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| /* | ||
| * Copyright (c) 2022-2023, Raphael Lehmann | ||
| * | ||
| * This file is part of the modm project. | ||
| * | ||
| * This Source Code Form is subject to the terms of the Mozilla Public | ||
| * License, v. 2.0. If a copy of the MPL was not distributed with this | ||
| * file, You can obtain one at http://mozilla.org/MPL/2.0/. | ||
| */ | ||
| // ---------------------------------------------------------------------------- | ||
|
|
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| #define MODM_LSM6DSO_HPP | ||
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| #include <array> | ||
| #include <optional> | ||
| #include <span> | ||
| #include <utility> | ||
| #include <modm/processing/resumable.hpp> | ||
| #include <modm/math/units.hpp> | ||
|
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| // LSM6DSO uses same I2C/SPI transport as the older LIS3 sensors | ||
| #include "lis3_transport.hpp" | ||
|
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| namespace modm | ||
| { | ||
|
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| template<class I2cMaster> | ||
| using Lsm6TransportI2c = modm::Lis3TransportI2c<I2cMaster>; | ||
|
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| template<class SpiMaster, class Cs> | ||
| using Lsm6TransportSpi = modm::Lis3TransportSpi<SpiMaster, Cs>; | ||
|
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| /// @ingroup modm_driver_lsm6dso | ||
| struct lsm6dso | ||
| { | ||
| enum class | ||
| Register : uint8_t | ||
| { | ||
| FUNC_CFG_ACCESS = 0x01, | ||
| PIN_CTRL = 0x02, | ||
| FIFO_CTRL1 = 0x07, | ||
| FIFO_CTRL2 = 0x08, | ||
| FIFO_CTRL3 = 0x09, | ||
| FIFO_CTRL4 = 0x0A, | ||
| COUNTER_BDR_REG1 = 0x0B, | ||
| COUNTER_BDR_REG2 = 0x0C, | ||
| INT1_CTRL = 0x0D, | ||
| INT2_CTRL = 0x0E, | ||
| WHO_AM_I = 0x0F, | ||
| CTRL1_XL = 0x10, | ||
| CTRL2_G = 0x11, | ||
| CTRL3_C = 0x12, | ||
| CTRL4_C = 0x13, | ||
| CTRL5_C = 0x14, | ||
| CTRL6_C = 0x15, | ||
| CTRL7_G = 0x16, | ||
| CTRL8_XL = 0x17, | ||
| CTRL9_XL = 0x18, | ||
| CTRL10_C = 0x19, | ||
| ALL_INT_SRC = 0x1A, | ||
| WAKE_UP_SRC = 0x1B, | ||
| TAP_SRC = 0x1C, | ||
| D6D_SRC = 0x1D, | ||
| STATUS_REG = 0x1E, | ||
| STATUS_SPIAux = 0x1E, | ||
| OUT_TEMP_L = 0x20, | ||
| OUT_TEMP_H = 0x21, | ||
| OUTX_L_G = 0x22, | ||
| OUTX_H_G = 0x23, | ||
| OUTY_L_G = 0x24, | ||
| OUTY_H_G = 0x25, | ||
| OUTZ_L_G = 0x26, | ||
| OUTZ_H_G = 0x27, | ||
| OUTX_L_A = 0x28, | ||
| OUTX_H_A = 0x29, | ||
| OUTY_L_A = 0x2A, | ||
| OUTY_H_A = 0x2B, | ||
| OUTZ_L_A = 0x2C, | ||
| OUTZ_H_A = 0x2D, | ||
| EMB_FUNC_STATUS_MAINPAGE = 0x35, | ||
| FSM_STATUS_A_MAINPAGE = 0x36, | ||
| FSM_STATUS_B_MAINPAGE = 0x37, | ||
| STATUS_MASTER_MAINPAGE = 0x39, | ||
| FIFO_STATUS1 = 0x3A, | ||
| FIFO_STATUS2 = 0x3B, | ||
| TIMESTAMP0 = 0x40, | ||
| TIMESTAMP1 = 0x41, | ||
| TIMESTAMP2 = 0x42, | ||
| TIMESTAMP3 = 0x43, | ||
| TAP_CFG0 = 0x56, | ||
| TAP_CFG1 = 0x57, | ||
| TAP_CFG2 = 0x58, | ||
| TAP_THS_6D = 0x59, | ||
| INT_DUR2 = 0x5A, | ||
| WAKE_UP_THS = 0x5B, | ||
| WAKE_UP_DUR = 0x5C, | ||
| FREE_FALL = 0x5D, | ||
| MD1_CFG = 0x5E, | ||
| MD2_CFG = 0x5F, | ||
| I3C_BUS_AVB = 0x62, | ||
| INTERNAL_FREQ_FINE = 0x63, | ||
| INT_OIS = 0x6F, | ||
| CTRL1_OIS = 0x70, | ||
| CTRL2_OIS = 0x71, | ||
| CTRL3_OIS = 0x72, | ||
| X_OFS_USR = 0x73, | ||
| Y_OFS_USR = 0x74, | ||
| Z_OFS_USR = 0x75, | ||
| FIFO_DATA_OUT_TAG = 0x78, | ||
| FIFO_DATA_OUT_X_L = 0x79, | ||
| FIFO_DATA_OUT_X_H = 0x7A, | ||
