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nuttx/drivers/sensors/lsm9ds1_base.h

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sensors: add uorb support for lsm9ds1
2023-08-26 15:44:52 +02:00
/****************************************************************************
* drivers/sensors/lsm9ds1_base.h
*
* Licensed to the Apache Software Foundation (ASF) under one or more
* contributor license agreements. See the NOTICE file distributed with
* this work for additional information regarding copyright ownership. The
* ASF licenses this file to you under the Apache License, Version 2.0 (the
* "License"); you may not use this file except in compliance with the
* License. You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
* License for the specific language governing permissions and limitations
* under the License.
*
****************************************************************************/
#ifndef __INCLUDE_NUTTX_SENSORS_LSM9DS1_COMMOM_H
#define __INCLUDE_NUTTX_SENSORS_LSM9DS1_COMMOM_H
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <assert.h>
#include <errno.h>
#include <debug.h>
#include <stdlib.h>
#include <nuttx/kmalloc.h>
#include <nuttx/random.h>
#include <nuttx/fs/fs.h>
#include <nuttx/i2c/i2c_master.h>
#include <nuttx/sensors/lsm9ds1.h>
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/* Register Addresses *******************************************************/
/* Accelerometer and gyroscope registers */
#define LSM9DS1_ACT_THS 0x04 /* Inactivity threshold */
#define LSM9DS1_ACT_DUR 0x05 /* Inactivity duration */
#define LSM9DS1_INT_GEN_CFG_XL 0x06 /* Accelerometer interrupt configuration */
#define LSM9DS1_INT_GEN_THS_X_XL 0x07 /* Accelerometer X interrupt threshold */
#define LSM9DS1_INT_GEN_THS_Y_XL 0x08 /* Accelerometer Y interrupt threshold */
#define LSM9DS1_INT_GEN_THS_Z_XL 0x09 /* Accelerometer Z interrupt threshold */
#define LSM9DS1_INT_GEN_DUR_XL 0x0a /* Accelerometer interrupt duration */
#define LSM9DS1_REFERENCE_G 0x0b /* Gyroscope reference value for high-pass filter */
#define LSM9DS1_INT1_CTRL 0x0c /* INT1_A/G pin control */
#define LSM9DS1_INT2_CTRL 0x0d /* INT2_A/G pin control */
#define LSM9DS1_WHO_AM_I 0x0f /* Accelerometer and gyroscope device identification */
#define LSM9DS1_CTRL_REG1_G 0x10 /* Gyroscope control register 1 */
#define LSM9DS1_CTRL_REG2_G 0x11 /* Gyroscope control register 2 */
#define LSM9DS1_CTRL_REG3_G 0x12 /* Gyroscope control register 3 */
#define LSM9DS1_ORIENT_CFG_G 0x13 /* Gyroscope sign and orientation */
#define LSM9DS1_INT_GEN_SRC_G 0x14 /* Gyroscope interrupt source */
#define LSM9DS1_OUT_TEMP_L 0x15 /* Temperature low byte */
#define LSM9DS1_OUT_TEMP_H 0x16 /* Temperature high byte */
#define LSM9DS1_STATUS_REG 0x17 /* Status register */
#define LSM9DS1_OUT_X_L_G 0x18 /* Gyroscope pitch (X) low byte */
#define LSM9DS1_OUT_X_H_G 0x19 /* Gyroscope pitch (X) high byte */
#define LSM9DS1_OUT_Y_L_G 0x1a /* Gyroscope roll (Y) low byte */
#define LSM9DS1_OUT_Y_H_G 0x1b /* Gyroscope roll (Y) high byte */
#define LSM9DS1_OUT_Z_L_G 0x1c /* Gyroscope yaw (Z) low byte */
#define LSM9DS1_OUT_Z_H_G 0x1d /* Gyroscope yaw (Z) high byte */
#define LSM9DS1_CTRL_REG4 0x1e /* Control register 4 */
#define LSM9DS1_CTRL_REG5_XL 0x1f /* Accelerometer control register 5 */
#define LSM9DS1_CTRL_REG6_XL 0x20 /* Accelerometer control register 6 */
#define LSM9DS1_CTRL_REG7_XL 0x21 /* Accelerometer control register 7 */
#define LSM9DS1_CTRL_REG8 0x22 /* Control register 8 */
#define LSM9DS1_CTRL_REG9 0x23 /* Control register 9 */
#define LSM9DS1_CTRL_REG10 0x24 /* Control register 10 */
#define LSM9DS1_INT_GEN_SRC_XL 0x26 /* Accelerometer interrupt source */
#define LSM9DS1_STATUS_REG2 0x27 /* Status register 2 */
