR: Overrun interrupt on INT pin
|
||
* [3] INT_FTH: Gyroscope interrupt enable on INT pin
|
||
* [2] INT_BOOT: Accelerometer interrupt generator on INT pin
|
||
* [1] INT_DRDY_G: FSS5 interrupt enable on INT pin
|
||
* [0] INT_DRDY_XL: Overrun interrupt on INT pin
|
||
* \endcode
|
||
*/
|
||
#define LSM6DS0_XG_INT_CTRL 0x0C
|
||
|
||
|
||
/**
|
||
* @brief Device identifier register.
|
||
* \code
|
||
* Read
|
||
* Default value:
|
||
* [7:0] This read-only register contains the device identifier
|
||
* \endcode
|
||
*/
|
||
#define LSM6DS0_XG_WHO_AM_I_ADDR 0x0F
|
||
|
||
|
||
/**
|
||
* @brief Control Register 4
|
||
* \code
|
||
* Read/write
|
||
* Default value: 0x38
|
||
* [5] Zen_G: Gyroscope<70>s Z-axis output enable
|
||
* [4] Yen_G: Gyroscope<70>s Y-axis output enable
|
||
* [3] Xen_G: Gyroscope<70>s X-axis output enable
|
||
* \endcode
|
||
*/
|
||
#define LSM6DS0_XG_CTRL_REG4 0x1E
|
||
|
||
|
||
/**
|
||
* @brief Control Register 10
|
||
* \code
|
||
* Read/write
|
||
* Default value: 0x00
|
||
* [2] ST_G: Gyro selftest disable (0) / enable (1)
|
||
* [0] ST_XL: Accel selftest disable (0) / enable (1)
|
||
* \endcode
|
||
*/
|
||
#define LSM6DS0_XG_CTRL_REG10 0x24
|
||
|
||
|
||
/***************************************** GYROSCOPE REGISTERS ********************************************/
|
||
|
||
/**
|
||
* @brief Angular rate sensor Control Register 1
|
||
* \code
|
||
* Read/write
|
||
* Default value: 0x00
|
||
* [7:5] ODR_G2-0: Gyroscope output data rate selection
|
||
* [4:3] FS_G1-0: Gyroscope full-scale selection
|
||
* [2] This bit must be set to <20>0<EFBFBD> for the correct operation of the device
|
||
* [1:0] BW_G1-0: Gyroscope bandwidth selection
|
||
* \endcode
|
||
*/
|
||
#define LSM6DS0_XG_CTRL_REG1_G 0x10
|
||
|
||
|
||
/**
|
||
* @brief Gyroscope data (LSB)
|
||
* \code
|
||
* Read
|
||
* \endcode
|
||
*/
|
||
#define LSM6DS0_XG_OUT_X_L_G 0x18
|
||
|
||
|
||
/**
|
||
* @brief Gyroscope data (MSB)
|
||
* \code
|
||
* Read
|
||
* \endcode
|
||
*/
|
||
#define LSM6DS0_XG_OUT_X_H_G 0x19
|
||
|
||
|
||
/**
|
||
* @brief Gyroscope data (LSB)
|
||
* \code
|
||
* Read
|
||
* \endcode
|
||
*/
|
||
#define LSM6DS0_XG_OUT_Y_L_G 0x1A
|
||
|
||
|
||
/**
|
||
* @brief Gyroscope data (MSB)
|
||
* \code
|
||
* Read
|
||
* \endcode
|
||
*/
|
||
#define LSM6DS0_XG_OUT_Y_H_G 0x1B
|
||
|
||
|
||
/**
|
||
* @brief Gyroscope data (LSB)
|
||
* \code
|
||
* Read
|
||
* \endcode
|
||
*/
|
||
#define LSM6DS0_XG_OUT_Z_L_G 0x1C
|
||
|
||
|
||
/**
|
||
* @brief Gyroscope data (MSB)
|
||
* \code
|
||
* Read
|
||
* \endcode
|
||
*/
|
||
#define LSM6DS0_XG_OUT_Z_H_G 0x1D
|
||
|
||
|
||
|
||
