100 lines
4.8 KiB
Plaintext
100 lines
4.8 KiB
Plaintext
/*
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* Copyright (C) 2016-2017 STMicroelectronics
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*
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* Author: Denis Ciocca <denis.ciocca@st.com>
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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<---------- Introduction ---------->
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In order to build the driver for a platform some macros (see Macros list) must
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be defined into variant.h file. [variant/{VARIANT_NAME}/inc/variant/variant.h]
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Those macros define specific configuration that is platform dependent (SPI bus,
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SPI frequency, etc).
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Optional FLAGS (FLAGS list) can be used to enable specific features using
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variant makefile. [variant/{VARIANT_NAME}/{VARIANT_NAME}.mk]
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Those flags modify @ compile time the behavior of the driver enabling for
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example i2c master support or calibration libraries.
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<---------- Macros list ---------->
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#define LSM6DSM_SPI_SLAVE_BUS_ID 1 /* SPI bus ID, on STM32F4xx indicate SPI2 */
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#define LSM6DSM_SPI_SLAVE_FREQUENCY_HZ 8000000 /* SPI frequency in Hz */
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#define LSM6DSM_SPI_SLAVE_CS_GPIO GPIO_PB(12) /* SPI NSS pin, on STM32F4xx indicate NSS of SPI2 */
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#define LSM6DSM_INT_IRQ EXTI2_IRQn
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#define LSM6DSM_INT1_GPIO GPIO_PB(6) /* LSM6DSM INT1 is required, here connected to STM32F4xx PB6 */
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#define LSM6DSM_ACCEL_GYRO_ROT_MATRIX 1, 0, 0, 0, 1, 0, 0, 0, 1 /* Accelerometer and gyroscope axis orientation */
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#define LSM6DSM_MAGN_ROT_MATRIX 1, 0, 0, 0, 1, 0, 0, 0, 1 /* Magnetometer axis orientation [MUST be set if a magn sensor is enabled] */
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#define LSM6DSM_LIS3MDL_I2C_ADDRESS 0x1e /* STM LIS3MDL I2C address */
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#define LSM6DSM_LPS22HB_I2C_ADDRESS 0x5d /* STM LPS22HB I2C address */
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<---------- FLAGS list ---------->
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- LSM6DSM_DBG_ENABLED /* Enable debug messages */
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- LSM6DSM_ACCEL_CALIB_ENABLED /* Enable accelerometer bias calibration */
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- LSM6DSM_GYRO_CALIB_ENABLED /* Enable gyroscope bias calibration */
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- LSM6DSM_OVERTEMP_CALIB_ENABLED /* Enable gyroscope over temperature bias calibration [Require LSM6DSM_GYRO_CALIB_ENABLED] */
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- LSM6DSM_MAGN_CALIB_ENABLED /* Enable magnetometer offset calibration */
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- LSM6DSM_I2C_MASTER_USE_INTERNAL_PULLUP /* Use internal pull-up resistors for I2C master interface */
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/* Magnetometer sensor (only one per time can be used) */
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- LSM6DSM_I2C_MASTER_LIS3MDL /* Enable STM LIS3MDL magn sensor */
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- LSM6DSM_I2C_MASTER_LSM303AGR /* Enable STM LSM303AGR magn sensor */
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- LSM6DSM_I2C_MASTER_AK09916 /* Enable AKM AK09916 magn sensor */
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/* Barometer sensor (only one per time can be used) */
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- LSM6DSM_I2C_MASTER_LPS22HB /* Enable STM LPS22HB pressure sensor */
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Example: variant/nucleo/nucleo.mk
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FLAGS += -DLSM6DSM_DBG_ENABLED -DLSM6DSM_ACCEL_CALIB_ENABLED -DLSM6DSM_GYRO_CALIB_ENABLED -DLSM6DSM_OVERTEMP_CALIB_ENABLED
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FLAGS += -DLSM6DSM_I2C_MASTER_LSM303AGR -DLSM6DSM_I2C_MASTER_USE_INTERNAL_PULLUP -DLSM6DSM_MAGN_CALIB_ENABLED
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<---------- ROT_MATRIX macro explanation ---------->
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Sensors orientation can be modified through rotation matrices. Accelerometer and gyroscope are sharing same
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configuration (LSM6DSM_ACCEL_GYRO_ROT_MATRIX), magnetometer sensor different one (LSM6DSM_MAGN_ROT_MATRIX).
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It is following standard rule of matrices moltiplications.
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Here an example:
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[r11 r12 r13]
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[x" y" z"] = [x y z] * [r21 r22 r23] = [(x*r11 + y*r21 + z*r31) (x*r12 + y*r22 + z*r32) (x*r13 + y*r23 + z*r33)]
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[r31 r32 r33]
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where x,y,z are sensors output and x",y",z" are android coordinate system data.
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Matrix is so defined:
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#define LSM6DSM_ACCEL_GYRO_ROT_MATRIX r11,r12,r13,r21,r22,r23,r31,r32,r33
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r** can only be: 0 or 1 or -1.
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<---------- Supported features ---------->
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> Accel & Gyro data;
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> Accel bias calibration through accel_cal lib;
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> Gyro bias calibration through gyro_cal & gyro_stillnes_detect libs;
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> Step detector & counter;
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> Significant motion;
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> Magnetometer sensor connected through I2C master interface (LIS3MDL, LSM303AGR, AK09916);
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> Magnetometer calibration though mag_cal lib;
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> Pressure sensor connected through I2C master interface (LPS22HB);
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