src/main/drivers/accgyro/accgyro_spi_lsm6dso.h

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 #pragma once
  22
  23 #include "drivers/bus.h"
  24 #include "drivers/exti.h"
  25
  26 // LSM6DSO registers (not the complete list)
  27 typedef enum {
  28     LSM6DSO_REG_INT1_CTRL = 0x0D,  // int pin 1 control
  29     LSM6DSO_REG_INT2_CTRL = 0x0E,  // int pin 2 control
  30     LSM6DSO_REG_WHO_AM_I = 0x0F,   // chip ID
  31     LSM6DSO_REG_CTRL1_XL = 0x10,   // accelerometer control
  32     LSM6DSO_REG_CTRL2_G = 0x11,    // gyro control
  33     LSM6DSO_REG_CTRL3_C = 0x12,    // control register 3
  34     LSM6DSO_REG_CTRL4_C = 0x13,    // control register 4
  35     LSM6DSO_REG_CTRL5_C = 0x14,    // control register 5
  36     LSM6DSO_REG_CTRL6_C = 0x15,    // control register 6
  37     LSM6DSO_REG_CTRL7_G = 0x16,    // control register 7
  38     LSM6DSO_REG_CTRL8_XL = 0x17,   // control register 8
  39     LSM6DSO_REG_CTRL9_XL = 0x18,   // control register 9
  40     LSM6DSO_REG_CTRL10_C = 0x19,   // control register 10
  41     LSM6DSO_REG_STATUS = 0x1E,     // status register
  42     LSM6DSO_REG_OUT_TEMP_L = 0x20, // temperature LSB
  43     LSM6DSO_REG_OUT_TEMP_H = 0x21, // temperature MSB
  44     LSM6DSO_REG_OUTX_L_G = 0x22,   // gyro X axis LSB
  45     LSM6DSO_REG_OUTX_H_G = 0x23,   // gyro X axis MSB
  46     LSM6DSO_REG_OUTY_L_G = 0x24,   // gyro Y axis LSB
  47     LSM6DSO_REG_OUTY_H_G = 0x25,   // gyro Y axis MSB
  48     LSM6DSO_REG_OUTZ_L_G = 0x26,   // gyro Z axis LSB
  49     LSM6DSO_REG_OUTZ_H_G = 0x27,   // gyro Z axis MSB
  50     LSM6DSO_REG_OUTX_L_A = 0x28,   // acc X axis LSB
  51     LSM6DSO_REG_OUTX_H_A = 0x29,   // acc X axis MSB
  52     LSM6DSO_REG_OUTY_L_A = 0x2A,   // acc Y axis LSB
  53     LSM6DSO_REG_OUTY_H_A = 0x2B,   // acc Y axis MSB
  54     LSM6DSO_REG_OUTZ_L_A = 0x2C,   // acc Z axis LSB
  55     LSM6DSO_REG_OUTZ_H_A = 0x2D,   // acc Z axis MSB
  56 } lsm6dsoRegister_e;
  57
  58 // Contained in accgyro_spi_lsm6dso_init.c which is size-optimized
  59 uint8_t lsm6dsoDetect(const extDevice_t *dev);
  60 bool lsm6dsoSpiAccDetect(accDev_t *acc);
  61 bool lsm6dsoSpiGyroDetect(gyroDev_t *gyro);
  62
  63 // Contained in accgyro_spi_lsm6dso.c which is speed-optimized
  64 void lsm6dsoExtiHandler(extiCallbackRec_t *cb);
  65 bool lsm6dsoAccRead(accDev_t *acc);
  66 bool lsm6dsoGyroRead(gyroDev_t *gyro);