The sensor-hub configuration sequence follows the official ST example lsm6dsv16x_sensor_hub.c (STMems_Standard_C_drivers), with explicit timeouts instead of infinite loops. More...

#include "imu_lsm6dsv16x.h"
#include <string.h>

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Macros
#define	LIS2MDL_ADDR_8BIT 0x3Du /* same as LIS2MDL_I2C_ADD in lis2mdl_reg.h */

#define	LIS2MDL_WHO_AM_I 0x4Fu

#define	LIS2MDL_ID 0x40u

#define	LIS2MDL_CFG_A 0x60u

#define	LIS2MDL_CFG_B 0x61u

#define	LIS2MDL_CFG_C 0x62u

#define	LIS2MDL_OUTX_L 0x68u

#define	LIS2MDL_UT_PER_LSB 0.15f

#define	LPS22_ADDR_8BIT_H 0xBAu /* SA0 = 1 -> 0x5D */

#define	LPS22_ADDR_8BIT_L 0xB8u /* SA0 = 0 -> 0x5C */

#define	LPS22_WHO_AM_I 0x0Fu

#define	LPS22DF_ID 0xB4u

#define	LPS22HB_ID 0xB1u

#define	LPS22_CTRL_REG1 0x10u

#define	LPS22_CTRL_REG2 0x11u

#define	LPS22_PRESS_OUT_XL 0x28u /* PRESS XL, L, H, TEMP L, H */

#define	DEG2RAD_F 0.017453292519943295f

#define	SH_POLL_MAX 50u /* x 5 ms */

Functions
static void	dly (imu_t *imu, uint32_t ms)

static int32_t	sh_run_once (imu_t *imu)

static int32_t	sh_write (imu_t *imu, uint8_t addr8, uint8_t reg, uint8_t val)

static int32_t	sh_read (imu_t imu, uint8_t addr8, uint8_t reg, uint8_t buf, uint8_t len)

static int32_t	mag_setup (imu_t *imu, uint8_t fast)

static int32_t	baro_setup (imu_t *imu)

int32_t	imu_init (imu_t imu, const sensor_bus_t bus, const imu_config_t *cfg)

int32_t	imu_fifo_level (imu_t imu, uint16_t words)
	Number of 7-byte words in the FIFO.

int32_t	imu_fifo_read_burst (imu_t imu, uint8_t raw, uint16_t words)
	Blocking read via sensor_bus (for tests or when DMA is not used)

static int16_t	le16 (const uint8_t *p)

size_t	imu_fifo_parse (imu_t imu, const uint8_t raw, uint16_t words, imu_event_t ev, size_t cap, imu_parse_stats_t st)
	Decodes 'words' words read in a burst from IMU_FIFO_REG.

Detailed Description

The sensor-hub configuration sequence follows the official ST example lsm6dsv16x_sensor_hub.c (STMems_Standard_C_drivers), with explicit timeouts instead of infinite loops.

Definition in file imu_lsm6dsv16x.c.

Macro Definition Documentation

◆ LIS2MDL_ADDR_8BIT

#define LIS2MDL_ADDR_8BIT 0x3Du /* same as LIS2MDL_I2C_ADD in lis2mdl_reg.h */

Definition at line 12 of file imu_lsm6dsv16x.c.

◆ LIS2MDL_WHO_AM_I

#define LIS2MDL_WHO_AM_I 0x4Fu

Definition at line 13 of file imu_lsm6dsv16x.c.

◆ LIS2MDL_ID

#define LIS2MDL_ID 0x40u

Definition at line 14 of file imu_lsm6dsv16x.c.

◆ LIS2MDL_CFG_A

#define LIS2MDL_CFG_A 0x60u

Definition at line 15 of file imu_lsm6dsv16x.c.

◆ LIS2MDL_CFG_B

#define LIS2MDL_CFG_B 0x61u

Definition at line 16 of file imu_lsm6dsv16x.c.

◆ LIS2MDL_CFG_C

#define LIS2MDL_CFG_C 0x62u

Definition at line 17 of file imu_lsm6dsv16x.c.

◆ LIS2MDL_OUTX_L

#define LIS2MDL_OUTX_L 0x68u

Definition at line 18 of file imu_lsm6dsv16x.c.

◆ LIS2MDL_UT_PER_LSB

#define LIS2MDL_UT_PER_LSB 0.15f

Definition at line 19 of file imu_lsm6dsv16x.c.

