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/* sensor_lsm6ds0.h - header file for LSM6DS0 accelerometer, gyroscope and * temperature sensor driver */ /* * Copyright (c) 2016 Intel Corporation * * SPDX-License-Identifier: Apache-2.0 */ #ifndef ZEPHYR_DRIVERS_SENSOR_LSM6DS0_LSM6DS0_H_ #define ZEPHYR_DRIVERS_SENSOR_LSM6DS0_LSM6DS0_H_ #include <zephyr/types.h> #include <drivers/i2c.h> #include <sys/util.h> #define LSM6DS0_REG_ACT_THS 0x04 #define LSM6DS0_MASK_ACT_THS_SLEEP_ON_INACT_EN BIT(7) #define LSM6DS0_SHIFT_ACT_THS_SLEEP_ON_INACT_EN 7 #define LSM6DS0_MASK_ACT_THS_ACT_THS (BIT(6) | BIT(5) | BIT(4) | \ BIT(3) | BIT(2) | BIT(1) | \ BIT(0)) #define LSM6DS0_SHIFT_ACT_THS_ACT_THS 0 #define LSM6DS0_REG_ACT_DUR 0x05 #define LSM6DS0_REG_INT_GEN_CFG_XL 0x06 #define LSM6DS0_MASK_INT_GEN_CFG_XL_AOI_XL BIT(7) #define LSM6DS0_SHIFT_INT_GEN_CFG_XL_AOI_XL 7 #define LSM6DSO_MASK_INT_GEN_CFG_XL_6D BIT(6) #define LSM6DS0_SHIFT_INT_GEN_CFG_XL_6D 6 #define LSM6DS0_MASK_INT_GEN_CFG_XL_ZHIE_XL BIT(5) #define LSM6DS0_SHIFT_INT_GEN_CFG_XL_ZHIE_XL 5 #define LSM6DS0_MASK_INT_GEN_CFG_XL_ZLIE_XL BIT(4) #define LSM6DS0_SHIFT_INT_GEN_CFG_XL_ZLIE_XL 4 #define LSM6DS0_MASK_INT_GEN_CFG_XL_YHIE_XL BIT(3) #define LSM6DS0_SHIFT_INT_GEN_CFG_XL_YHIE_XL 3 #define LSM6DS0_MASK_INT_GEN_CFG_XL_YLIE_XL BIT(2) #define LSM6DS0_SHIFT_INT_GEN_CFG_XL_YLIE_XL 2 #define LSM6DS0_MASK_INT_GEN_CFG_XL_XHIE_XL BIT(1) #define LSM6DS0_SHIFT_INT_GEN_CFG_XL_XHIE_XL 1 #define LSM6DS0_MASK_INT_GEN_CFG_XL_XLIE_XL BIT(0) #define LSM6DS0_SHIFT_INT_GEN_CFG_XL_XLIE_XL 0 #define LSM6DS0_REG_INT_GEN_THS_X_XL 0x07 #define LSM6DS0_REG_INT_GEN_THS_Y_XL 0x08 #define LSM6DS0_REG_INT_GEN_THS_Z_XL 0x09 #define LSM6DS0_REG_INT_GEN_DUR_XL 0x0A #define LSM6DS0_REG_REFERENCE_G 0x0B #define LSM6DS0_REG_INT_CTRL 0x0C #define LSM6DS0_MASK_INT_CTRL_INT_IG_G BIT(7) #define LSM6DS0_SHIFT_INT_CTRL_INT_IG_G 7 #define LSM6DS0_MASK_INT_CTRL_INT_IG_XL BIT(6) #define LSM6DS0_SHIFT_INT_CTRL_INT_IG_XL 6 #define LSM6DS0_MASK_INT_CTRL_INT_FSS5 BIT(5) #define LSM6DS0_SHIFT_INT_CTRL_INT_FSS5 5 #define LSM6DS0_MASK_INT_CTRL_INT_OVR BIT(4) #define LSM6DS0_SHIFT_INT_CTRL_INT_OVR 4 #define LSM6DS0_MASK_INT_CTRL_INT_FTH BIT(3) #define LSM6DS0_SHIFT_INT_CTRL_INT_FTH 3 #define LSM6DS0_MASK_INT_CTRL_INT_BOOT