#define LSM9DS1_OUT_X_L_XL 0x28 /* Accelerometer X low byte */
#define LSM9DS1_OUT_X_H_XL 0x29 /* Accelerometer X high byte */
#define LSM9DS1_OUT_Y_L_XL 0x2a /* Accelerometer Y low byte */
#define LSM9DS1_OUT_Y_H_XL 0x2b /* Accelerometer Y high byte */
#define LSM9DS1_OUT_Z_L_XL 0x2c /* Accelerometer Z low byte */
#define LSM9DS1_OUT_Z_H_XL 0x2d /* Accelerometer Z high byte */
#define LSM9DS1_FIFO_CTRL 0x2e /* FIFO control register */
#define LSM9DS1_FIFO_SRC 0x2f /* FIFO status control register */
#define LSM9DS1_INT_GEN_CFG_G 0x30 /* Gyroscope interrupt configuration */
#define LSM9DS1_INT_GEN_THS_XH_G 0x31 /* Gyroscope pitch (X) interrupt threshold high byte */
#define LSM9DS1_INT_GEN_THS_XL_G 0x32 /* Gyroscope pitch (X) interrupt threshold low byte */
#define LSM9DS1_INT_GEN_THS_YH_G 0x33 /* Gyroscope roll (Y) interrupt threshold high byte */
#define LSM9DS1_INT_GEN_THS_YL_G 0x34 /* Gyroscope roll (Y) interrupt threshold low byte */
#define LSM9DS1_INT_GEN_THS_ZH_G 0x35 /* Gyroscope yaw (Z) interrupt threshold high byte */
#define LSM9DS1_INT_GEN_THS_ZL_G 0x36 /* Gyroscope yaw (Z) interrupt threshold low byte */
#define LSM9DS1_INT_GEN_DUR_G 0x37 /* Gyroscope interrupt duration */
/* Magnetometer registers */
#define LSM9DS1_OFFSET_X_REG_L_M 0x05 /* X low byte offset */
#define LSM9DS1_OFFSET_X_REG_H_M 0x06 /* X high byte offset */
#define LSM9DS1_OFFSET_Y_REG_L_M 0x07 /* Y low byte offset */
#define LSM9DS1_OFFSET_Y_REG_H_M 0x08 /* Y high byte offset */
#define LSM9DS1_OFFSET_Z_REG_L_M 0x09 /* Z low byte offset */
#define LSM9DS1_OFFSET_Z_REG_H_M 0x0a /* Z high byte offset */
#define LSM9DS1_WHO_AM_I_M 0x0f /* Device identification */
#define LSM9DS1_CTRL_REG1_M 0x20 /* Control register 1 */
#define LSM9DS1_CTRL_REG2_M 0x21 /* Control register 2 */
#define LSM9DS1_CTRL_REG3_M 0x22 /* Control register 3 */
#define LSM9DS1_CTRL_REG4_M 0x23 /* Control register 4 */
#define LSM9DS1_CTRL_REG5_M 0x24 /* Control register 5 */
#define LSM9DS1_STATUS_REG_M 0x27 /* Status register */
#define LSM9DS1_OUT_X_L_M 0x28 /* X low byte */
#define LSM9DS1_OUT_X_H_M 0x29 /* X high byte */
#define LSM9DS1_OUT_Y_L_M 0x2a /* Y low byte */
#define LSM9DS1_OUT_Y_H_M 0x2b /* Y high byte */
#define LSM9DS1_OUT_Z_L_M 0x2c /* Z low byte */
#define LSM9DS1_OUT_Z_H_M 0x2d /* Z high byte */
#define LSM9DS1_INT_CFG_M 0x30 /* Interrupt configuration */
#define LSM9DS1_INT_SRC_M 0x31 /* Interrupt source */
#define LSM9DS1_INT_THS_L_M 0x32 /* Interrupt threshold low byte */
#define LSM9DS1_INT_THS_H_M 0x33 /* Interrupt threshold high byte */
/* Register Bit Definitions *************************************************/
/* Inactivity threshold register */
#define LSM9DS1_ACT_THS_ACT_THS_SHIFT 0 /* Inactivity threshold */
#define LSM9DS1_ACT_THS_ACT_THS_MASK (127 << LSM9DS1_ACT_THS_ACT_THS_SHIFT)
#define LSM9DS1_ACT_THS_SLEEP_ON_INACT_EN (1 << 7) /* Gyroscope operating mode during inactivity */
/* Accelerometer interrupt configuration register */
#define LSM9DS1_INT_GEN_CFG_XL_XLIE_XL (1 << 0) /* X-axis low byte interrupt enable */
#define LSM9DS1_INT_GEN_CFG_XL_XHIE_XL (1 << 1) /* X-axis high byte interrupt enable */
#define LSM9DS1_INT_GEN_CFG_XL_YLIE_XL (1 << 2) /* Y-axis low byte interrupt enable */
#define LSM9DS1_INT_GEN_CFG_XL_YHIE_XL (1 << 3) /* Y-axis high byte interrupt enable */
#define LSM9DS1_INT_GEN_CFG_XL_ZLIE_XL (1 << 4) /* Z-axis low byte interrupt enable */
#define LSM9DS1_INT_GEN_CFG_XL_ZHIE_XL (1 << 5) /* Z-axis high byte interrupt enable */
#define LSM9DS1_INT_GEN_CFG_XL_6D (1 << 6) /* 6-direction detection function for interrupt */
#define LSM9DS1_INT_GEN_CFG_XL_AOI_XL (1 << 7) /* AND/OR combination of interrupt events */
/* Accelerometer interrupt duration register */