/*************************************** ACCELEROMETER REGISTERS *******************************************/
|
||
|
||
/**
|
||
* @brief Linear acceleration sensor Control Register 6
|
||
* \code
|
||
* Read/write
|
||
* Default value: 0x00
|
||
* [7:5] ODR_XL2-0: Accelerometer Output data rate and power mode selection
|
||
* [4:3] FS1_XL-FS0_XL: Accelerometer full-scale selection
|
||
* [2] BW_SCAL_ODR: Bandwidth selection
|
||
* [1:0] BW_XL1-0: Anti-aliasing filter bandwidth selection
|
||
* \endcode
|
||
*/
|
||
#define LSM6DS0_XG_CTRL_REG6_XL 0x20
|
||
|
||
|
||
/**
|
||
* @brief Linear acceleration sensor Control Register 5
|
||
* \code
|
||
* Read/write
|
||
* Default value: 0x38
|
||
* [7:6] DEC1-0: Decimation of acceleration data on OUT REG and FIFO
|
||
* [5] Zen_XL: Accelerometer<65>s Z-axis output enable
|
||
* [4] Yen_XL: Accelerometer<65>s Y-axis output enable
|
||
* [3] Xen_XL: Accelerometer<65>s X-axis output enable
|
||
* [2:0] These bits must be set to <20>0<EFBFBD> for the correct operation of the device
|
||
* \endcode
|
||
*/
|
||
#define LSM6DS0_XG_CTRL_REG5_XL 0x1F
|
||
|
||
|
||
/**
|
||
* @brief Accelerometer data (LSB)
|
||
* \code
|
||
* Read
|
||
* \endcode
|
||
*/
|
||
#define LSM6DS0_XG_OUT_X_L_XL 0x28
|
||
|
||
|
||
/**
|
||
* @brief Accelerometer data (MSB)
|
||
* \code
|
||
* Read
|
||
* \endcode
|
||
*/
|
||
#define LSM6DS0_XG_OUT_X_H_XL 0x29
|
||
|
||
|
||
/**
|
||
* @brief Accelerometer data (LSB)
|
||
* \code
|
||
* Read
|
||
* \endcode
|
||
*/
|
||
#define LSM6DS0_XG_OUT_Y_L_XL 0x2A
|
||
|
||
|
||
/**
|
||
* @brief Accelerometer data (MSB)
|
||
* \code
|
||
* Read
|
||
* \endcode
|
||
*/
|
||
#define LSM6DS0_XG_OUT_Y_H_XL 0x2B
|
||
|
||
|
||
/**
|
||
* @brief Accelerometer data (LSB)
|
||
* \code
|
||
* Read
|
||
* \endcode
|
||
*/
|
||
#define LSM6DS0_XG_OUT_Z_L_XL 0x2C
|
||
|
||
|
||
/**
|
||
* @brief Accelerometer data (MSB)
|
||
* \code
|
||
* Read
|
||
* \endcode
|
||
*/
|
||
#define LSM6DS0_XG_OUT_Z_H_XL 0x2D
|
||
|
||
/******************************************************************************/
|
||
/************* END ACCELEROMETER AND GYROSCOPE REGISTER MAPPING **************/
|
||
/******************************************************************************/
|
||
|
||
/**
|
||
* @brief Multiple Byte. Mask for enabling multiple byte read/write command.
|
||
*/
|
||
#define LSM6DS0_I2C_MULTIPLEBYTE_CMD ((uint8_t)0x80)
|
||
|
||
/**
|
||
* @brief Device Address
|
||
*/
|
||
#define LSM6DS0_ADDRESS_LOW 0xD4 // SAD[0] = 0
|
||
#define LSM6DS0_ADDRESS_HIGH 0xD6 // SAD[0] = 1
|
||
#define LSM6DS0_XG_MEMS_ADDRESS LSM6DS0_ADDRESS_HIGH // SAD[0] = 1
|
||
|
||
/**
|
||
* @brief Device Identifier. Default value of the WHO_AM_I register.