BIT(2) #define LSM6DS0_SHIFT_INT_CTRL_INT_BOOT 2 #define LSM6DS0_MASK_INT_CTRL_INT_DRDY_G BIT(1) #define LSM6DS0_SHIFT_INT_CTRL_INT_DRDY_G 1 #define LSM6DS0_MASK_INT_CTRL_INT_DRDY_XL BIT(0) #define LSM6DS0_SHIFT_INT_CTRL_INT_DRDY_XL 0 #define LSM6DS0_REG_WHO_AM_I 0x0F #define LSM6DS0_VAL_WHO_AM_I 0x68 #define LSM6DS0_REG_CTRL_REG1_G 0x10 #define LSM6DS0_MASK_CTRL_REG1_G_ODR_G (BIT(7) | BIT(6) | BIT(5)) #define LSM6DS0_SHIFT_CTRL_REG1_G_ODR_G 5 #define LSM6DS0_MASK_CTRL_REG1_G_FS_G (BIT(4) | BIT(3)) #define LSM6DS0_SHIFT_CTRL_REG1_G_FS_G 3 #define LSM6DS0_MASK_CTRL_REG1_G_BW_G (BIT(1) | BIT(0)) #define LSM6DS0_SHIFT_CTRL_REG1_G_BW_G 0 #define LSM6DS0_REG_CTRL_REG2_G 0x11 #define LSM6DS0_MASK_CTRL_REG2_G_INT_SEL (BIT(3) | BIT(2)) #define LSM6DS0_SHIFT_CTRL_REG2_G_INT_SEL 2 #define LSM6DS0_MASK_CTRL_REG2_G_OUT_SEL (BIT(1) | BIT(0)) #define LSM6DS0_SHIFT_CTRL_REG2_G_OUT_SEL 0 #define LSM6DS0_REG_CTRL_REG3_G 0x12 #define LSM6DS0_MASK_CTRL_REG3_G_LP_MODE BIT(7) #define LSM6DS0_SHIFT_CTRL_REG3_G_LP_MODE 7 #define LSM6DS0_MASK_CTRL_REG3_G_HP_EN BIT(6) #define LSM6DS0_SHIFT_CTRL_REG3_G_HP_EN 6 #define LSM6DS0_MASK_CTRL_REG3_G_HPCF_G (BIT(3) | BIT(2) | BIT(1) | \ BIT(0)) #define LSM6DS0_SHIFT_CTRL_REG3_G_HPCF_G 0 #define LSM6DS0_REG_ORIENT_CFG_G 0x13 #define LSM6DS0_MASK_ORIENT_CFG_G_SIGNX_G BIT(5) #define LSM6DS0_SHIFT_ORIENT_CFG_G_SIGNX_G 5 #define LSM6DS0_MASK_ORIENT_CFG_G_SIGNY_G BIT(4) #define LSM6DS0_SHIFT_ORIENT_CFG_G_SIGNY_G 4 #define LSM6DS0_MASK_ORIENT_CFG_G_SIGNZ_G BIT(3) #define LSM6DS0_SHIFT_ORIENT_CFG_G_SIGNZ_G 3 #define LSM6DS0_MASK_ORIENT_CFG_ORIENT (BIT(2) | BIT(1) | BIT(0)) #define LSM6DS0_SHIFT_ORIENT_CFG_ORIENT 0 #define LSM6DS0_REG_INT_GEN_SRC_G 0x14 #define LSM6DS0_MASK_INT_GEN_SRC_G_IA_G BIT(6) #define LSM6DS0_SHIFT_INT_GEN_SRC_G_IA_G 6 #define LSM6DS0_MASK_INT_GEN_SRC_G_ZH_G BIT(5) #define LSM6DS0_SHIFT_INT_GEN_SRC_G_ZH_G 5 #define LSM6DS0_MASK_INT_GEN_SRC_G_ZL_G BIT(4) #define LSM6DS0_SHIFT_INT_GEN_SRC_G_ZL_G 4 #define LSM6DS0_MASK_INT_GEN_SRC_G_YH_G BIT(3) #define LSM6DS0_SHIFT_INT_GEN_SRC_G_YH_G 3 #define LSM6DS0_MASK_INT_GEN_SRC_G_YL_G BIT(2) #define LSM6DS0_SHIFT_INT_GEN_SRC_G_YL_G 2 #define LSM6DS0_MASK_INT_GEN_SRC_G_XH_G BIT(1) #define LSM6DS0_SHIFT_INT_GEN_SRC_G_XH_G 1 #define