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lsm6dso.c
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/**
******************************************************************************
* @file lsm6dso.c
* @author MEMS Software Solutions Team
* @brief LSM6DSO driver file
******************************************************************************
* @attention
*
* Copyright (c) 2019 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include "lsm6dso.h"
/** @addtogroup BSP BSP
* @{
*/
/** @addtogroup Component Component
* @{
*/
/** @defgroup LSM6DSO LSM6DSO
* @{
*/
/** @defgroup LSM6DSO_Exported_Variables LSM6DSO Exported Variables
* @{
*/
LSM6DSO_CommonDrv_t LSM6DSO_COMMON_Driver =
{
LSM6DSO_Init,
LSM6DSO_DeInit,
LSM6DSO_ReadID,
LSM6DSO_GetCapabilities,
};
LSM6DSO_ACC_Drv_t LSM6DSO_ACC_Driver =
{
LSM6DSO_ACC_Enable,
LSM6DSO_ACC_Disable,
LSM6DSO_ACC_GetSensitivity,
LSM6DSO_ACC_GetOutputDataRate,
LSM6DSO_ACC_SetOutputDataRate,
LSM6DSO_ACC_GetFullScale,
LSM6DSO_ACC_SetFullScale,
LSM6DSO_ACC_GetAxes,
LSM6DSO_ACC_GetAxesRaw,
};
LSM6DSO_GYRO_Drv_t LSM6DSO_GYRO_Driver =
{
LSM6DSO_GYRO_Enable,
LSM6DSO_GYRO_Disable,
LSM6DSO_GYRO_GetSensitivity,
LSM6DSO_GYRO_GetOutputDataRate,
LSM6DSO_GYRO_SetOutputDataRate,
LSM6DSO_GYRO_GetFullScale,
LSM6DSO_GYRO_SetFullScale,
LSM6DSO_GYRO_GetAxes,
LSM6DSO_GYRO_GetAxesRaw,
};
/**
* @}
*/
/** @defgroup LSM6DSO_Private_Function_Prototypes LSM6DSO Private Function Prototypes
* @{
*/
static int32_t LSM6DSO_ACC_SetOutputDataRate_When_Enabled(LSM6DSO_Object_t *pObj, float_t Odr);
static int32_t LSM6DSO_ACC_SetOutputDataRate_When_Disabled(LSM6DSO_Object_t *pObj, float_t Odr);
static int32_t LSM6DSO_GYRO_SetOutputDataRate_When_Enabled(LSM6DSO_Object_t *pObj, float_t Odr);
static int32_t LSM6DSO_GYRO_SetOutputDataRate_When_Disabled(LSM6DSO_Object_t *pObj, float_t Odr);
static void LSM6DSO_Delay(LSM6DSO_Object_t *pObj, uint32_t msDelay);
static int32_t ReadRegWrap(void *Handle, uint8_t Reg, uint8_t *pData, uint16_t Length);
static int32_t WriteRegWrap(void *Handle, uint8_t Reg, uint8_t *pData, uint16_t Length);
/**
* @}
*/
/** @defgroup LSM6DSO_Exported_Functions LSM6DSO Exported Functions
* @{
*/
/**
* @brief Register Component Bus IO operations
* @param pObj the device pObj
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSO_RegisterBusIO(LSM6DSO_Object_t *pObj, LSM6DSO_IO_t *pIO)
{
int32_t ret = LSM6DSO_OK;
if (pObj == NULL)
{
ret = LSM6DSO_ERROR;
}
else
{
pObj->IO.Init = pIO->Init;
pObj->IO.DeInit = pIO->DeInit;
pObj->IO.BusType = pIO->BusType;
pObj->IO.Address = pIO->Address;
pObj->IO.WriteReg = pIO->WriteReg;
pObj->IO.ReadReg = pIO->ReadReg;
pObj->IO.GetTick = pIO->GetTick;
pObj->Ctx.read_reg = ReadRegWrap;
pObj->Ctx.write_reg = WriteRegWrap;
pObj->Ctx.mdelay = pIO->Delay;
pObj->Ctx.handle = pObj;
if (pObj->IO.Init == NULL)
{
ret = LSM6DSO_ERROR;
}
else if (pObj->IO.Init() != LSM6DSO_OK)
{
ret = LSM6DSO_ERROR;
}
else
{
if (pObj->IO.BusType == LSM6DSO_SPI_3WIRES_BUS) /* SPI 3-Wires */