| FIFO_DATA_OUT_Y_L = 0x7B, | ||
| FIFO_DATA_OUT_Y_H = 0x7C, | ||
| FIFO_DATA_OUT_Z_L = 0x7D, | ||
| FIFO_DATA_OUT_Z_H = 0x7E, | ||
| }; | ||
|
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||
| enum class | ||
| LinearRange : uint8_t | ||
| { | ||
| // assumes that XL_FS_MODE==0 in register CTRL8_XL | ||
| G2 = (0b00 << 2), | ||
| G4 = (0b10 << 2), | ||
| G8 = (0b11 << 2), | ||
| G16 = (0b01 << 2), | ||
| }; | ||
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| enum class | ||
| AngularRange : uint8_t | ||
| { | ||
| dps125 = (0b001 << 1), | ||
| dps250 = (0b000 << 1), | ||
| dps500 = (0b010 << 1), | ||
| dps1000 = (0b100 << 1), | ||
| dps2000 = (0b110 << 1), | ||
| }; | ||
|
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| protected: | ||
| /// @cond | ||
| static constexpr uint8_t Ctrl1XlOutputDataRateMask = (0b1111 << 4); | ||
| static constexpr uint8_t Ctrl1XlLinearRangeMask = (0b11 << 2); | ||
| static constexpr uint8_t Ctrl2GOutputDataRateMask = (0b1111 << 4); | ||
| static constexpr uint8_t Ctrl2GAngularRangeMask = (0b111 << 1); | ||
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| template<frequency_t frequency> | ||
| static constexpr std::pair<float, uint8_t> | ||
| getClosestOdr() | ||
| { | ||
| /* | ||
| ```python3 | ||
| available_freqs = [12.5, 26, 52, 104, 208, 416, 833, 1660, 3330, 6660] | ||
| for i in range(len(available_freqs) - 1): | ||
| l = available_freqs[i] | ||
| u = available_freqs[i+1] | ||
| print(f'else if constexpr (frequency < {round(2*l*u/(l+u))}) return ...') | ||
| ``` | ||
| */ | ||
| if constexpr (frequency == 0) { return std::make_pair(0.0/*Hz*/, 0b0000); } | ||
| else if constexpr (frequency < 17) { return std::make_pair(12.5/*Hz*/, 0b0001); } | ||
| else if constexpr (frequency < 35) { return std::make_pair(26/*Hz*/, 0b0010); } | ||
| else if constexpr (frequency < 69) { return std::make_pair(52/*Hz*/, 0b0011); } | ||
| else if constexpr (frequency < 139) { return std::make_pair(104/*Hz*/, 0b0100); } | ||
| else if constexpr (frequency < 277) { return std::make_pair(208/*Hz*/, 0b0101); } | ||
| else if constexpr (frequency < 555) { return std::make_pair(416/*Hz*/, 0b0110); } | ||
| else if constexpr (frequency < 1109) { return std::make_pair(833/*Hz*/, 0b0111); } | ||
| else if constexpr (frequency < 2216) { return std::make_pair(1660/*Hz*/, 0b1000); } | ||
| else if constexpr (frequency < 4440) { return std::make_pair(3330/*Hz*/, 0b1001); } | ||
| else { return std::make_pair(6660/*Hz*/, 0b1010); } | ||
| } | ||
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| static constexpr uint8_t | ||
| i(Register v) { return uint8_t(v); } | ||
| static constexpr uint8_t | ||
| i(LinearRange v) { return uint8_t(v); } | ||
| static constexpr uint8_t | ||
| i(AngularRange v) { return uint8_t(v); } | ||
| /// @endcond | ||
| }; // struct lsm6dso | ||
|
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| /** | ||
| * @tparam Transport Either the I2C or SPI Transport Layer. | ||
| * @see Lsm6TransportI2c | ||
| * @see Lsm6TransportSpi | ||
| * | ||
| * @ingroup modm_driver_lsm6dso | ||
| * @author Raphael Lehmann | ||
| */ | ||
| template < class Transport > | ||
| class Lsm6dso : public lsm6dso, public Transport | ||
| { | ||
| public: | ||
| /** | ||
| * @brief Constructor | ||
| * | ||
| * For I2c this also sets the address to 0x6a (alternative: 0x6b with pin | ||
| * SA0 high). | ||
| */ | ||
| explicit Lsm6dso(uint8_t address=0x6a); | ||
|