◆ LPS22_ADDR_8BIT_H

#define LPS22_ADDR_8BIT_H 0xBAu /* SA0 = 1 -> 0x5D */

Definition at line 22 of file imu_lsm6dsv16x.c.

◆ LPS22_ADDR_8BIT_L

#define LPS22_ADDR_8BIT_L 0xB8u /* SA0 = 0 -> 0x5C */

Definition at line 23 of file imu_lsm6dsv16x.c.

◆ LPS22_WHO_AM_I

#define LPS22_WHO_AM_I 0x0Fu

Definition at line 24 of file imu_lsm6dsv16x.c.

◆ LPS22DF_ID

#define LPS22DF_ID 0xB4u

Definition at line 25 of file imu_lsm6dsv16x.c.

◆ LPS22HB_ID

#define LPS22HB_ID 0xB1u

Definition at line 26 of file imu_lsm6dsv16x.c.

◆ LPS22_CTRL_REG1

#define LPS22_CTRL_REG1 0x10u

Definition at line 27 of file imu_lsm6dsv16x.c.

◆ LPS22_CTRL_REG2

#define LPS22_CTRL_REG2 0x11u

Definition at line 28 of file imu_lsm6dsv16x.c.

◆ LPS22_PRESS_OUT_XL

#define LPS22_PRESS_OUT_XL 0x28u /* PRESS XL, L, H, TEMP L, H */

Definition at line 29 of file imu_lsm6dsv16x.c.

◆ DEG2RAD_F

#define DEG2RAD_F 0.017453292519943295f

Definition at line 31 of file imu_lsm6dsv16x.c.

◆ SH_POLL_MAX

#define SH_POLL_MAX 50u /* x 5 ms */

Definition at line 32 of file imu_lsm6dsv16x.c.

Function Documentation

◆ dly()

static void dly	(	imu_t *	imu,
		uint32_t	ms
	)

static

Definition at line 34 of file imu_lsm6dsv16x.c.

References imu_t::bus, sensor_bus_t::delay_ms, and ms.

Referenced by baro_setup(), imu_init(), mag_setup(), and sh_run_once().

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◆ sh_run_once()

static int32_t sh_run_once ( imu_t * imu )

static

Definition at line 37 of file imu_lsm6dsv16x.c.

References imu_t::ctx, dly(), IMU_ERR_BUS, IMU_ERR_SH_TIMEOUT, IMU_OK, ms, and SH_POLL_MAX.

Referenced by sh_read(), and sh_write().

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◆ sh_write()

static int32_t sh_write	(	imu_t *	imu,
		uint8_t	addr8,
		uint8_t	reg,
		uint8_t	val
	)

static

Definition at line 62 of file imu_lsm6dsv16x.c.

References imu_t::ctx, IMU_ERR_BUS, and sh_run_once().

Referenced by baro_setup(), and mag_setup().

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◆ sh_read()

static int32_t sh_read	(	imu_t *	imu,
		uint8_t	addr8,
		uint8_t	reg,
		uint8_t *	buf,
		uint8_t	len
	)

static

Definition at line 71 of file imu_lsm6dsv16x.c.

References imu_t::ctx, IMU_ERR_BUS, IMU_OK, sh_run_once(), and st().

Referenced by baro_setup(), and mag_setup().

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◆ mag_setup()

static int32_t mag_setup	(	imu_t *	imu,
		uint8_t	fast
	)

static

Definition at line 82 of file imu_lsm6dsv16x.c.

References dly(), IMU_ERR_MAG_ID, LIS2MDL_ADDR_8BIT, LIS2MDL_CFG_A, LIS2MDL_CFG_B, LIS2MDL_CFG_C, LIS2MDL_ID, LIS2MDL_WHO_AM_I, sh_read(), sh_write(), and st().

Referenced by imu_init().

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◆ baro_setup()

static int32_t baro_setup ( imu_t * imu )

static

Definition at line 100 of file imu_lsm6dsv16x.c.

References addr(), imu_t::baro_addr8, imu_t::baro_model, dly(), IMU_BARO_LPS22DF, IMU_BARO_LPS22HB, IMU_OK, LPS22_ADDR_8BIT_H, LPS22_ADDR_8BIT_L, LPS22_CTRL_REG1, LPS22_CTRL_REG2, LPS22_WHO_AM_I, LPS22DF_ID, LPS22HB_ID, sh_read(), and sh_write().

Referenced by imu_init().