#define LSM9DS1_INT_GEN_DUR_XL_DUR_XL_SHIFT 0 /* Enter/exit interrupt duration */
#define LSM9DS1_INT_GEN_DUR_XL_DUR_XL_MASK (127 << LSM9DS1_INT_GEN_DUR_XL_DUR_XL_SHIFT)
#define LSM9DS1_INT_GEN_DUR_XL_WAIT_XL (1 << 7) /* Wait function enabled on duration counter */
/* INT1_A/G pin control register */
#define LSM9DS1_INT1_CTRL_INT1_DRDY_XL (1 << 0) /* Accelerometer data ready */
#define LSM9DS1_INT1_CTRL_INT1_DRDY_G (1 << 1) /* Gyroscope data ready */
#define LSM9DS1_INT1_CTRL_INT1_BOOT (1 << 2) /* Boot status available */
#define LSM9DS1_INT1_CTRL_INT1_FTH (1 << 3) /* FIFO threshold interrupt */
#define LSM9DS1_INT1_CTRL_INT1_OVR (1 << 4) /* Overrun interrupt */
#define LSM9DS1_INT1_CTRL_INT1_FSS5 (1 << 5) /* FSS5 interrupt */
#define LSM9DS1_INT1_CTRL_INT1_IG_XL (1 << 6) /* Accelerometer interrupt enable */
#define LSM9DS1_INT1_CTRL_INT1_IG_G (1 << 7) /* Gyroscope interrupt enable */
/* INT2_A/G pin control register */
#define LSM9DS1_INT2_CTRL_INT2_DRDY_XL (1 << 0) /* Accelerometer data ready */
#define LSM9DS1_INT2_CTRL_INT2_DRDY_G (1 << 1) /* Gyroscope data ready */
#define LSM9DS1_INT2_CTRL_INT2_DRDY_TEMP (1 << 2) /* Temperature data ready */
#define LSM9DS1_INT2_CTRL_INT2_FTH (1 << 3) /* FIFO threshold interrupt */
#define LSM9DS1_INT2_CTRL_INT2_OVR (1 << 4) /* Overrun interrupt */
#define LSM9DS1_INT2_CTRL_INT2_FSS5 (1 << 5) /* FSS5 interrupt */
#define LSM9DS1_INT2_CTRL_INT2_INACT (1 << 7) /* Inactivity interrupt output signal */
/* Device identification register */
#define LSM9DS1_WHO_AM_I_VALUE 0x68
/* Gyroscope control register 1 */
#define LSM9DS1_CTRL_REG1_G_BW_G_SHIFT 0 /* Gyroscope bandwidth selection */
#define LSM9DS1_CTRL_REG1_G_BW_G_MASK (3 << LSM9DS1_CTRL_REG1_G_BW_G_SHIFT)
#define LSM9DS1_CTRL_REG1_G_FS_G_SHIFT 3 /* Gyroscope full-scale selection */
#define LSM9DS1_CTRL_REG1_G_FS_G_MASK (3 << LSM9DS1_CTRL_REG1_G_FS_G_SHIFT)
# define LSM9DS1_CTRL_REG1_G_FS_G_245DPS (0 << LSM9DS1_CTRL_REG1_G_FS_G_SHIFT) /* 245 dps */
# define LSM9DS1_CTRL_REG1_G_FS_G_500DPS (1 << LSM9DS1_CTRL_REG1_G_FS_G_SHIFT) /* 500 dps */
# define LSM9DS1_CTRL_REG1_G_FS_G_2000DPS (3 << LSM9DS1_CTRL_REG1_G_FS_G_SHIFT) /* 2000 dps */
#define LSM9DS1_CTRL_REG1_G_ODR_G_SHIFT 5 /* Gyroscope bandwidth selection */
#define LSM9DS1_CTRL_REG1_G_ODR_G_MASK (7 << LSM9DS1_CTRL_REG1_G_ODR_G_SHIFT)
# define LSM9DS1_CTRL_REG1_G_ODR_G_POWERDOWN (0 << LSM9DS1_CTRL_REG1_G_ODR_G_SHIFT) /* Power-down mode */
# define LSM9DS1_CTRL_REG1_G_ODR_G_14p9HZ (1 << LSM9DS1_CTRL_REG1_G_ODR_G_SHIFT) /* 14.9 Hz */
# define LSM9DS1_CTRL_REG1_G_ODR_G_59p5HZ (2 << LSM9DS1_CTRL_REG1_G_ODR_G_SHIFT) /* 59.5 Hz */
# define LSM9DS1_CTRL_REG1_G_ODR_G_119HZ (3 << LSM9DS1_CTRL_REG1_G_ODR_G_SHIFT) /* 119 Hz */
# define LSM9DS1_CTRL_REG1_G_ODR_G_238HZ (4 << LSM9DS1_CTRL_REG1_G_ODR_G_SHIFT) /* 238 Hz */
# define LSM9DS1_CTRL_REG1_G_ODR_G_476HZ (5 << LSM9DS1_CTRL_REG1_G_ODR_G_SHIFT) /* 476 Hz */
# define LSM9DS1_CTRL_REG1_G_ODR_G_952HZ (6 << LSM9DS1_CTRL_REG1_G_ODR_G_SHIFT) /* 952 Hz */
/* Gyroscope control register 2 */
#define LSM9DS1_CTRL_REG2_G_OUT_SEL_SHIFT 0 /* Out selection configuration */
#define LSM9DS1_CTRL_REG2_G_OUT_SEL_MASK (3 << LSM9DS1_CTRL_REG2_G_OUT_SEL_SHIFT)
#define LSM9DS1_CTRL_REG2_G_INT_SEL_SHIFT 2 /* INT selection configuration */
#define LSM9DS1_CTRL_REG2_G_INT_SEL_MASK (3 << LSM9DS1_CTRL_REG2_G_INT_SEL_SHIFT)
/* Gyroscope control register 3 */
#define LSM9DS1_CTRL_REG3_G_HPCF_G_SHIFT 0 /* Gyroscope high-pass filter cutoff frequency selection */
#define LSM9DS1_CTRL_REG3_G_HPCF_G_MASK (15 << LSM9DS1_CTRL_REG3_G_HPCF_G_SHIFT)
#define LSM9DS1_CTRL_REG3_G_HP_EN (1 << 6) /* High-pass filter enable */
#define LSM9DS1_CTRL_REG3_G_LP_MODE (1 << 7) /* Low-power mode enable */
/* Gyroscope sign and orientation register */