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| /** | ||
| * @brief Initializes the device and driver | ||
| * | ||
| * SPI/I2C must be initialized by the user! | ||
| * | ||
| * @return False in case of any error | ||
| */ | ||
| modm::ResumableResult<bool> | ||
| initialize(); | ||
|
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| /** | ||
| * @brief Read a single register. | ||
| * | ||
| * @param reg The register to be read | ||
| * @return The register value in case of a read access, or std::nullopt if | ||
| * an error occured | ||
| */ | ||
| modm::ResumableResult<std::optional<uint8_t>> | ||
| readRegister(Register reg); | ||
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| /** | ||
| * @brief Read multiple consecutive registers | ||
| * | ||
| * @param reg The first register to be read | ||
| * @param values Results of the read operations | ||
| * @return False in case of any error | ||
| */ | ||
| modm::ResumableResult<bool> | ||
| readRegisters(Register reg, std::span<uint8_t> values); | ||
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| /** | ||
| * @brief Write a single register. | ||
| * | ||
| * @param reg The register to be written | ||
| * @param value The value to be written to the register. | ||
| * @return False in case of any error | ||
| */ | ||
| modm::ResumableResult<bool> | ||
| writeRegister(Register reg, uint8_t value); | ||
|
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| /** | ||
| * @brief Set the desired output data rate from 12.5Hz to 6.7kHz | ||
| * | ||
| * Use 0 Hz to disable the IMU (power down). | ||
| * | ||
| * @tparam frequency: desired frequency | ||
| * @tparam tolerance: acceptable tolerance, default 1% | ||
| * @return False in case of any error | ||
| */ | ||
| template<frequency_t frequency, percent_t tolerance=pct(1)> | ||
| modm::ResumableResult<bool> | ||
| setOutputDataRate(); | ||
|
|
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| /** | ||
| * @brief Set the measurement range | ||
| * | ||
| * @param lr Linear acceleration measurement range (±2G, ±4G, ±8G, ±16G) | ||
| * @param ar Angular rate measurement range (±125dps, ±250dps, ±500dps, | ||
| * ±1000dps, ±2000dps) | ||
| * @return False in case of any error | ||
| */ | ||
| modm::ResumableResult<bool> | ||
| setRange(LinearRange lr, AngularRange ar); | ||
|
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| /** | ||
| * @brief Set the desired output data rate from 12.5Hz to 6.7kHz and the | ||
| * measurement range simultanously | ||
| * | ||
| * Use frequency==0 to disable the IMU (power down). | ||
| * | ||
| * @tparam frequency: desired frequency | ||
| * @tparam tolerance: acceptable tolerance, default 1% | ||
| * @param lr Linear acceleration measurement range (±2G, ±4G, ±8G, ±16G) | ||
| * @param ar Angular rate measurement range (±125dps, ±250dps, ±500dps, | ||
| * ±1000dps, ±2000dps) | ||
| * @return False in case of any error | ||
| */ | ||
| template<frequency_t frequency, percent_t tolerance=pct(1)> | ||
| modm::ResumableResult<bool> | ||
| setOutputDataRateAndRange(LinearRange lr, AngularRange ar); | ||
|
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| private: | ||
| static constexpr std::size_t bufferSize = 2; | ||
| std::array<uint8_t, bufferSize> buffer; | ||
| }; | ||
|
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| } // namespace modm | ||
|
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| #include "lsm6dso_impl.hpp" |
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