LSM6DS0_MASK_INT_GEN_SRC_G_XL_G BIT(0) #define LSM6DS0_SHIFT_INT_GEN_SRC_G_XL_G 0 #define LSM6DS0_REG_OUT_TEMP_L 0x15 #define LSM6DS0_REG_OUT_TEMP_H 0x16 #define LSM6DS0_REG_STATUS_REG_G 0x17 #define LSM6DS0_MASK_STATUS_REG_G_IG_XL BIT(6) #define LSM6DS0_SHIFT_STATUS_REG_G_IG_XL 6 #define LSM6DS0_MASK_STATUS_REG_G_IG_G BIT(5) #define LSM6DS0_SHIFT_STATUS_REG_G_IG_G 5 #define LSM6DS0_MASK_STATUS_REG_G_INACT BIT(4) #define LSM6DS0_SHIFT_STATUS_REG_G_INACT 4 #define LSM6DS0_MASK_STATUS_REG_G_BOOT_STATUS BIT(3) #define LSM6DS0_SHIFT_STATUS_REG_G_BOOT_STATUS 3 #define LSM6DS0_MASK_STATUS_REG_G_TDA BIT(2) #define LSM6DS0_SHIFT_STATUS_REG_G_TDA 2 #define LSM6DS0_MASK_STATUS_REG_G_GDA BIT(1) #define LSM6DS0_SHIFT_STATUS_REG_G_GDA 1 #define LSM6DS0_MASK_STATUS_REG_G_XLDA BIT(0) #define LSM6DS0_SHIFT_STATUS_REG_G_XLDA 0 #define LSM6DS0_REG_OUT_X_L_G 0x18 #define LSM6DS0_REG_OUT_X_H_G 0x19 #define LSM6DS0_REG_OUT_Y_L_G 0x1A #define LSM6DS0_REG_OUT_Y_H_G 0x1B #define LSM6DS0_REG_OUT_Z_L_G 0x1C #define LSM6DS0_REG_OUT_Z_H_G 0x1D #define LSM6DS0_REG_CTRL_REG4 0x1E #define LSM6DS0_MASK_CTRL_REG4_ZEN_G BIT(5) #define LSM6DS0_SHIFT_CTRL_REG4_ZEN_G 5 #define LSM6DS0_MASK_CTRL_REG4_YEN_G BIT(4) #define LSM6DS0_SHIFT_CTRL_REG4_YEN_G 4 #define LSM6DS0_MASK_CTRL_REG4_XEN_G BIT(3) #define LSM6DS0_SHIFT_CTRL_REG4_XEN_G 3 #define LSM6DS0_MASK_CTRL_REG4_LIR_XL1 BIT(1) #define LSM6DS0_SHIFT_CTRL_REG4_LIR_XL1 1 #define LSM6DS0_MASK_CTRL_REG4_4D_XL1 BIT(0) #define LSM6DS0_SHIFT_CTRL_REG4_4D_XL1 0 #define LSM6DS0_REG_CTRL_REG5_XL 0x1F #define LSM6DS0_MASK_CTRL_REG5_XL_DEC (BIT(7) | BIT(6)) #define LSM6DS0_SHIFT_CTRL_REG5_XL_DEC 6 #define LSM6DS0_MASK_CTRL_REG5_XL_ZEN_XL BIT(5) #define LSM6DS0_SHIFT_CTRL_REG5_XL_ZEN_XL 5 #define LSM6DS0_MASK_CTRL_REG5_XL_YEN_XL BIT(4) #define LSM6DS0_SHIFT_CTRL_REG5_XL_YEN_XL 4 #define LSM6DS0_MASK_CTRL_REG5_XL_XEN_XL BIT(3) #define LSM6DS0_SHIFT_CTRL_REG5_XL_XEN_XL 3 #define LSM6DS0_REG_CTRL_REG6_XL 0x20 #define LSM6DS0_MASK_CTRL_REG6_XL_ODR_XL (BIT(7) | BIT(6) | BIT(5)) #define LSM6DS0_SHIFT_CTRL_REG6_XL_ODR_XL 5 #define LSM6DS0_MASK_CTRL_REG6_XL_FS_XL (BIT(4) | BIT(3)) #define LSM6DS0_SHIFT_CTRL_REG6_XL_FS_XL 3 #define LSM6DS0_MASK_CTRL_REG6_XL_BW_SCAL_ODR BIT(2) #define LSM6DS0_SHIFT_CTRL_REG6_XL_BW_SCAL_ODR 