#define LSM9DS1_ORIENT_CFG_G_ORIENT_SHIFT 0 /* Directional user orientation selection */
#define LSM9DS1_ORIENT_CFG_G_ORIENT_MASK (3 << LSM9DS1_ORIENT_CFG_G_ORIENT_SHIFT)
#define LSM9DS1_ORIENT_CFG_G_SIGNZ_G (1 << 3) /* Yaw axis (Z) angular rate sign */
#define LSM9DS1_ORIENT_CFG_G_SIGNY_G (1 << 4) /* Roll axis (Y) angular rate sign */
#define LSM9DS1_ORIENT_CFG_G_SIGNX_G (1 << 5) /* Pitch axis (X) angular rate sign */
/* Gyroscope interrupt source register */
#define LSM9DS1_INT_GEN_SRC_G_XL_G (1 << 0) /* Pitch (X) low */
#define LSM9DS1_INT_GEN_SRC_G_XH_G (1 << 1) /* Pitch (X) high */
#define LSM9DS1_INT_GEN_SRC_G_YL_G (1 << 2) /* Roll (Y) low */
#define LSM9DS1_INT_GEN_SRC_G_YH_G (1 << 3) /* Roll (Y) high */
#define LSM9DS1_INT_GEN_SRC_G_ZL_G (1 << 4) /* Yaw (Z) low */
#define LSM9DS1_INT_GEN_SRC_G_ZH_G (1 << 5) /* Yaw (Z) high */
#define LSM9DS1_INT_GEN_SRC_G_IA_G (1 << 6) /* Interrupt active */
/* Status register */
#define LSM9DS1_STATUS_REG_XLDA (1 << 0) /* Accelerometer new data available */
#define LSM9DS1_STATUS_REG_GDA (1 << 1) /* Gyroscope new data available */
#define LSM9DS1_STATUS_REG_TDA (1 << 2) /* Temperature sensor new data available */
#define LSM9DS1_STATUS_REG_BOOT_STATUS (1 << 3) /* Boot running flag signal */
#define LSM9DS1_STATUS_REG_INACT (1 << 4) /* Inactivity interrupt output signal */
#define LSM9DS1_STATUS_REG_IG_G (1 << 5) /* Gyroscope interrupt output signal */
#define LSM9DS1_STATUS_REG_IG_XL (1 << 6) /* Accelerometer interrupt output signal */
/* Control register 4 */
#define LSM9DS1_CTRL_REG4_4D_XL1 (1 << 0) /* 4D option enabled on interrupt */
#define LSM9DS1_CTRL_REG4_LIR_XL1 (1 << 1) /* Latched interrupt */
#define LSM9DS1_CTRL_REG4_XEN_G (1 << 3) /* Gyroscope's pitch axis (X) output enable */
#define LSM9DS1_CTRL_REG4_YEN_G (1 << 4) /* Gyroscope's roll axis (Y) output enable */
#define LSM9DS1_CTRL_REG4_ZEN_G (1 << 5) /* Gyroscope's yaw axis (Z) output enable */
/* Accelerometer control register 5 */
#define LSM9DS1_CTRL_REG5_XL_XEN_XL (1 << 3) /* Accelerometer's X-axis output enable */
#define LSM9DS1_CTRL_REG5_XL_YEN_XL (1 << 4) /* Accelerometer's Y-axis output enable */
#define LSM9DS1_CTRL_REG5_XL_ZEN_XL (1 << 5) /* Accelerometer's Z-axis output enable */
#define LSM9DS1_CTRL_REG5_XL_DEC_SHIFT 6 /* Decimation of acceleration data on OUT REG and FIFO */
#define LSM9DS1_CTRL_REG5_XL_DEC_MASK (3 << LSM9DS1_CTRL_REG5_XL_DEC_SHIFT)
# define LSM9DS1_CTRL_REG5_XL_DEC_NODEC (0 << LSM9DS1_CTRL_REG5_XL_DEC_SHIFT) /* No decimation */
# define LSM9DS1_CTRL_REG5_XL_DEC_2SAMPLES (1 << LSM9DS1_CTRL_REG5_XL_DEC_SHIFT) /* Update every 2 samples */
# define LSM9DS1_CTRL_REG5_XL_DEC_4SAMPLES (2 << LSM9DS1_CTRL_REG5_XL_DEC_SHIFT) /* Update every 4 samples */
# define LSM9DS1_CTRL_REG5_XL_DEC_8SAMPLES (3 << LSM9DS1_CTRL_REG5_XL_DEC_SHIFT) /* Update every 8 samples */
/* Accelerometer control register 6 */
#define LSM9DS1_CTRL_REG6_XL_BW_XL_SHIFT 0 /* Anti-aliasing filter bandwidth selection */
#define LSM9DS1_CTRL_REG6_XL_BW_XL_MASK (3 << LSM9DS1_CTRL_REG6_XL_BW_XL_SHIFT)
# define LSM9DS1_CTRL_REG6_XL_BW_XL_408HZ (0 << LSM9DS1_CTRL_REG6_XL_BW_XL_SHIFT) /* 408 Hz */
# define LSM9DS1_CTRL_REG6_XL_BW_XL_211HZ (1 << LSM9DS1_CTRL_REG6_XL_BW_XL_SHIFT) /* 211 Hz */
# define LSM9DS1_CTRL_REG6_XL_BW_XL_105HZ (2 << LSM9DS1_CTRL_REG6_XL_BW_XL_SHIFT) /* 105 Hz */
# define LSM9DS1_CTRL_REG6_XL_BW_XL_50HZ (3 << LSM9DS1_CTRL_REG6_XL_BW_XL_SHIFT) /* 50 Hz */
#define LSM9DS1_CTRL_REG6_XL_BW_SCAL_ODR (1 << 2) /* Bandwidth selection */
#define LSM9DS1_CTRL_REG6_XL_FS_XL_SHIFT 3 /* Accelerometer full-scale selection */
#define LSM9DS1_CTRL_REG6_XL_FS_XL_MASK (3 << LSM9DS1_CTRL_REG6_XL_FS_XL_SHIFT)