|
||
*/
|
||
#define I_AM_LSM6DS0_XG ((uint8_t)0x68)
|
||
|
||
|
||
|
||
/************************************** GYROSCOPE REGISTERS VALUE *******************************************/
|
||
|
||
|
||
/** @defgroup LSM6DS0_XG_Gyroscope_Output_Data_Rate_Selection_CTRL_REG1_G LSM6DS0_XG_Gyroscope_Output_Data_Rate_Selection_CTRL_REG1_G
|
||
* @{
|
||
*/
|
||
#define LSM6DS0_G_ODR_PD ((uint8_t)0x00) /*!< Output Data Rate: Power-down*/
|
||
#define LSM6DS0_G_ODR_14_9HZ ((uint8_t)0x20) /*!< Output Data Rate: 14.9 Hz, cutoff 5Hz */
|
||
#define LSM6DS0_G_ODR_59_5HZ ((uint8_t)0x40) /*!< Output Data Rate: 59.5 Hz, cutoff 19Hz */
|
||
#define LSM6DS0_G_ODR_119HZ ((uint8_t)0x60) /*!< Output Data Rate: 119 Hz, cutoff 38Hz*/
|
||
#define LSM6DS0_G_ODR_238HZ ((uint8_t)0x80) /*!< Output Data Rate: 238 Hz, cutoff 76Hz*/
|
||
#define LSM6DS0_G_ODR_476HZ ((uint8_t)0xA0) /*!< Output Data Rate: 476 Hz, cutoff 100Hz*/
|
||
#define LSM6DS0_G_ODR_952HZ ((uint8_t)0xC0) /*!< Output Data Rate: 952 Hz, cutoff 100Hz*/
|
||
|
||
#define LSM6DS0_G_ODR_MASK ((uint8_t)0xE0)
|
||
/**
|
||
* @}
|
||
*/
|
||
|
||
|
||
/** @defgroup LSM6DS0_XG_Gyroscope_Bandwidth_Selection_CTRL_REG1_G LSM6DS0_XG_Gyroscope_Bandwidth_Selection_CTRL_REG1_G
|
||
* @{
|
||
*/
|
||
#define LSM6DS0_G_BW_00 ((uint8_t)0x00) /*!< Bandwidth selection: - cutoff = n.a. when ODR = Power-down
|
||
- cutoff = n.a. when ODR = 14.9
|
||
- cutoff = 16 when ODR = 59.5
|
||
- cutoff = 14 when ODR = 119
|
||
- cutoff = 14 when ODR = 238
|
||
- cutoff = 21 when ODR = 476
|
||
- cutoff = 33 when ODR = 952 */
|
||
#define LSM6DS0_G_BW_01 ((uint8_t)0x01) /*!< Bandwidth selection: - cutoff = n.a. when ODR = Power-down
|
||
- cutoff = n.a. when ODR = 14.9
|
||
- cutoff = 16 when ODR = 59.5
|
||
- cutoff = 31 when ODR = 119
|
||
- cutoff = 29 when ODR = 238
|
||
- cutoff = 28 when ODR = 476
|
||
- cutoff = 40 when ODR = 952 */
|
||
#define LSM6DS0_G_BW_10 ((uint8_t)0x02) /*!< Bandwidth selection: - cutoff = n.a. when ODR = Power-down
|
||
- cutoff = n.a. when ODR = 14.9
|
||
- cutoff = 16 when ODR = 59.5
|
||
- cutoff = 31 when ODR = 119
|
||
- cutoff = 63 when ODR = 238
|
||
- cutoff = 57 when ODR = 476
|
||
- cutoff = 58 when ODR = 952 */
|
||
#define LSM6DS0_G_BW_11 ((uint8_t)0x03) /*!< Bandwidth selection: - cutoff = n.a. when ODR = Power-down
|
||