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◆ imu_init()

int32_t imu_init	(	imu_t *	imu,
		const sensor_bus_t *	bus,
		const imu_config_t *	cfg
	)

Definition at line 128 of file imu_lsm6dsv16x.c.

References imu_t::baro_addr8, imu_config_t::baro_enable, imu_t::baro_enabled, baro_setup(), imu_t::baro_slot, imu_t::bus, imu_t::ctx, sensor_bus_t::delay_ms, dly(), imu_config_t::gy_lpf1_bw, sensor_bus_t::handle, IMU_ERR_ARG, IMU_ERR_BUS, IMU_ERR_ID, IMU_ODR_1920HZ, IMU_OK, LIS2MDL_ADDR_8BIT, LIS2MDL_OUTX_L, LPS22_PRESS_OUT_XL, imu_config_t::mag_enable, imu_t::mag_enabled, imu_config_t::mag_fast, mag_setup(), imu_config_t::odr, imu_t::odr_hz, sensor_bus_t::read, st(), imu_config_t::watermark_words, sensor_bus_t::write, imu_config_t::xl_lpf2_bw, and imu_config_t::xl_lpf2_enable.

Referenced by ImuTask().

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◆ imu_fifo_level()

int32_t imu_fifo_level	(	imu_t *	imu,
		uint16_t *	words
	)

Number of 7-byte words in the FIFO.

Definition at line 216 of file imu_lsm6dsv16x.c.

References imu_t::ctx, IMU_ERR_BUS, IMU_OK, and s.

Referenced by ImuTask().

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◆ imu_fifo_read_burst()

int32_t imu_fifo_read_burst	(	imu_t *	imu,
		uint8_t *	raw,
		uint16_t	words
	)

Blocking read via sensor_bus (for tests or when DMA is not used)

Definition at line 224 of file imu_lsm6dsv16x.c.

References imu_t::bus, sensor_bus_t::handle, IMU_ERR_BUS, IMU_FIFO_MAX_WORDS, IMU_FIFO_REG, IMU_FIFO_WORD_BYTES, IMU_OK, and sensor_bus_t::read.

◆ le16()

static int16_t le16 ( const uint8_t * p )

static

Definition at line 231 of file imu_lsm6dsv16x.c.

Referenced by imu_fifo_parse().

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◆ imu_fifo_parse()

size_t imu_fifo_parse	(	imu_t *	imu,
		const uint8_t *	raw,
		uint16_t	words,
		imu_event_t *	ev,
		size_t	cap,
		imu_parse_stats_t *	st
	)

Decodes 'words' words read in a burst from IMU_FIFO_REG.

Returns the number of events written to ev (<= cap). Pure function of the data; the only state is the magnetometer duplicate filter.

Definition at line 233 of file imu_lsm6dsv16x.c.

References imu_t::baro_enabled, imu_t::baro_slot, cap, DEG2RAD_F, imu_t::have_baro, imu_t::have_mag, IMU_EV_ACC, IMU_EV_BARO, IMU_EV_GYRO, IMU_EV_MAG, IMU_FIFO_WORD_BYTES, imu_t::last_baro_raw, imu_t::last_mag_raw, le16(), LIS2MDL_UT_PER_LSB, imu_t::mag_enabled, n, slot(), st(), imu_event_t::type, and imu_event_t::v.

Referenced by ImuTask().

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Macros

Functions

Detailed Description

Macro Definition Documentation

◆ LIS2MDL_ADDR_8BIT

◆ LIS2MDL_WHO_AM_I

◆ LIS2MDL_ID

◆ LIS2MDL_CFG_A

◆ LIS2MDL_CFG_B

◆ LIS2MDL_CFG_C

◆ LIS2MDL_OUTX_L

◆ LIS2MDL_UT_PER_LSB

◆ LPS22_ADDR_8BIT_H

◆ LPS22_ADDR_8BIT_L

◆ LPS22_WHO_AM_I

◆ LPS22DF_ID

◆ LPS22HB_ID

◆ LPS22_CTRL_REG1

◆ LPS22_CTRL_REG2

◆ LPS22_PRESS_OUT_XL

◆ DEG2RAD_F

◆ SH_POLL_MAX

Function Documentation

◆ dly()

◆ sh_run_once()

◆ sh_write()

◆ sh_read()

◆ mag_setup()

◆ baro_setup()

◆ imu_init()

◆ imu_fifo_level()

◆ imu_fifo_read_burst()

◆ le16()

◆ imu_fifo_parse()