# define LSM9DS1_CTRL_REG6_XL_FS_XL_2G (0 << LSM9DS1_CTRL_REG6_XL_FS_XL_SHIFT) /* +/- 2 g */
# define LSM9DS1_CTRL_REG6_XL_FS_XL_16G (1 << LSM9DS1_CTRL_REG6_XL_FS_XL_SHIFT) /* +/- 16 g */
# define LSM9DS1_CTRL_REG6_XL_FS_XL_4G (2 << LSM9DS1_CTRL_REG6_XL_FS_XL_SHIFT) /* +/- 4 g */
# define LSM9DS1_CTRL_REG6_XL_FS_XL_8G (3 << LSM9DS1_CTRL_REG6_XL_FS_XL_SHIFT) /* +/- 8 g */
#define LSM9DS1_CTRL_REG6_XL_ODR_XL_SHIFT 5 /* Output data rate and power mode selection */
#define LSM9DS1_CTRL_REG6_XL_ODR_XL_MASK (7 << LSM9DS1_CTRL_REG6_XL_ODR_XL_SHIFT)
# define LSM9DS1_CTRL_REG6_XL_ODR_XL_POWERDOWN (0 << LSM9DS1_CTRL_REG6_XL_ODR_XL_SHIFT) /* Power-down mode */
# define LSM9DS1_CTRL_REG6_XL_ODR_XL_10HZ (1 << LSM9DS1_CTRL_REG6_XL_ODR_XL_SHIFT) /* 10 Hz */
# define LSM9DS1_CTRL_REG6_XL_ODR_XL_50HZ (2 << LSM9DS1_CTRL_REG6_XL_ODR_XL_SHIFT) /* 50 Hz */
# define LSM9DS1_CTRL_REG6_XL_ODR_XL_119HZ (3 << LSM9DS1_CTRL_REG6_XL_ODR_XL_SHIFT) /* 119 Hz */
# define LSM9DS1_CTRL_REG6_XL_ODR_XL_238HZ (4 << LSM9DS1_CTRL_REG6_XL_ODR_XL_SHIFT) /* 238 Hz */
# define LSM9DS1_CTRL_REG6_XL_ODR_XL_476HZ (5 << LSM9DS1_CTRL_REG6_XL_ODR_XL_SHIFT) /* 476 Hz */
# define LSM9DS1_CTRL_REG6_XL_ODR_XL_952HZ (6 << LSM9DS1_CTRL_REG6_XL_ODR_XL_SHIFT) /* 952 Hz */
/* Accelerometer control register 7 */
#define LSM9DS1_CTRL_REG7_XL_HPIS1 (1 << 0) /* High-pass filter enabled */
#define LSM9DS1_CTRL_REG7_XL_FDS (1 << 2) /* Filtered data selection */
#define LSM9DS1_CTRL_REG7_XL_DCF_SHIFT 5 /* Accelerometer digital filter cutoff frequency selection */
#define LSM9DS1_CTRL_REG7_XL_DCF_MASK (3 << LSM9DS1_CTRL_REG7_XL_DCF_SHIFT)
# define LSM9DS1_CTRL_REG7_XL_DCF_ODR_DIV50 (0 << LSM9DS1_CTRL_REG7_XL_DCF_SHIFT)
# define LSM9DS1_CTRL_REG7_XL_DCF_ODR_DIV100 (1 << LSM9DS1_CTRL_REG7_XL_DCF_SHIFT)
# define LSM9DS1_CTRL_REG7_XL_DCF_ODR_DIV9 (2 << LSM9DS1_CTRL_REG7_XL_DCF_SHIFT)
# define LSM9DS1_CTRL_REG7_XL_DCF_ODR_DIV400 (3 << LSM9DS1_CTRL_REG7_XL_DCF_SHIFT)
#define LSM9DS1_CTRL_REG7_XL_HR (1 << 7) /* High resolution mode enable */
/* Control register 8 */
#define LSM9DS1_CTRL_REG8_SW_RESET (1 << 0) /* Software reset */
#define LSM9DS1_CTRL_REG8_BLE (1 << 1) /* Big/little endian data selection */
#define LSM9DS1_CTRL_REG8_IF_ADD_INC (1 << 2) /* Register address automatically incremented during a multibyte access */
#define LSM9DS1_CTRL_REG8_SIM (1 << 3) /* SPI serial interface mode selection */
#define LSM9DS1_CTRL_REG8_PP_OD (1 << 4) /* Push-pull/open-drain selection on the INT1_A/G and INT2_A/G pins */
#define LSM9DS1_CTRL_REG8_H_LACTIVE (1 << 5) /* Interrupt activation level */
#define LSM9DS1_CTRL_REG8_BDU (1 << 6) /* Block data update */
#define LSM9DS1_CTRL_REG8_BOOT (1 << 7) /* Reboot memory content */
/* Control register 9 */
#define LSM9DS1_CTRL_REG9_STOP_ON_FTH (1 << 0) /* Enable FIFO threshold level use */
#define LSM9DS1_CTRL_REG9_FIFO_EN (1 << 1) /* FIFO memory enable */
#define LSM9DS1_CTRL_REG9_I2C_DISABLE (1 << 2) /* Disable I2C interface */
#define LSM9DS1_CTRL_REG9_DRDY_MASK_BIT (1 << 3) /* Data available enable bit */
#define LSM9DS1_CTRL_REG9_FIFO_TEMP_EN (1 << 4) /* Temperature data storage in FIFO enable */
#define LSM9DS1_CTRL_REG9_SLEEP_G (1 << 6) /* Gyroscope sleep mode enable */
/* Control register 10 */
#define LSM9DS1_CTRL_REG10_ST_XL (1 << 0) /* Linear acceleration sensor self-test enable */
#define LSM9DS1_CTRL_REG10_ST_G (1 << 2) /* Angular rate sensor self-test enable */
/* Accelerometer interrupt source register */
#define LSM9DS1_INT_GEN_SRC_XL_XL_XL (1 << 0) /* Accelerometer's X low event */
#define LSM9DS1_INT_GEN_SRC_XL_XH_XL (1 << 1) /* Accelerometer's X high event */
#define LSM9DS1_INT_GEN_SRC_XL_YL_XL (1 << 2) /* Accelerometer's Y low event */
#define LSM9DS1_INT_GEN_SRC_XL_YH_XL (1 << 3) /* Accelerometer's Y high event */
#define LSM9DS1_INT_GEN_SRC_XL_ZL_XL (1 << 4) /* Accelerometer's Z low event */