{
/* Enable the SPI 3-Wires support only the first time */
if (pObj->is_initialized == 0U)
{
/* Enable SPI 3-Wires on the component */
uint8_t data = 0x0C;
if (LSM6DSO_Write_Reg(pObj, LSM6DSO_CTRL3_C, data) != LSM6DSO_OK)
{
ret = LSM6DSO_ERROR;
}
}
}
}
}
return ret;
}
/**
* @brief Initialize the LSM6DSO sensor
* @param pObj the device pObj
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSO_Init(LSM6DSO_Object_t *pObj)
{
/* Disable I3C */
if (lsm6dso_i3c_disable_set(&(pObj->Ctx), LSM6DSO_I3C_DISABLE) != LSM6DSO_OK)
{
return LSM6DSO_ERROR;
}
/* Enable register address automatically incremented during a multiple byte
access with a serial interface. */
if (lsm6dso_auto_increment_set(&(pObj->Ctx), PROPERTY_ENABLE) != LSM6DSO_OK)
{
return LSM6DSO_ERROR;
}
/* Enable BDU */
if (lsm6dso_block_data_update_set(&(pObj->Ctx), PROPERTY_ENABLE) != LSM6DSO_OK)
{
return LSM6DSO_ERROR;
}
/* FIFO mode selection */
if (lsm6dso_fifo_mode_set(&(pObj->Ctx), LSM6DSO_BYPASS_MODE) != LSM6DSO_OK)
{
return LSM6DSO_ERROR;
}
/* Select default output data rate. */
pObj->acc_odr = LSM6DSO_XL_ODR_104Hz;
/* Output data rate selection - power down. */
if (lsm6dso_xl_data_rate_set(&(pObj->Ctx), LSM6DSO_XL_ODR_OFF) != LSM6DSO_OK)
{
return LSM6DSO_ERROR;
}
/* Full scale selection. */
if (lsm6dso_xl_full_scale_set(&(pObj->Ctx), LSM6DSO_2g) != LSM6DSO_OK)
{
return LSM6DSO_ERROR;
}
/* Select default output data rate. */
pObj->gyro_odr = LSM6DSO_GY_ODR_104Hz;
/* Output data rate selection - power down. */
if (lsm6dso_gy_data_rate_set(&(pObj->Ctx), LSM6DSO_GY_ODR_OFF) != LSM6DSO_OK)
{
return LSM6DSO_ERROR;
}
/* Full scale selection. */
if (lsm6dso_gy_full_scale_set(&(pObj->Ctx), LSM6DSO_2000dps) != LSM6DSO_OK)
{
return LSM6DSO_ERROR;
}
pObj->is_initialized = 1;
return LSM6DSO_OK;
}
/**
* @brief Deinitialize the LSM6DSO sensor
* @param pObj the device pObj
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSO_DeInit(LSM6DSO_Object_t *pObj)
{
/* Disable the component */
if (LSM6DSO_ACC_Disable(pObj) != LSM6DSO_OK)
{
return LSM6DSO_ERROR;
}
if (LSM6DSO_GYRO_Disable(pObj) != LSM6DSO_OK)
{
return LSM6DSO_ERROR;
}
/* Reset output data rate. */
pObj->acc_odr = LSM6DSO_XL_ODR_OFF;
pObj->gyro_odr = LSM6DSO_GY_ODR_OFF;
pObj->is_initialized = 0;
return LSM6DSO_OK;
}
/**
* @brief Read component ID
* @param pObj the device pObj
* @param Id the WHO_AM_I value
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSO_ReadID(LSM6DSO_Object_t *pObj, uint8_t *Id)
{
if (lsm6dso_device_id_get(&(pObj->Ctx), Id) != LSM6DSO_OK)
{
return LSM6DSO_ERROR;
}
return LSM6DSO_OK;
}
/**
* @brief Get LSM6DSO sensor capabilities
* @param pObj Component object pointer
* @param Capabilities pointer to LSM6DSO sensor capabilities
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSO_GetCapabilities(LSM6DSO_Object_t *pObj, LSM6DSO_Capabilities_t *Capabilities)
{
/* Prevent unused argument(s) compilation warning */
(void)(pObj);
Capabilities->Acc = 1;
Capabilities->Gyro = 1;
