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/* lsm6ds3.h
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef L3M6DS3_H
#define L3M6DS3_H
#include <linux/ioctl.h>
#define LSM6DS3_I2C_SLAVE_ADDR 0xD0
#define LSM6DS3_FIXED_DEVID 0x69
/* LSM6DS3 Register Map (Please refer to LSM6DS3 Specifications) */
#define LSM6DS3_FUNC_CFG_ACCESS 0x00
#define LSM6DS3_RAM_ACCESS 0X01
#define LSM6DS3_SENSOR_SYNC_TIME_FRAME 0X04
/*FIFO control register*/
#define LSM6DS3_FIFO_CTRL1 0x06
#define LSM6DS3_FIFO_CTRL2 0x07
#define LSM6DS3_FIFO_CTRL3 0x08
#define LSM6DS3_FIFO_CTRL4 0x09
#define LSM6DS3_FIFO_CTRL5 0x0a
/*Orientation configuration*/
#define LSM6DS3_ORIENT_CFG_G 0x0B
/*Interrupt control*/
#define LSM6DS3_INT1_CTRL 0x0C//0x0D
#define LSM6DS3_INT2_CTRL 0x0E
#define LSM6DS3_WHO_AM_I 0x0F
/*Acc and Gyro control registers*/
#define LSM6DS3_CTRL1_XL 0x10
#define LSM6DS3_CTRL2_G 0x11
#define LSM6DS3_CTRL3_C 0x12
#define LSM6DS3_CTRL4_C 0x1E//0x13
#define LSM6DS3_CTRL5_C 0x1f//0x14
#define LSM6DS3_CTRL6_C 0x20//0x15
#define LSM6DS3_CTRL7_G 0x21//0x16
#define LSM6DS3_CTRL8_XL 0x22//0x17
#define LSM6DS3_CTRL9_XL 0x23//0x18
#define LSM6DS3_CTRL10_C 0x24//0x19
#define LSM6DS3_MASTER_CONFIG 0x1A
#define LSM6DS3_WAKE_UP_SRC 0x1B
#define LSM6DS3_TAP_SRC 0x1C
#define LSM6DS3_D6D_SRC 0x1D
#define LSM6DS3_STATUS_REG 0x1E
/*Output register*/
#define LSM6DS3_OUT_TEMP_L 0x20
#define LSM6DS3_OUT_TEMP_H 0x21
#define LSM6DS3_OUTX_L_G 0x18
#define LSM6DS3_OUTX_H_G 0x19
#define LSM6DS3_OUTY_L_G 0x1A//0x24
#define LSM6DS3_OUTY_H_G 0x1B//0x25
#define LSM6DS3_OUTZ_L_G 0x1C//0x26
#define LSM6DS3_OUTZ_H_G 0x1D//0x27
#define LSM6DS3_OUTX_L_XL 0x28
#define LSM6DS3_OUTX_H_XL 0x29
#define LSM6DS3_OUTY_L_XL 0x1A//0x2A
#define LSM6DS3_OUTY_H_XL 0x1B//0x2B
#define LSM6DS3_OUTZ_L_XL 0x1C//0x2C
#define LSM6DS3_OUTZ_H_XL 0x1D//0x2D
/*Sensor Hub registers*/
#define LSM6DS3_SENSORHUB1_REG 0x2E
#define LSM6DS3_SENSORHUB2_REG 0x2F
#define LSM6DS3_SENSORHUB3_REG 0x30
#define LSM6DS3_SENSORHUB4_REG 0x31
#define LSM6DS3_SENSORHUB5_REG 0x32
#define LSM6DS3_SENSORHUB6_REG 0x33
#define LSM6DS3_SENSORHUB7_REG 0x34
#define LSM6DS3_SENSORHUB8_REG 0x35
#define LSM6DS3_SENSORHUB9_REG 0x36
#define LSM6DS3_SENSORHUB10_REG 0x37
#define LSM6DS3_SENSORHUB11_REG 0x38
#define LSM6DS3_SENSORHUB12_REG 0x39
#define LSM6DS3_SENSORHUB13_REG 0x4D
#define LSM6DS3_SENSORHUB14_REG 0x4E
#define LSM6DS3_SENSORHUB15_REG 0x4F
#define LSM6DS3_SENSORHUB16_REG 0x50
#define LSM6DS3_SENSORHUB17_REG 0x51
#define LSM6DS3_SENSORHUB18_REG 0x52
/*FIFO status registers*/
#define LSM6DS3_FIFO_STATUS1 0x3A
#define LSM6DS3_FIFO_STATUS2 0x3B
#define LSM6DS3_FIFO_STATUS3 0x3C
#define LSM6DS3_FIFO_STATUS4 0x3D