#define LSM9DS1_INT_GEN_SRC_XL_ZH_XL (1 << 5) /* Accelerometer's Z high event */
#define LSM9DS1_INT_GEN_SRC_XL_IA_XL (1 << 6) /* Interrupt active */
/* Status register 2 */
#define LSM9DS1_STATUS_REG2_XLDA (1 << 0) /* Accelerometer new data available */
#define LSM9DS1_STATUS_REG2_GDA (1 << 1) /* Gyroscope new data available */
#define LSM9DS1_STATUS_REG2_TDA (1 << 2) /* Temperature sensor new data available */
#define LSM9DS1_STATUS_REG2_BOOT_STATUS (1 << 3) /* Boot running flag signal */
#define LSM9DS1_STATUS_REG2_INACT (1 << 4) /* Inactivity interrupt output signal */
#define LSM9DS1_STATUS_REG2_IG_G (1 << 5) /* Gyroscope interrupt output signal */
#define LSM9DS1_STATUS_REG2_IG_XL (1 << 6) /* Accelerometer interrupt output signal */
/* FIFO control register */
#define LSM9DS1_FIFO_CTRL_FTH_SHIFT 0 /* FIFO threshold level setting */
#define LSM9DS1_FIFO_CTRL_FTH_MASK (31 << LSM9DS1_FIFO_CTRL_FTH_SHIFT)
#define LSM9DS1_FIFO_CTRL_FMODE_SHIFT 5 /* FIFO mode selection bits */
#define LSM9DS1_FIFO_CTRL_FMODE_MASK (7 << LSM9DS1_FIFO_CTRL_FMODE_SHIFT)
# define LSM9DS1_FIFO_CTRL_FMODE_BYPASS (0 << LSM9DS1_FIFO_CTRL_FMODE_SHIFT) /* Bypass mode */
# define LSM9DS1_FIFO_CTRL_FMODE_FIFO (1 << LSM9DS1_FIFO_CTRL_FMODE_SHIFT) /* FIFO mode */
# define LSM9DS1_FIFO_CTRL_FMODE_CONT_FIFO (3 << LSM9DS1_FIFO_CTRL_FMODE_SHIFT) /* Continuous-to-FIFO mode */
# define LSM9DS1_FIFO_CTRL_FMODE_BYPASS_CONT (4 << LSM9DS1_FIFO_CTRL_FMODE_SHIFT) /* Bypass-to-continuous mode */
# define LSM9DS1_FIFO_CTRL_FMODE_CONT (5 << LSM9DS1_FIFO_CTRL_FMODE_SHIFT) /* Continuous mode */
/* FIFO status control register */
#define LSM9DS1_FIFO_SRC_FSS_SHIFT 0 /* Number of unread samples stored into FIFO */
#define LSM9DS1_FIFO_SRC_FSS_MASK (63 << LSM9DS1_FIFO_SRC_FSS_SHIFT)
#define LSM9DS1_FIFO_SRC_OVRN (1 << 6) /* FIFO overrun status */
#define LSM9DS1_FIFO_SRC_FTH (1 << 7) /* FIFO threshold status */
/* Gyroscope interrupt configuration register */
#define LSM9DS1_INT_GEN_CFG_G_XLIE_G (1 << 0) /* Pitch (X) axis low event interrupt enable */
#define LSM9DS1_INT_GEN_CFG_G_XHIE_G (1 << 1) /* Pitch (X) axis high event interrupt enable */
#define LSM9DS1_INT_GEN_CFG_G_YLIE_G (1 << 2) /* Roll (Y) axis low event interrupt enable */
#define LSM9DS1_INT_GEN_CFG_G_YHIE_G (1 << 3) /* Roll (Y) axis high event interrupt enable */
#define LSM9DS1_INT_GEN_CFG_G_ZLIE_G (1 << 4) /* Yaw (Z) axis low event interrupt enable */
#define LSM9DS1_INT_GEN_CFG_G_ZHIE_G (1 << 5) /* Yaw (Z) axis high event interrupt enable */
#define LSM9DS1_INT_GEN_CFG_G_LIR_G (1 << 6) /* Latch interrupt request */
#define LSM9DS1_INT_GEN_CFG_G_AOI_G (1 << 7) /* AND/OR combination of interrupt events */
/* Gyroscope interrupt threshold registers */
#define LSM9DS1_INT_GEN_THS_XH_G_THS_XH_G_SHIFT 0 /* X interrupt threshold high byte */
#define LSM9DS1_INT_GEN_THS_XH_G_THS_XH_G_MASK (127 << LSM9DS1_INT_GEN_THS_XH_G_THS_XH_G_SHIFT)
#define LSM9DS1_INT_GEN_THS_XH_G_DCRM_G (1 << 7) /* Decrement or reset counter mode selection */
/* Gyroscope interrupt duration register */
#define LSM9DS1_INT_GEN_DUR_G_DUR_G_SHIFT 0 /* Enter/exit interrupt duration */
#define LSM9DS1_INT_GEN_DUR_G_DUR_G_MASK (127 << LSM9DS1_INT_GEN_DUR_G_DUR_G_SHIFT)
#define LSM9DS1_INT_GEN_DUR_G_WAIT_G (1 << 7) /* Exit from interrupt wait function enable */
/* Device identification register */
#define LSM9DS1_WHO_AM_I_M_VALUE 0x3d
/* Magnetometer control register 1 */
#define LSM9DS1_CTRL_REG1_M_ST (1 << 0) /* Self-test enable */
#define LSM9DS1_CTRL_REG1_M_FAST_ODR (1 << 1) /* Enable data rates higher than 80 Hz */
#define LSM9DS1_CTRL_REG1_M_DO_SHIFT 2 /* Output data rate selection */
#define LSM9DS1_CTRL_REG1_M_DO_MASK (7 << LSM9DS1_CTRL_REG1_M_DO_SHIFT)