Capabilities->Magneto = 0;
Capabilities->LowPower = 0;
Capabilities->GyroMaxFS = 2000;
Capabilities->AccMaxFS = 16;
Capabilities->MagMaxFS = 0;
Capabilities->GyroMaxOdr = 6660.0f;
Capabilities->AccMaxOdr = 6660.0f;
Capabilities->MagMaxOdr = 0.0f;
return LSM6DSO_OK;
}
/**
* @brief Enable the LSM6DSO accelerometer sensor
* @param pObj the device pObj
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSO_ACC_Enable(LSM6DSO_Object_t *pObj)
{
/* Check if the component is already enabled */
if (pObj->acc_is_enabled == 1U)
{
return LSM6DSO_OK;
}
/* Output data rate selection. */
if (lsm6dso_xl_data_rate_set(&(pObj->Ctx), pObj->acc_odr) != LSM6DSO_OK)
{
return LSM6DSO_ERROR;
}
pObj->acc_is_enabled = 1;
return LSM6DSO_OK;
}
/**
* @brief Disable the LSM6DSO accelerometer sensor
* @param pObj the device pObj
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSO_ACC_Disable(LSM6DSO_Object_t *pObj)
{
/* Check if the component is already disabled */
if (pObj->acc_is_enabled == 0U)
{
return LSM6DSO_OK;
}
/* Get current output data rate. */
if (lsm6dso_xl_data_rate_get(&(pObj->Ctx), &pObj->acc_odr) != LSM6DSO_OK)
{
return LSM6DSO_ERROR;
}
/* Output data rate selection - power down. */
if (lsm6dso_xl_data_rate_set(&(pObj->Ctx), LSM6DSO_XL_ODR_OFF) != LSM6DSO_OK)
{
return LSM6DSO_ERROR;
}
pObj->acc_is_enabled = 0;
return LSM6DSO_OK;
}
/**
* @brief Get the LSM6DSO accelerometer sensor sensitivity
* @param pObj the device pObj
* @param Sensitivity pointer
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSO_ACC_GetSensitivity(LSM6DSO_Object_t *pObj, float_t *Sensitivity)
{
int32_t ret = LSM6DSO_OK;
lsm6dso_fs_xl_t full_scale;
/* Read actual full scale selection from sensor. */
if (lsm6dso_xl_full_scale_get(&(pObj->Ctx), &full_scale) != LSM6DSO_OK)
{
return LSM6DSO_ERROR;
}
/* Store the Sensitivity based on actual full scale. */
switch (full_scale)
{
case LSM6DSO_2g:
*Sensitivity = LSM6DSO_ACC_SENSITIVITY_FS_2G;
break;
case LSM6DSO_4g:
*Sensitivity = LSM6DSO_ACC_SENSITIVITY_FS_4G;
break;
case LSM6DSO_8g:
*Sensitivity = LSM6DSO_ACC_SENSITIVITY_FS_8G;
break;
case LSM6DSO_16g:
*Sensitivity = LSM6DSO_ACC_SENSITIVITY_FS_16G;
break;
default:
ret = LSM6DSO_ERROR;
break;
}
return ret;
}
/**
* @brief Get the LSM6DSO accelerometer sensor output data rate
* @param pObj the device pObj
* @param Odr pointer where the output data rate is written
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSO_ACC_GetOutputDataRate(LSM6DSO_Object_t *pObj, float_t *Odr)
{
int32_t ret = LSM6DSO_OK;
lsm6dso_odr_xl_t odr_low_level;
/* Get current output data rate. */
if (lsm6dso_xl_data_rate_get(&(pObj->Ctx), &odr_low_level) != LSM6DSO_OK)
{
return LSM6DSO_ERROR;
}
switch (odr_low_level)
{
case LSM6DSO_XL_ODR_OFF:
*Odr = 0.0f;
break;
case LSM6DSO_XL_ODR_1Hz6:
*Odr = 1.6f;
break;
case LSM6DSO_XL_ODR_12Hz5:
*Odr = 12.5f;
break;
case LSM6DSO_XL_ODR_26Hz:
*Odr = 26.0f;
break;
case LSM6DSO_XL_ODR_52Hz:
*Odr = 52.0f;
break;
case LSM6DSO_XL_ODR_104Hz:
*Odr = 104.0f;