- cutoff = n.a. when ODR = 14.9
|
||
- cutoff = 16 when ODR = 59.5
|
||
- cutoff = 31 when ODR = 119
|
||
- cutoff = 78 when ODR = 238
|
||
- cutoff = 100 when ODR = 476
|
||
- cutoff = 100 when ODR = 952 */
|
||
|
||
#define LSM6DS0_G_BW_MASK ((uint8_t)0x03)
|
||
/**
|
||
* @}
|
||
*/
|
||
|
||
/** @defgroup LSM6DS0_XG_Gyroscope_Full_Scale_Selection_CTRL_REG1_G LSM6DS0_XG_Gyroscope_Full_Scale_Selection_CTRL_REG1_G
|
||
* @{
|
||
*/
|
||
#define LSM6DS0_G_FS_245 ((uint8_t)0x00) /*!< Full scale: 245 dps*/
|
||
#define LSM6DS0_G_FS_500 ((uint8_t)0x08) /*!< Full scale: 500 dps */
|
||
#define LSM6DS0_G_FS_2000 ((uint8_t)0x18) /*!< Full scale: 2000 dps */
|
||
|
||
#define LSM6DS0_G_FS_MASK ((uint8_t)0x18)
|
||
/**
|
||
* @}
|
||
*/
|
||
|
||
/** @defgroup LSM6DS0_XG_Gyroscope_Z_Axis_Output_Enable_Selection_CTRL_REG4 LSM6DS0_XG_Gyroscope_Z_Axis_Output_Enable_Selection_CTRL_REG4
|
||
* @{
|
||
*/
|
||
#define LSM6DS0_G_ZEN_DISABLE ((uint8_t)0x00) /*!< Gyroscope<70>s Z-axis output enable: disable */
|
||
#define LSM6DS0_G_ZEN_ENABLE ((uint8_t)0x20) /*!< Gyroscope<70>s Z-axis output enable: enable */
|
||
|
||
#define LSM6DS0_G_ZEN_MASK ((uint8_t)0x20)
|
||
/**
|
||
* @}
|
||
*/
|
||
|
||
/** @defgroup LSM6DS0_XG_Gyroscope_Y_Axis_Output_Enable_Selection_CTRL_REG4 LSM6DS0_XG_Gyroscope_Y_Axis_Output_Enable_Selection_CTRL_REG4
|
||
* @{
|
||
*/
|
||
#define LSM6DS0_G_YEN_DISABLE ((uint8_t)0x00) /*!< Gyroscope<70>s Y-axis output enable: disable */
|
||
#define LSM6DS0_G_YEN_ENABLE ((uint8_t)0x10) /*!< Gyroscope<70>s Y-axis output enable: enable */
|
||
|
||
#define LSM6DS0_G_YEN_MASK ((uint8_t)0x10)
|
||
/**
|
||
* @}
|
||
*/
|
||
|
||
/** @defgroup LSM6DS0_XG_Gyroscope_X_Axis_Output_Enable_Selection_CTRL_REG4 LSM6DS0_XG_Gyroscope_X_Axis_Output_Enable_Selection_CTRL_REG4
|
||
* @{
|
||
*/
|
||
#define LSM6DS0_G_XEN_DISABLE ((uint8_t)0x00) /*!< Gyroscope<70>s X-axis output enable: disable */
|
||
#define LSM6DS0_G_XEN_ENABLE ((uint8_t)0x08) /*!< Gyroscope<70>s X-axis output enable: enable */
|
||
|
||
#define LSM6DS0_G_XEN_MASK ((uint8_t)0x08)
|
||
/**
|
||
* @}
|
||
*/
|
||
|
||
/** @defgroup LSM6DS0_XG_Gyroscope_Selftest_Enable_Selection_CTRL_REG10 LSM6DS0_XG_Gyroscope_Selftest_Enable_Selection_CTRL_REG10
|
||
* @{
|
||
*/
|
||
#define LSM6DS0_G_ST_DISABLE ((uint8_t)0x00) /*!< Gyro selftest disable */