# define LSM9DS1_CTRL_REG1_M_DO_0p625HZ (0 << LSM9DS1_CTRL_REG1_M_DO_SHIFT) /* 0.625 Hz */
# define LSM9DS1_CTRL_REG1_M_DO_1p25HZ (1 << LSM9DS1_CTRL_REG1_M_DO_SHIFT) /* 1.25 Hz */
# define LSM9DS1_CTRL_REG1_M_DO_2p5HZ (2 << LSM9DS1_CTRL_REG1_M_DO_SHIFT) /* 2.5 Hz */
# define LSM9DS1_CTRL_REG1_M_DO_5HZ (3 << LSM9DS1_CTRL_REG1_M_DO_SHIFT) /* 5 Hz */
# define LSM9DS1_CTRL_REG1_M_DO_10HZ (4 << LSM9DS1_CTRL_REG1_M_DO_SHIFT) /* 10 Hz */
# define LSM9DS1_CTRL_REG1_M_DO_20HZ (5 << LSM9DS1_CTRL_REG1_M_DO_SHIFT) /* 20 Hz */
# define LSM9DS1_CTRL_REG1_M_DO_40HZ (6 << LSM9DS1_CTRL_REG1_M_DO_SHIFT) /* 40 Hz */
# define LSM9DS1_CTRL_REG1_M_DO_80HZ (7 << LSM9DS1_CTRL_REG1_M_DO_SHIFT) /* 80 Hz */
#define LSM9DS1_CTRL_REG1_M_OM_SHIFT 5 /* X and Y axes operative mode selection */
#define LSM9DS1_CTRL_REG1_M_OM_MASK (3 << LSM9DS1_CTRL_REG1_M_OM_SHIFT)
# define LSM9DS1_CTRL_REG1_M_OM_LOW (0 << LSM9DS1_CTRL_REG1_M_OM_SHIFT) /* Low-power mode */
# define LSM9DS1_CTRL_REG1_M_OM_MEDIUM (1 << LSM9DS1_CTRL_REG1_M_OM_SHIFT) /* Medium-performance mode */
# define LSM9DS1_CTRL_REG1_M_OM_HIGH (2 << LSM9DS1_CTRL_REG1_M_OM_SHIFT) /* High-performance mode */
# define LSM9DS1_CTRL_REG1_M_OM_ULTRAHIGH (3 << LSM9DS1_CTRL_REG1_M_OM_SHIFT) /* Ultra-high performance mode */
#define LSM9DS1_CTRL_REG1_M_TEMP_COMP (1 << 7) /* Temperature compensation enable */
/* Magnetometer control register 2 */
#define LSM9DS1_CTRL_REG2_M_SOFT_RST (1 << 2) /* Configuration register and user register reset */
#define LSM9DS1_CTRL_REG2_M_REBOOT (1 << 3) /* Reboot memory content */
#define LSM9DS1_CTRL_REG2_M_FS_SHIFT 5 /* Full-scale configuration */
#define LSM9DS1_CTRL_REG2_M_FS_MASK (3 << LSM9DS1_CTRL_REG2_M_FS_SHIFT)
# define LSM9DS1_CTRL_REG2_M_FS_4GAUSS (0 << LSM9DS1_CTRL_REG2_M_FS_SHIFT) /* +/- 4 gauss */
# define LSM9DS1_CTRL_REG2_M_FS_8GAUSS (1 << LSM9DS1_CTRL_REG2_M_FS_SHIFT) /* +/- 8 gauss */
# define LSM9DS1_CTRL_REG2_M_FS_12GAUSS (2 << LSM9DS1_CTRL_REG2_M_FS_SHIFT) /* +/- 12 gauss */
# define LSM9DS1_CTRL_REG2_M_FS_16GAUSS (3 << LSM9DS1_CTRL_REG2_M_FS_SHIFT) /* +/- 16 gauss */
/* Magnetometer control register 3 */
#define LSM9DS1_CTRL_REG3_M_MD_SHIFT 0 /* Operating mode selection */
#define LSM9DS1_CTRL_REG3_M_MD_MASK (3 << LSM9DS1_CTRL_REG3_M_MD_SHIFT)
# define LSM9DS1_CTRL_REG3_M_MD_CONT (0 << LSM9DS1_CTRL_REG3_M_MD_SHIFT) /* Continuous-conversion mode */
# define LSM9DS1_CTRL_REG3_M_MD_SINGLE (1 << LSM9DS1_CTRL_REG3_M_MD_SHIFT) /* Single-conversion mode */
# define LSM9DS1_CTRL_REG3_M_MD_POWERDOWN (2 << LSM9DS1_CTRL_REG3_M_MD_SHIFT) /* Power-down mode */
# define LSM9DS1_CTRL_REG3_M_MD_POWERDOWN2 (3 << LSM9DS1_CTRL_REG3_M_MD_SHIFT) /* Power-down mode */
#define LSM9DS1_CTRL_REG3_M_SIM (1 << 2) /* SPI serial interface mode selection */
#define LSM9DS1_CTRL_REG3_M_LP (1 << 5) /* Low-power mode configuration */
#define LSM9DS1_CTRL_REG3_M_I2C_DISABLE (1 << 7) /* Disable I2C interface */
/* Magnetometer control register 4 */
#define LSM9DS1_CTRL_REG4_M_BLE (1 << 1) /* Big/little endian data selection */
#define LSM9DS1_CTRL_REG4_M_OMZ_SHIFT 2 /* Z-axis operative mode selection */
#define LSM9DS1_CTRL_REG4_M_OMZ_MASK (3 << LSM9DS1_CTRL_REG4_M_OMZ_SHIFT)
# define LSM9DS1_CTRL_REG4_M_OMZ_LOW (0 << LSM9DS1_CTRL_REG4_M_OMZ_SHIFT) /* Low-power mode */
# define LSM9DS1_CTRL_REG4_M_OMZ_MEDIUM (1 << LSM9DS1_CTRL_REG4_M_OMZ_SHIFT) /* Medium-performance mode */
# define LSM9DS1_CTRL_REG4_M_OMZ_HIGH (2 << LSM9DS1_CTRL_REG4_M_OMZ_SHIFT) /* High-performance mode */
# define LSM9DS1_CTRL_REG4_M_OMZ_ULTRAHIGH (3 << LSM9DS1_CTRL_REG4_M_OMZ_SHIFT) /* Ultra-high performance mode */
/* Magnetometer control register 5 */
#define LSM9DS1_CTRL_REG5_M_BDU (1 << 6) /* Block data update */
#define LSM9DS1_CTRL_REG5_M_FAST_READ (1 << 7) /* Fast read enable */