break;
case LSM6DSO_XL_ODR_208Hz:
*Odr = 208.0f;
break;
case LSM6DSO_XL_ODR_417Hz:
*Odr = 417.0f;
break;
case LSM6DSO_XL_ODR_833Hz:
*Odr = 833.0f;
break;
case LSM6DSO_XL_ODR_1667Hz:
*Odr = 1667.0f;
break;
case LSM6DSO_XL_ODR_3333Hz:
*Odr = 3333.0f;
break;
case LSM6DSO_XL_ODR_6667Hz:
*Odr = 6667.0f;
break;
default:
ret = LSM6DSO_ERROR;
break;
}
return ret;
}
/**
* @brief Set the LSM6DSO accelerometer sensor output data rate
* @param pObj the device pObj
* @param Odr the output data rate value to be set
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSO_ACC_SetOutputDataRate(LSM6DSO_Object_t *pObj, float_t Odr)
{
return LSM6DSO_ACC_SetOutputDataRate_With_Mode(pObj, Odr, LSM6DSO_ACC_HIGH_PERFORMANCE_MODE);
}
/**
* @brief Set the LSM6DSO accelerometer sensor output data rate with operating mode
* @param pObj the device pObj
* @param Odr the output data rate value to be set
* @param Mode the accelerometer operating mode
* @note This function switches off the gyroscope if Ultra Low Power Mode is set
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSO_ACC_SetOutputDataRate_With_Mode(LSM6DSO_Object_t *pObj, float_t Odr, LSM6DSO_ACC_Operating_Mode_t Mode)
{
int32_t ret = LSM6DSO_OK;
float_t newOdr = Odr;
switch (Mode)
{
case LSM6DSO_ACC_HIGH_PERFORMANCE_MODE:
{
/* We must uncheck Low Power and Ultra Low Power bits if they are enabled */
lsm6dso_ctrl5_c_t val1;
lsm6dso_ctrl6_c_t val2;
if (lsm6dso_read_reg(&(pObj->Ctx), LSM6DSO_CTRL5_C, (uint8_t *)&val1, 1) != LSM6DSO_OK)
{
return LSM6DSO_ERROR;
}
if (val1.xl_ulp_en != 0U)
{
/* Power off the accelerometer */
if (pObj->acc_is_enabled == 1U)
{
if (lsm6dso_xl_data_rate_set(&(pObj->Ctx), LSM6DSO_XL_ODR_OFF) != LSM6DSO_OK)
{
return LSM6DSO_ERROR;
}
}
val1.xl_ulp_en = 0;
if (lsm6dso_write_reg(&(pObj->Ctx), LSM6DSO_CTRL5_C, (uint8_t *)&val1, 1) != LSM6DSO_OK)
{
return LSM6DSO_ERROR;
}
}
if (lsm6dso_read_reg(&(pObj->Ctx), LSM6DSO_CTRL6_C, (uint8_t *)&val2, 1) != LSM6DSO_OK)
{
return LSM6DSO_ERROR;
}
if (val2.xl_hm_mode != 0U)
{
val2.xl_hm_mode = 0U;
if (lsm6dso_write_reg(&(pObj->Ctx), LSM6DSO_CTRL6_C, (uint8_t *)&val2, 1) != LSM6DSO_OK)
{
return LSM6DSO_ERROR;
}
}
/* ODR should be at least 12.5Hz */
if (newOdr < 12.5f)
{
newOdr = 12.5f;
}
break;
}
case LSM6DSO_ACC_LOW_POWER_NORMAL_MODE:
{
/* We must uncheck Ultra Low Power bit if it is enabled */
/* and check the Low Power bit if it is unchecked */
lsm6dso_ctrl5_c_t val1;
lsm6dso_ctrl6_c_t val2;
if (lsm6dso_read_reg(&(pObj->Ctx), LSM6DSO_CTRL5_C, (uint8_t *)&val1, 1) != LSM6DSO_OK)
{
return LSM6DSO_ERROR;
}
if (val1.xl_ulp_en != 0U)
{
/* Power off the accelerometer */
if (pObj->acc_is_enabled == 1U)
{
if (lsm6dso_xl_data_rate_set(&(pObj->Ctx), LSM6DSO_XL_ODR_OFF) != LSM6DSO_OK)
{
return LSM6DSO_ERROR;
}
}
val1.xl_ulp_en = 0;
if (lsm6dso_write_reg(&(pObj->Ctx), LSM6DSO_CTRL5_C, (uint8_t *)&val1, 1) != LSM6DSO_OK)
{
return LSM6DSO_ERROR;
}
}
if (lsm6dso_read_reg(&(pObj->Ctx), LSM6DSO_CTRL6_C, (uint8_t *)&val2, 1) != LSM6DSO_OK)
{