2 #define LSM6DS0_MASK_CTRL_REG6_XL_BW_XL (BIT(1) | BIT(0)) #define LSM6DS0_SHIFT_CTRL_REG6_XL_BW_XL 0 #define LSM6DS0_REG_CTRL_REG7_XL 0x21 #define LSM6DS0_MASK_CTRL_REG7_XL_HR BIT(7) #define LSM6DS0_SHIFT_CTRL_REG7_XL_HR 7 #define LSM6DS0_MASK_CTRL_REG7_XL_DCF (BIT(6) | BIT(5)) #define LSM6DS0_SHIFT_CTRL_REG7_XL_DCF 5 #define LSM6DS0_MASK_CTRL_REG7_XL_FDS BIT(2) #define LSM6DS0_SHIFT_CTRL_REG7_XL_FDS 2 #define LSM6DS0_MASK_CTRL_REG7_XL_HPIS1 BIT(0) #define LSM6DS0_SHIFT_CTRL_REG7_XL_HPIS 0 #define LSM6DS0_REG_CTRL_REG8 0x22 #define LSM6DS0_MASK_CTRL_REG8_BOOT BIT(7) #define LSM6DS0_SHIFT_CTRL_REG8_BOOT 7 #define LSM6DS0_MASK_CTRL_REG8_BDU BIT(6) #define LSM6DS0_SHIFT_CTRL_REG8_BDU 6 #define LSM6DS0_MASK_CTRL_REG8_H_LACTIVE BIT(5) #define LSM6DS0_SHIFT_CTRL_REG8_H_LACTIVE 5 #define LSM6DS0_MASK_CTRL_REG8_PP_OD BIT(4) #define LSM6DS0_SHIFT_CTRL_REG8_PP_OD 4 #define LSM6DS0_MASK_CTRL_REG8_SIM BIT(3) #define LSM6DS0_SHIFT_CTRL_REG8_SIM 3 #define LSM6DS0_MASK_CTRL_REG8_IF_ADD_INC BIT(2) #define LSM6DS0_SHIFT_CTRL_REG8_IF_ADD_INC 2 #define LSM6DS0_MASK_CTRL_REG8_BLE BIT(1) #define LSM6DS0_SHIFT_CTRL_REG8_BLE 1 #define LSM6DS0_MASK_CTRL_REG8_SW_RESET BIT(0) #define LSM6DS0_SHIFT_CTRL_REG8_SW_RESET 0 #define LSM6DS0_REG_CTRL_REG9 0x23 #define LSM6DS0_MASK_CTRL_REG9_SLEEP_G BIT(6) #define LSM6DS0_SHIFT_CTRL_REG9_SLEEP_G 6 #define LSM6DS0_MASK_CTRL_REG9_FIFO_TEMP_EN BIT(4) #define LSM6DS0_SHIFT_CTRL_REG9_FIFO_TEMP_EN 4 #define LSM6DS0_MASK_CTRL_REG9_DRDY_MASK_BIT BIT(3) #define LSM6DS0_SHIFT_CTRL_REG9_DRDY_MASK_BIT 3 #define LSM6DS0_MASK_CTRL_REG9_DRDY_I2C_DIS BIT(2) #define LSM6DS0_SHIFT_CTRL_REG9_DRDY_I2C_DIS 2 #define LSM6DS0_MASK_CTRL_REG9_FIFO_EN BIT(1) #define LSM6DS0_SHIFT_CTRL_REG9_FIFO_EN 1 #define LSM6DS0_MASK_CTRL_REG9_STOP_ON_FTH BIT(0) #define LSM6DS0_SHIFT_CTRL_REG9_STOP_ON_FTH 0 #define LSM6DS0_REG_CTRL_REG10 0x24 #define LSM6DS0_MASK_CTRL_REG10_ST_G BIT(2) #define LSM6DS0_SHIFT_CTRL_REG10_ST_G 2 #define LSM6DS0_MASK_CTRL_REG10_ST_XL BIT(0) #define LSM6DS0_SHIFT_CTRL_REG10_ST_XL 0 #define LSM6DS0_REG_INT_GEN_SRC_XL 0x26 #define LSM6DS0_MASK_INT_GEN_SRC_XL_IA_XL BIT(6) #define LSM6DS0_SHIFT_INT_GEN_SRC_XL_IA_XL 6 #define LSM6DS0_MASK_INT_GEN_SRC_XL_ZH_XL BIT(5) #define LSM6DS0_SHIFT_INT_GEN_SRC_XL_ZH_XL 