|
||
#define LSM6DS0_G_ST_ENABLE ((uint8_t)0x04) /*!< Gyro selftest enable */
|
||
|
||
#define LSM6DS0_G_ST_MASK ((uint8_t)0x04)
|
||
/**
|
||
* @}
|
||
*/
|
||
|
||
|
||
/************************************ ACCELEROMETER REGISTERS VALUE *****************************************/
|
||
|
||
/** @defgroup LSM6DS0_XG_Accelerometer_Output_Data_Rate_Selection_CTRL_REG6_XL LSM6DS0_XG_Accelerometer_Output_Data_Rate_Selection_CTRL_REG6_XL
|
||
* @{
|
||
*/
|
||
#define LSM6DS0_XL_ODR_PD ((uint8_t)0x00) /*!< Output Data Rate: Power-down*/
|
||
#define LSM6DS0_XL_ODR_10HZ ((uint8_t)0x20) /*!< Output Data Rate: 10 Hz*/
|
||
#define LSM6DS0_XL_ODR_50HZ ((uint8_t)0x40) /*!< Output Data Rate: 50 Hz */
|
||
#define LSM6DS0_XL_ODR_119HZ ((uint8_t)0x60) /*!< Output Data Rate: 119 Hz */
|
||
#define LSM6DS0_XL_ODR_238HZ ((uint8_t)0x80) /*!< Output Data Rate: 238 Hz */
|
||
#define LSM6DS0_XL_ODR_476HZ ((uint8_t)0xA0) /*!< Output Data Rate: 476 Hz */
|
||
#define LSM6DS0_XL_ODR_952HZ ((uint8_t)0xC0) /*!< Output Data Rate: 952 Hz */
|
||
|
||
#define LSM6DS0_XL_ODR_MASK ((uint8_t)0xE0)
|
||
/**
|
||
* @}
|
||
*/
|
||
|
||
/** @defgroup LSM6DS0_XG_Accelerometer_Full_Scale_Selection_CTRL_REG6_XL LSM6DS0_XG_Accelerometer_Full_Scale_Selection_CTRL_REG6_XL
|
||
* @{
|
||
*/
|
||
#define LSM6DS0_XL_FS_2G ((uint8_t)0x00) /*!< Full scale: +- 2g */
|
||
#define LSM6DS0_XL_FS_4G ((uint8_t)0x10) /*!< Full scale: +- 4g */
|
||
#define LSM6DS0_XL_FS_8G ((uint8_t)0x18) /*!< Full scale: +- 8g */
|
||
#define LSM6DS0_XL_FS_16G ((uint8_t)0x08) /*!< Full scale: +- 16g */
|
||
|
||
#define LSM6DS0_XL_FS_MASK ((uint8_t)0x18)
|
||
/**
|
||
* @}
|
||
*/
|
||
|
||
/** @defgroup LSM6DS0_XG_Accelerometer_Bandwidth_Selection_CTRL_REG6_XL LSM6DS0_XG_Accelerometer_Bandwidth_Selection_CTRL_REG6_XL
|
||
* @{
|
||
*/
|
||
#define LSM6DS0_XL_BW_SCAL_ODR ((uint8_t)0x00) /*!< Bandwidth selection: determined by ODR:
|
||
- BW = 408Hz when ODR = 952Hz, 50Hz, 10Hz
|
||
- BW = 211Hz when ODR = 476Hz
|
||
- BW = 105Hz when ODR = 238Hz
|
||
- BW = 50Hz when ODR = 119Hz */
|
||
#define LSM6DS0_XL_BW_SCAL_BW ((uint8_t)0x04) /*!< Bandwidth selection: selected according to Anti aliasing filter bandwidth */
|
||
|
||
#define LSM6DS0_XL_BW_SCAL_MASK ((uint8_t)0x04)
|
||
/**
|
||
* @}
|
||
*/
|
||
|
||
|
||