return LSM6DSO_ERROR;
}
if (val2.xl_hm_mode == 0U)
{
val2.xl_hm_mode = 1U;
if (lsm6dso_write_reg(&(pObj->Ctx), LSM6DSO_CTRL6_C, (uint8_t *)&val2, 1) != LSM6DSO_OK)
{
return LSM6DSO_ERROR;
}
}
/* Now we need to limit the ODR to 208 Hz if it is higher */
if (newOdr > 208.0f)
{
newOdr = 208.0f;
}
break;
}
case LSM6DSO_ACC_ULTRA_LOW_POWER_MODE:
{
/* We must uncheck Low Power bit if it is enabled */
/* and check the Ultra Low Power bit if it is unchecked */
/* We must switch off gyro otherwise Ultra Low Power does not work */
lsm6dso_ctrl5_c_t val1;
lsm6dso_ctrl6_c_t val2;
if (lsm6dso_read_reg(&(pObj->Ctx), LSM6DSO_CTRL6_C, (uint8_t *)&val2, 1) != LSM6DSO_OK)
{
return LSM6DSO_ERROR;
}
if (val2.xl_hm_mode != 0U)
{
val2.xl_hm_mode = 0U;
if (lsm6dso_write_reg(&(pObj->Ctx), LSM6DSO_CTRL6_C, (uint8_t *)&val2, 1) != LSM6DSO_OK)
{
return LSM6DSO_ERROR;
}
}
/* Disable Gyro */
if (pObj->gyro_is_enabled == 1U)
{
if (LSM6DSO_GYRO_Disable(pObj) != LSM6DSO_OK)
{
return LSM6DSO_ERROR;
}
}
if (lsm6dso_read_reg(&(pObj->Ctx), LSM6DSO_CTRL5_C, (uint8_t *)&val1, 1) != LSM6DSO_OK)
{
return LSM6DSO_ERROR;
}
if (val1.xl_ulp_en == 0U)
{
/* Power off the accelerometer */
if (pObj->acc_is_enabled == 1U)
{
if (lsm6dso_xl_data_rate_set(&(pObj->Ctx), LSM6DSO_XL_ODR_OFF) != LSM6DSO_OK)
{
return LSM6DSO_ERROR;
}
}
val1.xl_ulp_en = 1U;
if (lsm6dso_write_reg(&(pObj->Ctx), LSM6DSO_CTRL5_C, (uint8_t *)&val1, 1) != LSM6DSO_OK)
{
return LSM6DSO_ERROR;
}
}
/* Now we need to limit the ODR to 208 Hz if it is higher */
if (newOdr > 208.0f)
{
newOdr = 208.0f;
}
break;
}
default:
ret = LSM6DSO_ERROR;
break;
}
if (ret == LSM6DSO_ERROR)
{
return LSM6DSO_ERROR;
}
if (pObj->acc_is_enabled == 1U)
{
ret = LSM6DSO_ACC_SetOutputDataRate_When_Enabled(pObj, newOdr);
}
else
{
ret = LSM6DSO_ACC_SetOutputDataRate_When_Disabled(pObj, newOdr);
}
return ret;
}
/**
* @brief Get the LSM6DSO accelerometer sensor full scale
* @param pObj the device pObj
* @param FullScale pointer where the full scale is written
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSO_ACC_GetFullScale(LSM6DSO_Object_t *pObj, int32_t *FullScale)
{
int32_t ret = LSM6DSO_OK;
lsm6dso_fs_xl_t fs_low_level;
/* Read actual full scale selection from sensor. */
if (lsm6dso_xl_full_scale_get(&(pObj->Ctx), &fs_low_level) != LSM6DSO_OK)
{
return LSM6DSO_ERROR;
}
switch (fs_low_level)
{
case LSM6DSO_2g:
*FullScale = 2;
break;
case LSM6DSO_4g:
*FullScale = 4;
break;
case LSM6DSO_8g:
*FullScale = 8;
break;
case LSM6DSO_16g:
*FullScale = 16;
break;
default:
ret = LSM6DSO_ERROR;
break;
}
return ret;
}
/**
* @brief Set the LSM6DSO accelerometer sensor full scale
* @param pObj the device pObj
* @param FullScale the functional full scale to be set
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSO_ACC_SetFullScale(LSM6DSO_Object_t *pObj, int32_t FullScale)
{
lsm6dso_fs_xl_t new_fs;
/* Seems like MISRA C-2012 rule 14.3a violation but only from single file statical analysis point of view because