5 #define LSM6DS0_MASK_INT_GEN_SRC_XL_ZL_XL BIT(4) #define LSM6DS0_SHIFT_INT_GEN_SRC_XL_ZL_XL 4 #define LSM6DS0_MASK_INT_GEN_SRC_XL_YH_XL BIT(3) #define LSM6DS0_SHIFT_INT_GEN_SRC_XL_YH_XL 3 #define LSM6DS0_MASK_INT_GEN_SRC_XL_YL_XL BIT(2) #define LSM6DS0_SHIFT_INT_GEN_SRC_XL_YL_XL 2 #define LSM6DS0_MASK_INT_GEN_SRC_XL_XH_XL BIT(1) #define LSM6DS0_SHIFT_INT_GEN_SRC_XL_XH_XL 1 #define LSM6DS0_MASK_INT_GEN_SRC_XL_XL_XL BIT(0) #define LSM6DS0_SHIFT_INT_GEN_SRC_XL_XL_XL 0 #define LSM6DS0_REG_STATUS_REG_XL 0x27 #define LSM6DS0_MASK_STATUS_REG_XL_IG_XL BIT(6) #define LSM6DS0_SHIFT_STATUS_REG_XL_IG_XL 6 #define LSM6DS0_MASK_STATUS_REG_XL_IG_G BIT(5) #define LSM6DS0_SHIFT_STATUS_REG_XL_IG_G 5 #define LSM6DS0_MASK_STATUS_REG_XL_INACT BIT(4) #define LSM6DS0_SHIFT_STATUS_REG_XL_INACT 4 #define LSM6DS0_MASK_STATUS_REG_XL_BOOT_STATUS BIT(3) #define LSM6DS0_SHIFT_STATUS_REG_XL_BOOT_STATUS 3 #define LSM6DS0_MASK_STATUS_REG_XL_TDA BIT(2) #define LSM6DS0_SHIFT_STATUS_REG_XL_TDA 2 #define LSM6DS0_MASK_STATUS_REG_XL_GDA BIT(1) #define LSM6DS0_SHIFT_STATUS_REG_XL_GDA 1 #define LSM6DS0_MASK_STATUS_REG_XL_XLDA BIT(0) #define LSM6DS0_SHIFT_STATUS_REG_XL_XLDA 0 #define LSM6DS0_REG_OUT_X_L_XL 0x28 #define LSM6DS0_REG_OUT_X_H_XL 0x29 #define LSM6DS0_REG_OUT_Y_L_XL 0x2A #define LSM6DS0_REG_OUT_Y_H_XL 0x2B #define LSM6DS0_REG_OUT_Z_L_XL 0x2C #define LSM6DS0_REG_OUT_Z_H_XL 0x2D #define LSM6DS0_REG_FIFO_CTRL 0x2E #define LSM6DS0_MASK_FIFO_CTRL_FMODE (BIT(7) | BIT(6) | BIT(5)) #define LSM6DS0_SHIFT_FIFO_CTRL_FMODE 5 #define LSM6DS0_MASK_FIFO_CTRL_FTH (BIT(4) | BIT(3) | BIT(2) | \ BIT(1) | BIT(0)) #define LSM6DS0_SHIFT_FIFO_CTRL_FTH 0 #define LSM6DS0_REG_FIFO_SRC 0x2F #define LSM6DS0_MASK_FIFO_SRC_FTH BIT(7) #define LSM6DS0_SHIFT_FIFO_SRC_FTH 7 #define LSM6DS0_MASK_FIFO_SRC_OVRN BIT(6) #define LSM6DS0_SHIFT_FIFO_SRC_OVRN 6 #define LSM6DS0_MASK_FIFO_SRC_FSS (BIT(5) | BIT(4) | BIT(3) | \ BIT(2) | BIT(1) | BIT(0)) #define LSM6DS0_SHIFT_FIFO_SRC_FSS 0 #define LSM6DS0_REG_INT_GEN_CFG_G 0x30 #define LSM6DS0_MASK_INT_GEN_CFG_G_AOI_G BIT(7) #define LSM6DS0_SHIFT_INT_GEN_CFG_G_AOI_G 7 #define LSM6DS0_MASK_INT_GEN_CFG_G_LIR_G BIT(6) #define LSM6DS0_SHIFT_INT_GEN_CFG_G_LIR_G 6 #define LSM6DS0_MASK_INT_GEN_CFG_G_ZHIE_G BIT(5) #define