/* Magnetometer status register */
#define LSM9DS1_STATUS_REG_M_XDA (1 << 0) /* X-axis new data available */
#define LSM9DS1_STATUS_REG_M_YDA (1 << 1) /* Y-axis new data available */
#define LSM9DS1_STATUS_REG_M_ZDA (1 << 2) /* Z-axis new data available */
#define LSM9DS1_STATUS_REG_M_ZYXDA (1 << 3) /* X, Y and Z-axis new data available */
#define LSM9DS1_STATUS_REG_M_XOR (1 << 4) /* X-axis data overrun */
#define LSM9DS1_STATUS_REG_M_YOR (1 << 5) /* Y-axis data overrun */
#define LSM9DS1_STATUS_REG_M_ZOR (1 << 6) /* Z-axis data overrun */
#define LSM9DS1_STATUS_REG_M_ZYXOR (1 << 7) /* X, Y and Z-axis data overrun */
/* Magnetometer interrupt configuration register */
#define LSM9DS1_INT_CFG_M_IEN (1 << 0) /* Interrupt enable on the INT_M pin */
#define LSM9DS1_INT_CFG_M_IEL (1 << 1) /* Latch interrupt request */
#define LSM9DS1_INT_CFG_M_IEA (1 << 2) /* Interrupt active configuration on INT_MAG */
#define LSM9DS1_INT_CFG_M_ZIEN (1 << 5) /* Z-axis interrupt enable */
#define LSM9DS1_INT_CFG_M_YIEN (1 << 6) /* Y-axis interrupt enable */
#define LSM9DS1_INT_CFG_M_XIEN (1 << 7) /* X-axis interrupt enable */
/* Magnetometer interrupt source register */
#define LSM9DS1_INT_SRC_M_INT (1 << 0) /* Interrupt occurred */
#define LSM9DS1_INT_SRC_M_MROI (1 << 1) /* Internal measurement range overflow */
#define LSM9DS1_INT_SRC_M_NTH_Z (1 << 2) /* Value on Z-axis exceeds threshold on negative side */
#define LSM9DS1_INT_SRC_M_NTH_Y (1 << 3) /* Value on Y-axis exceeds threshold on negative side */
#define LSM9DS1_INT_SRC_M_NTH_X (1 << 4) /* Value on X-axis exceeds threshold on negative side */
#define LSM9DS1_INT_SRC_M_PTH_Z (1 << 5) /* Value on Z-axis exceeds threshold on positive side */
#define LSM9DS1_INT_SRC_M_PTH_Y (1 << 6) /* Value on Y-axis exceeds threshold on positive side */
#define LSM9DS1_INT_SRC_M_PTH_X (1 << 7) /* Value on X-axis exceeds threshold on positive side */
/****************************************************************************
* Public Types
****************************************************************************/
struct lsm9ds1_dev_s;
struct lsm9ds1_ops_s
{
CODE int (*config)(FAR struct lsm9ds1_dev_s *priv);
CODE int (*start)(FAR struct lsm9ds1_dev_s *priv);
CODE int (*stop)(FAR struct lsm9ds1_dev_s *priv);
CODE int (*setsamplerate)(FAR struct lsm9ds1_dev_s *priv,
uint32_t samplerate);
CODE int (*setfullscale)(FAR struct lsm9ds1_dev_s *priv,
uint32_t fullscale);
};
struct lsm9ds1_dev_s
{
FAR struct i2c_master_s *i2c; /* I2C interface */
FAR const struct lsm9ds1_ops_s *ops; /* Ops */
uint8_t addr; /* I2C address */
uint32_t samplerate; /* Output data rate */
uint8_t datareg; /* Output data register of X low byte */
};
/****************************************************************************
* Public data
****************************************************************************/
extern const struct lsm9ds1_ops_s g_lsm9ds1accel_ops;
extern const struct lsm9ds1_ops_s g_lsm9ds1gyro_ops;
extern const struct lsm9ds1_ops_s g_lsm9ds1mag_ops;
/****************************************************************************
* Public Function Prototypes
****************************************************************************/
int lsm9ds1_readreg8(FAR struct lsm9ds1_dev_s *priv,
uint8_t regaddr, FAR uint8_t *regval);
int lsm9ds1_readreg(FAR struct lsm9ds1_dev_s *priv,
uint8_t regaddr, FAR uint8_t *regval, uint8_t len);
int lsm9ds1_writereg8(FAR struct lsm9ds1_dev_s *priv,
uint8_t regaddr, uint8_t regval);
int lsm9ds1_modifyreg8(FAR struct lsm9ds1_dev_s *priv,
uint8_t regaddr, uint8_t clearbits,
uint8_t setbits);
uint32_t lsm9ds1_midpoint(uint32_t a, uint32_t b);
#endif /* __INCLUDE_NUTTX_SENSORS_LSM9DS1_COMMOM_H */
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