the parameter passed to the function is not known at the moment of analysis */
new_fs = (FullScale <= 2) ? LSM6DSO_2g
: (FullScale <= 4) ? LSM6DSO_4g
: (FullScale <= 8) ? LSM6DSO_8g
: LSM6DSO_16g;
if (lsm6dso_xl_full_scale_set(&(pObj->Ctx), new_fs) != LSM6DSO_OK)
{
return LSM6DSO_ERROR;
}
return LSM6DSO_OK;
}
/**
* @brief Get the LSM6DSO accelerometer sensor raw axes
* @param pObj the device pObj
* @param Value pointer where the raw values of the axes are written
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSO_ACC_GetAxesRaw(LSM6DSO_Object_t *pObj, LSM6DSO_AxesRaw_t *Value)
{
lsm6dso_axis3bit16_t data_raw;
/* Read raw data values. */
if (lsm6dso_acceleration_raw_get(&(pObj->Ctx), data_raw.i16bit) != LSM6DSO_OK)
{
return LSM6DSO_ERROR;
}
/* Format the data. */
Value->x = data_raw.i16bit[0];
Value->y = data_raw.i16bit[1];
Value->z = data_raw.i16bit[2];
return LSM6DSO_OK;
}
/**
* @brief Get the LSM6DSO accelerometer sensor axes
* @param pObj the device pObj
* @param Acceleration pointer where the values of the axes are written
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSO_ACC_GetAxes(LSM6DSO_Object_t *pObj, LSM6DSO_Axes_t *Acceleration)
{
lsm6dso_axis3bit16_t data_raw;
float_t sensitivity = 0.0f;
/* Read raw data values. */
if (lsm6dso_acceleration_raw_get(&(pObj->Ctx), data_raw.i16bit) != LSM6DSO_OK)
{
return LSM6DSO_ERROR;
}
/* Get LSM6DSO actual sensitivity. */
if (LSM6DSO_ACC_GetSensitivity(pObj, &sensitivity) != LSM6DSO_OK)
{
return LSM6DSO_ERROR;
}
/* Calculate the data. */
Acceleration->x = (int32_t)((float_t)((float_t)data_raw.i16bit[0] * sensitivity));
Acceleration->y = (int32_t)((float_t)((float_t)data_raw.i16bit[1] * sensitivity));
Acceleration->z = (int32_t)((float_t)((float_t)data_raw.i16bit[2] * sensitivity));
return LSM6DSO_OK;
}
/**
* @brief Enable the LSM6DSO gyroscope sensor
* @param pObj the device pObj
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSO_GYRO_Enable(LSM6DSO_Object_t *pObj)
{
/* Check if the component is already enabled */
if (pObj->gyro_is_enabled == 1U)
{
return LSM6DSO_OK;
}
/* Output data rate selection. */
if (lsm6dso_gy_data_rate_set(&(pObj->Ctx), pObj->gyro_odr) != LSM6DSO_OK)
{
return LSM6DSO_ERROR;
}
pObj->gyro_is_enabled = 1;
return LSM6DSO_OK;
}
/**
* @brief Disable the LSM6DSO gyroscope sensor
* @param pObj the device pObj
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSO_GYRO_Disable(LSM6DSO_Object_t *pObj)
{
/* Check if the component is already disabled */
if (pObj->gyro_is_enabled == 0U)
{
return LSM6DSO_OK;
}
/* Get current output data rate. */
if (lsm6dso_gy_data_rate_get(&(pObj->Ctx), &pObj->gyro_odr) != LSM6DSO_OK)
{
return LSM6DSO_ERROR;
}
/* Output data rate selection - power down. */
if (lsm6dso_gy_data_rate_set(&(pObj->Ctx), LSM6DSO_GY_ODR_OFF) != LSM6DSO_OK)
{
return LSM6DSO_ERROR;
}
pObj->gyro_is_enabled = 0;
return LSM6DSO_OK;
}
/**
* @brief Get the LSM6DSO gyroscope sensor sensitivity
* @param pObj the device pObj
* @param Sensitivity pointer