/** @defgroup LSM6DS0_XG_Accelerometer_Anti_Aliasing_Filter_Bandwidth_Selection_CTRL_REG6_XL LSM6DS0_XG_Accelerometer_Anti_Aliasing_Filter_Bandwidth_Selection_CTRL_REG6_XL
|
||
* @{
|
||
*/
|
||
#define LSM6DS0_XL_BW_408HZ ((uint8_t)0x00) /*!< Anti-aliasing filter bandwidht: 408 Hz */
|
||
#define LSM6DS0_XL_BW_211HZ ((uint8_t)0x01) /*!< Anti-aliasing filter bandwidht: 211 Hz */
|
||
#define LSM6DS0_XL_BW_105HZ ((uint8_t)0x02) /*!< Anti-aliasing filter bandwidht: 105 Hz */
|
||
#define LSM6DS0_XL_BW_50HZ ((uint8_t)0x03) /*!< Anti-aliasing filter bandwidht: 50 Hz */
|
||
|
||
#define LSM6DS0_XL_BW_MASK ((uint8_t)0x03)
|
||
/**
|
||
* @}
|
||
*/
|
||
|
||
/** @defgroup LSM6DS0_XG_Accelerometer_Decimation_Acceleration_Data_Selection_CTRL_REG5_XL LSM6DS0_XG_Accelerometer_Decimation_Acceleration_Data_Selection_CTRL_REG5_XL
|
||
* @{
|
||
*/
|
||
#define LSM6DS0_XL_DEC_NO ((uint8_t)0x00) /*!< Decimation of acceleration data: no decimation */
|
||
#define LSM6DS0_XL_DEC_EVERY_2S ((uint8_t)0x40) /*!< Decimation of acceleration data: update every 2 samples */
|
||
#define LSM6DS0_XL_DEC_EVERY_4S ((uint8_t)0x80) /*!< Decimation of acceleration data: update every 4 samples */
|
||
#define LSM6DS0_XL_DEC_EVERY_8S ((uint8_t)0xC0) /*!< Decimation of acceleration data: update every 8 samples */
|
||
|
||
#define LSM6DS0_XL_DEC_MASK ((uint8_t)0xC0)
|
||
/**
|
||
* @}
|
||
*/
|
||
|
||
|
||
/** @defgroup LSM6DS0_XG_Accelerometer_Z_Axis_Output_Enable_Selection_CTRL_REG5_XL LSM6DS0_XG_Accelerometer_Z_Axis_Output_Enable_Selection_CTRL_REG5_XL
|
||
* @{
|
||
*/
|
||
#define LSM6DS0_XL_ZEN_DISABLE ((uint8_t)0x00) /*!< Accelerometer<65>s Z-axis output enable: disable */
|
||
#define LSM6DS0_XL_ZEN_ENABLE ((uint8_t)0x20) /*!< Accelerometer<65>s Z-axis output enable: enable */
|
||
|
||
#define LSM6DS0_XL_ZEN_MASK ((uint8_t)0x20)
|
||
/**
|
||
* @}
|
||
*/
|
||
|
||
/** @defgroup LSM6DS0_XG_Accelerometer_Y_Axis_Output_Enable_Selection_CTRL_REG5_XL LSM6DS0_XG_Accelerometer_Y_Axis_Output_Enable_Selection_CTRL_REG5_XL
|
||
* @{
|
||
*/
|
||
#define LSM6DS0_XL_YEN_DISABLE ((uint8_t)0x00) /*!< Accelerometer<65>s Y-axis output enable: disable */
|
||
#define LSM6DS0_XL_YEN_ENABLE ((uint8_t)0x10) /*!< Accelerometer<65>s Y-axis output enable: enable */
|
||
|
||
#define LSM6DS0_XL_YEN_MASK ((uint8_t)0x10)
|
||
/**
|
||
* @}
|
||
