lsm6dsxx.h

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/*
 * SPDX-FileCopyrightText: 2017 OTA keys S.A.
 * SPDX-License-Identifier: LGPL-2.1-only
 */
 
#pragma once

 
#ifdef __cplusplus
extern "C" {
#endif
 
#include "periph/i2c.h"

enum {
    LSM6DSXX_DATA_RATE_POWER_DOWN = 0x0,
    LSM6DSXX_DATA_RATE_1_6HZ      = 0xB,
    LSM6DSXX_DATA_RATE_12_5HZ     = 0x1,
    LSM6DSXX_DATA_RATE_26HZ       = 0x2,
    LSM6DSXX_DATA_RATE_52HZ       = 0x3,
    LSM6DSXX_DATA_RATE_104HZ      = 0x4,
    LSM6DSXX_DATA_RATE_208HZ      = 0x5,
    LSM6DSXX_DATA_RATE_416HZ      = 0x6,
    LSM6DSXX_DATA_RATE_833HZ      = 0x7,
    LSM6DSXX_DATA_RATE_1_66KHZ    = 0x8,
    LSM6DSXX_DATA_RATE_3_33KHZ    = 0x9,
    LSM6DSXX_DATA_RATE_6_66KHZ    = 0xa,
};

enum {
    LSM6DSXX_DECIMATION_NOT_IN_FIFO = 0,
    LSM6DSXX_DECIMATION_NO,
    LSM6DSXX_DECIMATION_2,
    LSM6DSXX_DECIMATION_3,
    LSM6DSXX_DECIMATION_4,
    LSM6DSXX_DECIMATION_8,
    LSM6DSXX_DECIMATION_16,
    LSM6DSXX_DECIMATION_32,
};

enum {
    LSM6DSXX_ACC_FS_2G  = 0,
    LSM6DSXX_ACC_FS_16G,
    LSM6DSXX_ACC_FS_4G,
    LSM6DSXX_ACC_FS_8G,
    LSM6DSXX_ACC_FS_MAX,
};

enum {
    LSM6DSXX_GYRO_FS_245DPS    = 0,
    LSM6DSXX_GYRO_FS_500DPS,
    LSM6DSXX_GYRO_FS_1000DPS,
    LSM6DSXX_GYRO_FS_2000DPS,
    LSM6DSXX_GYRO_FS_MAX,
};

typedef struct {
    i2c_t i2c;                  
    uint8_t addr;               
    uint8_t acc_odr;            
    uint8_t gyro_odr;           
    uint8_t acc_fs;             
    uint8_t gyro_fs;            
    uint8_t acc_decimation;     
    uint8_t gyro_decimation;    
} lsm6dsxx_params_t;

typedef struct {
    lsm6dsxx_params_t params; 
    uint8_t temperature_scaling_factor; 
} lsm6dsxx_t;

typedef struct {
    int16_t x;  
    int16_t y;  
    int16_t z;  
} lsm6dsxx_3d_data_t;

enum {
    LSM6DSXX_OK = 0,             
    LSM6DSXX_ERROR_BUS,          
    LSM6DSXX_ERROR_CNF,          
    LSM6DSXX_ERROR_DEV,          
};

int lsm6dsxx_init(lsm6dsxx_t *dev, const lsm6dsxx_params_t *params);

int lsm6dsxx_read_acc(const lsm6dsxx_t *dev, lsm6dsxx_3d_data_t *data);

int lsm6dsxx_read_gyro(const lsm6dsxx_t *dev, lsm6dsxx_3d_data_t *data);

int lsm6dsxx_read_temp(const lsm6dsxx_t *dev, int16_t *data);

int lsm6dsxx_acc_power_down(const lsm6dsxx_t *dev);

int lsm6dsxx_gyro_power_down(const lsm6dsxx_t *dev);

int lsm6dsxx_acc_power_up(const lsm6dsxx_t *dev);

int lsm6dsxx_gyro_power_up(const lsm6dsxx_t *dev);
 
#ifdef __cplusplus
}
#endif