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSO_GYRO_GetSensitivity(LSM6DSO_Object_t *pObj, float_t *Sensitivity)
{
int32_t ret = LSM6DSO_OK;
lsm6dso_fs_g_t full_scale;
/* Read actual full scale selection from sensor. */
if (lsm6dso_gy_full_scale_get(&(pObj->Ctx), &full_scale) != LSM6DSO_OK)
{
return LSM6DSO_ERROR;
}
/* Store the sensitivity based on actual full scale. */
switch (full_scale)
{
case LSM6DSO_125dps:
*Sensitivity = LSM6DSO_GYRO_SENSITIVITY_FS_125DPS;
break;
case LSM6DSO_250dps:
*Sensitivity = LSM6DSO_GYRO_SENSITIVITY_FS_250DPS;
break;
case LSM6DSO_500dps:
*Sensitivity = LSM6DSO_GYRO_SENSITIVITY_FS_500DPS;
break;
case LSM6DSO_1000dps:
*Sensitivity = LSM6DSO_GYRO_SENSITIVITY_FS_1000DPS;
break;
case LSM6DSO_2000dps:
*Sensitivity = LSM6DSO_GYRO_SENSITIVITY_FS_2000DPS;
break;
default:
ret = LSM6DSO_ERROR;
break;
}
return ret;
}
/**
* @brief Get the LSM6DSO gyroscope sensor output data rate
* @param pObj the device pObj
* @param Odr pointer where the output data rate is written
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSO_GYRO_GetOutputDataRate(LSM6DSO_Object_t *pObj, float_t *Odr)
{
int32_t ret = LSM6DSO_OK;
lsm6dso_odr_g_t odr_low_level;
/* Get current output data rate. */
if (lsm6dso_gy_data_rate_get(&(pObj->Ctx), &odr_low_level) != LSM6DSO_OK)
{
return LSM6DSO_ERROR;
}
switch (odr_low_level)
{
case LSM6DSO_GY_ODR_OFF:
*Odr = 0.0f;
break;
case LSM6DSO_GY_ODR_12Hz5:
*Odr = 12.5f;
break;
case LSM6DSO_GY_ODR_26Hz:
*Odr = 26.0f;
break;
case LSM6DSO_GY_ODR_52Hz:
*Odr = 52.0f;
break;
case LSM6DSO_GY_ODR_104Hz:
*Odr = 104.0f;
break;
case LSM6DSO_GY_ODR_208Hz:
*Odr = 208.0f;
break;
case LSM6DSO_GY_ODR_417Hz:
*Odr = 417.0f;
break;
case LSM6DSO_GY_ODR_833Hz:
*Odr = 833.0f;
break;
case LSM6DSO_GY_ODR_1667Hz:
*Odr = 1667.0f;
break;
case LSM6DSO_GY_ODR_3333Hz:
*Odr = 3333.0f;
break;
case LSM6DSO_GY_ODR_6667Hz:
*Odr = 6667.0f;
break;
default:
ret = LSM6DSO_ERROR;
break;
}
return ret;
}
/**
* @brief Set the LSM6DSO gyroscope sensor output data rate
* @param pObj the device pObj
* @param Odr the output data rate value to be set
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSO_GYRO_SetOutputDataRate(LSM6DSO_Object_t *pObj, float_t Odr)
{
return LSM6DSO_GYRO_SetOutputDataRate_With_Mode(pObj, Odr, LSM6DSO_GYRO_HIGH_PERFORMANCE_MODE);
}
/**
* @brief Set the LSM6DSO gyroscope sensor output data rate with operating mode
* @param pObj the device pObj
* @param Odr the output data rate value to be set
* @param Mode the gyroscope operating mode
* @retval 0 in case of success, an error code otherwise
*/
int32_t LSM6DSO_GYRO_SetOutputDataRate_With_Mode(LSM6DSO_Object_t *pObj, float_t Odr,
LSM6DSO_GYRO_Operating_Mode_t Mode)
{
int32_t ret = LSM6DSO_OK;
float_t newOdr = Odr;
switch (Mode)
{
case LSM6DSO_GYRO_HIGH_PERFORMANCE_MODE:
{
/* We must uncheck Low Power bit if it is enabled */
lsm6dso_ctrl7_g_t val1;
if (lsm6dso_read_reg(&(pObj->Ctx), LSM6DSO_CTRL7_G, (uint8_t *)&val1, 1) != LSM6DSO_OK)
{
return LSM6DSO_ERROR;