LSM6DS0_SHIFT_INT_GEN_CFG_G_ZHIE_G 5 #define LSM6DS0_MASK_INT_GEN_CFG_G_ZLIE_G BIT(4) #define LSM6DS0_SHIFT_INT_GEN_CFG_G_ZLIE_G 4 #define LSM6DS0_MASK_INT_GEN_CFG_G_YHIE_G BIT(3) #define LSM6DS0_SHIFT_INT_GEN_CFG_G_YHIE_G 3 #define LSM6DS0_MASK_INT_GEN_CFG_G_YLIE_G BIT(2) #define LSM6DS0_SHIFT_INT_GEN_CFG_G_YLIE_G 2 #define LSM6DS0_MASK_INT_GEN_CFG_G_XHIE_G BIT(1) #define LSM6DS0_SHIFT_INT_GEN_CFG_G_XHIE_G 1 #define LSM6DS0_MASK_INT_GEN_CFG_G_XLIE_G BIT(0) #define LSM6DS0_SHIFT_INT_GEN_CFG_G_XLIE_G 0 #define LSM6DS0_REG_INT_GEN_THS_XH_G 0x31 #define LSM6DS0_MASK_INT_GEN_THS_XH_G_DCRM_G BIT(7) #define LSM6DS0_SHIFT_INT_GEN_THS_XH_G_DCRM_G 7 #define LSM6DS0_REG_INT_GEN_THS_XL_G 0x32 #define LSM6DS0_REG_INT_GEN_THS_YH_G 0x33 #define LSM6DS0_REG_INT_GEN_THS_YL_G 0x34 #define LSM6DS0_REG_INT_GEN_THS_ZH_G 0x35 #define LSM6DS0_REG_INT_GEN_THS_ZL_G 0x36 #define LSM6DS0_REG_INT_GEN_DUR_G 0x37 #define LSM6DS0_MASK_INT_GEN_DUR_G_WAIT_G BIT(7) #define LSM6DS0_SHIFT_INT_GEN_DUR_G_WAIT_G 7 #define SENSOR_G_DOUBLE (SENSOR_G / 1000000.0) #define SENSOR_PI_DOUBLE (SENSOR_PI / 1000000.0) #define SENSOR_DEG2RAD_DOUBLE (180.0 / SENSOR_PI_DOUBLE) #if defined(CONFIG_LSM6DS0_ACCEL_ENABLE_X_AXIS) #define LSM6DS0_ACCEL_ENABLE_X_AXIS 1 #else #define LSM6DS0_ACCEL_ENABLE_X_AXIS 0 #endif #if defined(CONFIG_LSM6DS0_ACCEL_ENABLE_Y_AXIS) #define LSM6DS0_ACCEL_ENABLE_Y_AXIS 1 #else #define LSM6DS0_ACCEL_ENABLE_Y_AXIS 0 #endif #if defined(CONFIG_LSM6DS0_ACCEL_ENABLE_Z_AXIS) #define LSM6DS0_ACCEL_ENABLE_Z_AXIS 1 #else #define LSM6DS0_ACCEL_ENABLE_Z_AXIS 0 #endif #if defined(CONFIG_LSM6DS0_GYRO_ENABLE_X_AXIS) #define LSM6DS0_GYRO_ENABLE_X_AXIS 1 #else #define LSM6DS0_GYRO_ENABLE_X_AXIS 0 #endif #if defined(CONFIG_LSM6DS0_GYRO_ENABLE_Y_AXIS) #define LSM6DS0_GYRO_ENABLE_Y_AXIS 1 #else #define LSM6DS0_GYRO_ENABLE_Y_AXIS 0 #endif #if defined(CONFIG_LSM6DS0_GYRO_ENABLE_Z_AXIS) #define LSM6DS0_GYRO_ENABLE_Z_AXIS 1 #else #define LSM6DS0_GYRO_ENABLE_Z_AXIS 0 #endif #if CONFIG_LSM6DS0_ACCEL_FULLSCALE == 2 #define LSM6DS0_ACCEL_FULLSCALE_2G #elif CONFIG_LSM6DS0_ACCEL_FULLSCALE == 4 #define LSM6DS0_ACCEL_FULLSCALE_4G #elif CONFIG_LSM6DS0_ACCEL_FULLSCALE == 8 #define LSM6DS0_ACCEL_FULLSCALE_8G #elif CONFIG_LSM6DS0_ACCEL_FULLSCALE == 16 #define LSM6DS0_ACCEL_FULLSCALE_16G #endif #if defined(LSM6DS0_ACCEL_FULLSCALE_2G) #define LSM6DS0_DEFAULT_ACCEL_FULLSCALE 0 #define LSM6DS0_DEFAULT_ACCEL_FULLSCALE_FACTOR (2.0 * SENSOR_G_DOUBLE) #elif defined(LSM6DS0_ACCEL_FULLSCALE_4G) #define LSM6DS0_DEFAULT_ACCEL_FULLSCALE 2 #define LSM6DS0_DEFAULT_ACCEL_FULLSCALE_FACTOR (4.0 * SENSOR_G_DOUBLE) #elif defined(LSM6DS0_ACCEL_FULLSCALE_8G) #define LSM6DS0_DEFAULT_ACCEL_FULLSCALE 3 #define LSM6DS0_DEFAULT_ACCEL_FULLSCALE_FACTOR (8.0 * SENSOR_G_DOUBLE) #elif defined(LSM6DS0_ACCEL_FULLSCALE_16G) #define LSM6DS0_DEFALUT_ACCEL_FULLSCALE 1 #define LSM6DS0_DEFAULT_ACCEL_FULLSCALE_FACTOR (16.0 * SENSOR_G_DOUBLE) #endif #if CONFIG_LSM6DS0_ACCEL_SAMPLING_RATE == 0 #define LSM6DS0_ACCEL_SAMPLING_RATE_0 #elif CONFIG_LSM6DS0_ACCEL_SAMPLING_RATE == 10 #define LSM6DS0_ACCEL_SAMPLING_RATE_10 #elif CONFIG_LSM6DS0_ACCEL_SAMPLING_RATE == 50 #define LSM6DS0_ACCEL_SAMPLING_RATE_50 #elif CONFIG_LSM6DS0_ACCEL_SAMPLING_RATE == 119 #define LSM6DS0_ACCEL_SAMPLING_RATE_119 #elif CONFIG_LSM6DS0_ACCEL_SAMPLING_RATE == 238 #define LSM6DS0_ACCEL_SAMPLING_RATE_238 #elif CONFIG_LSM6DS0_ACCEL_SAMPLING_RATE == 476 #define LSM6DS0_ACCEL_SAMPLING_RATE_476 #elif CONFIG_LSM6DS0_ACCEL_SAMPLING_RATE == 952 #define LSM6DS0_ACCEL_SAMPLING_RATE_952 #endif #if defined(LSM6DS0_ACCEL_SAMPLING_RATE_0) #define LSM6DS0_DEFAULT_ACCEL_SAMPLING_RATE 0 #elif defined(LSM6DS0_ACCEL_SAMPLING_RATE_10) #define LSM6DS0_DEFAULT_ACCEL_SAMPLING_RATE 1 #elif defined(LSM6DS0_ACCEL_SAMPLING_RATE_50) #define LSM6DS0_DEFAULT_ACCEL_SAMPLING_RATE 2 #elif defined(LSM6DS0_ACCEL_SAMPLING_RATE_119) #define LSM6DS0_DEFAULT_ACCEL_SAMPLING_RATE 3 #elif defined(LSM6DS0_ACCEL_SAMPLING_RATE_238) #define LSM6DS0_DEFAULT_ACCEL_SAMPLING_RATE 4 #elif defined(LSM6DS0_ACCEL_SAMPLING_RATE_476) #define LSM6DS0_DEFAULT_ACCEL_SAMPLING_RATE 5 #elif defined(LSM6DS0_ACCEL_SAMPLING_RATE_952) #define LSM6DS0_DEFAULT_ACCEL_SAMPLING_RATE 6 #endif #if CONFIG_LSM6DS0_GYRO_FULLSCALE == 245 #define LSM6DS0_GYRO_FULLSCALE_245 #elif CONFIG_LSM6DS0_GYRO_FULLSCALE == 500 #define LSM6DS0_GYRO_FULLSCALE_500 #elif CONFIG_LSM6DS0_GYRO_FULLSCALE == 2000 #define LSM6DS0_GYRO_FULLSCALE_2000 #endif #if defined(LSM6DS0_GYRO_FULLSCALE_245) #define LSM6DS0_DEFAULT_GYRO_FULLSCALE 0 #define