*/
|
||
|
||
|
||
/** @defgroup LSM6DS0_XG_Accelerometer_X_Axis_Output_Enable_Selection_CTRL_REG5_XL LSM6DS0_XG_Accelerometer_X_Axis_Output_Enable_Selection_CTRL_REG5_XL
|
||
* @{
|
||
*/
|
||
#define LSM6DS0_XL_XEN_DISABLE ((uint8_t)0x00) /*!< Accelerometer<65>s X-axis output enable: disable */
|
||
#define LSM6DS0_XL_XEN_ENABLE ((uint8_t)0x08) /*!< Accelerometer<65>s X-axis output enable: enable */
|
||
|
||
#define LSM6DS0_XL_XEN_MASK ((uint8_t)0x08)
|
||
|
||
/**
|
||
* @}
|
||
*/
|
||
|
||
|
||
/** @defgroup LSM6DS0_XG_Accelerometer_Selftest_Enable_Selection_CTRL_REG10 LSM6DS0_XG_Accelerometer_Selftest_Enable_Selection_CTRL_REG10
|
||
* @{
|
||
*/
|
||
#define LSM6DS0_XL_ST_DISABLE ((uint8_t)0x00) /*!< Accel selftest disable */
|
||
#define LSM6DS0_XL_ST_ENABLE ((uint8_t)0x01) /*!< Accel selftest enable */
|
||
|
||
#define LSM6DS0_XL_ST_MASK ((uint8_t)0x01)
|
||
|
||
/**
|
||
* @}
|
||
*/
|
||
|
||
/**
|
||
* @}
|
||
*/
|
||
|
||
|
||
/** @defgroup LSM6DS0_Imported_Functions LSM6DS0_Imported_Functions
|
||
* @{
|
||
*/
|
||
|
||
/* Six axes sensor IO functions */
|
||
extern IMU_6AXES_StatusTypeDef LSM6DS0_IO_Init(void);
|
||
extern IMU_6AXES_StatusTypeDef LSM6DS0_IO_Write(uint8_t* pBuffer, uint8_t DeviceAddr, uint8_t RegisterAddr,
|
||
uint16_t NumByteToWrite);
|
||
extern IMU_6AXES_StatusTypeDef LSM6DS0_IO_Read(uint8_t* pBuffer, uint8_t DeviceAddr, uint8_t RegisterAddr,
|
||
uint16_t NumByteToRead);
|
||
extern void LSM6DS0_IO_ITConfig( void );
|
||
|
||
/**
|
||
* @}
|
||
*/
|
||
|
||
/* ------------------------------------------------------- */
|
||
/* Here you should declare the internal struct of */
|
||
/* extended features of LIS3MDL. See the example of */
|
||
/* LSM6DS3 in lsm6ds3.h */
|
||
/* ------------------------------------------------------- */
|
||
|
||
/** @addtogroup LSM6DS0_Exported_Variables LSM6DS0_Exported_Variables
|
||
* @{
|
||
*/
|
||
|
||
/* Six axes sensor driver structure */
|
||
extern IMU_6AXES_DrvTypeDef LSM6DS0Drv;
|
||
extern IMU_6AXES_DrvExtTypeDef LSM6DS0Drv_ext;
|
||
|
||
/**
|
||
* @}
|
||
*/
|
||
|
||
/**
|
||
* @}
|
||
*/
|
||
|
||
/**
|
||
* @}
|
||
*/
|
||
|
||
/**
|
||
* @}
|
||
*/
|
||
|
||
#ifdef __cplusplus
|
||
}
|
||
#endif
|
||
|
||
#endif /* __LSM6DS0_H */
|
||
|
||
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
|