LSM6DS0_DEFAULT_GYRO_FULLSCALE_FACTOR 8.75 #elif defined(LSM6DS0_GYRO_FULLSCALE_500) #define LSM6DS0_DEFAULT_GYRO_FULLSCALE 1 #define LSM6DS0_DEFAULT_GYRO_FULLSCALE_FACTOR 17.50 #elif defined(LSM6DS0_GYRO_FULLSCALE_2000) #define LSM6DS0_DEFAULT_GYRO_FULLSCALE 3 #define LSM6DS0_DEFAULT_GYRO_FULLSCALE_FACTOR 70.0 #endif #if CONFIG_LSM6DS0_GYRO_SAMPLING_RATE == 0 #define LSM6DS0_GYRO_SAMPLING_RATE_0 #elif CONFIG_LSM6DS0_GYRO_SAMPLING_RATE == 15 #define LSM6DS0_GYRO_SAMPLING_RATE_14_9 #elif CONFIG_LSM6DS0_GYRO_SAMPLING_RATE == 60 #define LSM6DS0_GYRO_SAMPLING_RATE_59_5 #elif CONFIG_LSM6DS0_GYRO_SAMPLING_RATE == 119 #define LSM6DS0_GYRO_SAMPLING_RATE_119 #elif CONFIG_LSM6DS0_GYRO_SAMPLING_RATE == 238 #define LSM6DS0_GYRO_SAMPLING_RATE_238 #elif CONFIG_LSM6DS0_GYRO_SAMPLING_RATE == 476 #define LSM6DS0_GYRO_SAMPLING_RATE_476 #elif CONFIG_LSM6DS0_GYRO_SAMPLING_RATE == 952 #define LSM6DS0_GYRO_SAMPLING_RATE_952 #endif #if defined(LSM6DS0_GYRO_SAMPLING_RATE_0) #define LSM6DS0_DEFAULT_GYRO_SAMPLING_RATE 0 #elif defined(LSM6DS0_GYRO_SAMPLING_RATE_14_9) #define LSM6DS0_DEFAULT_GYRO_SAMPLING_RATE 1 #elif defined(LSM6DS0_GYRO_SAMPLING_RATE_59_5) #define LSM6DS0_DEFAULT_GYRO_SAMPLING_RATE 2 #elif defined(LSM6DS0_GYRO_SAMPLING_RATE_119) #define LSM6DS0_DEFAULT_GYRO_SAMPLING_RATE 3 #elif defined(LSM6DS0_GYRO_SAMPLING_RATE_238) #define LSM6DS0_DEFAULT_GYRO_SAMPLING_RATE 4 #elif defined(LSM6DS0_GYRO_SAMPLING_RATE_476) #define LSM6DS0_DEFAULT_GYRO_SAMPLING_RATE 5 #elif defined(LSM6DS0_GYRO_SAMPLING_RATE_952) #define LSM6DS0_DEFAULT_GYRO_SAMPLING_RATE 6 #endif struct lsm6ds0_config { char *i2c_master_dev_name; uint16_t i2c_slave_addr; }; struct lsm6ds0_data { const struct device *i2c_master; #if defined(CONFIG_LSM6DS0_ACCEL_ENABLE_X_AXIS) int accel_sample_x; #endif #if defined(CONFIG_LSM6DS0_ACCEL_ENABLE_Y_AXIS) int accel_sample_y; #endif #if defined(CONFIG_LSM6DS0_ACCEL_ENABLE_Z_AXIS) int accel_sample_z; #endif #if defined(CONFIG_LSM6DS0_GYRO_ENABLE_X_AXIS) int gyro_sample_x; #endif #if defined(CONFIG_LSM6DS0_GYRO_ENABLE_Y_AXIS) int gyro_sample_y; #endif #if defined(CONFIG_LSM6DS0_GYRO_ENABLE_Z_AXIS) int gyro_sample_z; #endif #if defined(CONFIG_LSM6DS0_ENABLE_TEMP) int temp_sample; #endif }; #endif /* ZEPHYR_DRIVERS_SENSOR_LSM6DS0_LSM6DS0_H_ */