#define LSM6DS3_FIFO_DATA_OUT_L 0x3E
#define LSM6DS3_FIFO_DATA_OUT_H 0x3F
#define LSM6DS3_TIMESTAMP0_REG 0x40
#define LSM6DS3_TIMESTAMP1_REG 0x41
#define LSM6DS3_TIMESTAMP2_REG 0x42
#define LSM6DS3_STEP_TIMESTAMP_L 0x49
#define LSM6DS3_STEP_TIMESTAMP_H 0x4A
#define LSM6DS3_STEP_COUNTER_L 0x4B
#define LSM6DS3_STEP_COUNTER_H 0x4C
#define LSM6DS3_FUNC_SRC 0x53
#define LSM6DS3_TAP_CFG 0x58
#define LSM6DS3_TAP_THS_6D 0x59
#define LSM6DS3_INT_DUR2 0x5A
#define LSM6DS3_WAKE_UP_THS 0x5B
#define LSM6DS3_WAKE_UP_DUR 0x5C
#define LSM6DS3_FREE_FALL 0x5D
#define LSM6DS3_MD1_CFG 0x5E
#define LSM6DS3_MD2_CFG 0x5F
/*Output Raw data*/
#define LSM6DS3_OUT_MAG_RAW_X_L 0x66
#define LSM6DS3_OUT_MAG_RAW_X_H 0x67
#define LSM6DS3_OUT_MAG_RAW_Y_L 0x68
#define LSM6DS3_OUT_MAG_RAW_Y_H 0x69
#define LSM6DS3_OUT_MAG_RAW_Z_L 0x6A
#define LSM6DS3_OUT_MAG_RAW_Z_H 0x6B
/*Embedded function register*/
#define LSM6DS3_SLV0_ADD 0x02
#define LSM6DS3_SLV0_SUBADD 0x03
#define LSM6DS3_SLAVE0_CONFIG 0x04
#define LSM6DS3_SLV1_ADD 0x05
#define LSM6DS3_SLV1_SUBADD 0x06
#define LSM6DS3_SLAVE1_CONFIG 0x07
#define LSM6DS3_SLV2_ADD 0x08
#define LSM6DS3_SLV2_SUBADD 0x09
#define LSM6DS3_SLAVE2_CONFIG 0x0a
#define LSM6DS3_SLV3_ADD 0x0b
#define LSM6DS3_SLV3_SUBADD 0x0c
#define LSM6DS3_SLAVE3_CONFIG 0x0d
#define LSM6DS3_DATAWRITE_SRC_MODE_SUB_SLV0 0x0e
#define LSM6DS3_SM_THS 0x13
#define LSM6DS3_STEP_COUNT_DELTA 0x15
#define LSM6DS3_MAG_SI_XX 0x24
#define LSM6DS3_MAG_SI_XY 0x25
#define LSM6DS3_MAG_SI_XZ 0x26
#define LSM6DS3_MAG_SI_YX 0x27
#define LSM6DS3_MAG_SI_YY 0x28
#define LSM6DS3_MAG_SI_YZ 0x29
#define LSM6DS3_MAG_SI_ZX 0x2a
#define LSM6DS3_MAG_SI_ZY 0x2b
#define LSM6DS3_MAG_SI_ZZ 0x2c
#define LSM6DS3_MAG_OFFX_L 0x2D
#define LSM6DS3_MAG_OFFX_H 0x2E
#define LSM6DS3_MAG_OFFY_L 0x2F
#define LSM6DS3_MAG_OFFY_H 0x30
#define LSM6DS3_MAG_OFFZ_L 0x31
#define LSM6DS3_MAG_OFFZ_H 0x32
/*LSM6DS3 Register Bit definitions*/
#define LSM6DS3_ACC_RANGE_MASK 0x0C
#define LSM6DS3_ACC_RANGE_2g 0x00
#define LSM6DS3_ACC_RANGE_4g 0x08
#define LSM6DS3_ACC_RANGE_8g 0x0C
#define LSM6DS3_ACC_RANGE_16g 0x04
#define LSM6DS3_ACC_ODR_MASK 0xF0
#define LSM6DS3_ACC_ODR_POWER_DOWN 0x00
#define LSM6DS3_ACC_ODR_13HZ 0x10
#define LSM6DS3_ACC_ODR_26HZ 0x20
#define LSM6DS3_ACC_ODR_52HZ 0x30
#define LSM6DS3_ACC_ODR_104HZ 0x40
#define LSM6DS3_ACC_ODR_208HZ 0x50
#define LSM6DS3_ACC_ODR_416HZ 0x60
#define LSM6DS3_ACC_ODR_833HZ 0x70
#define LSM6DS3_ACC_ODR_1660HZ 0x80
#define LSM6DS3_ACC_ODR_3330HZ 0x90
#define LSM6DS3_ACC_ODR_6660HZ 0xA0
#define LSM6DS3_GYRO_RANGE_MASK 0x0E
#define LSM6DS3_GYRO_RANGE_125DPS 0x02
#define LSM6DS3_GYRO_RANGE_245DPS 0x00
#define LSM6DS3_GYRO_RANGE_500DPS 0x04
#define LSM6DS3_GYRO_RANGE_1000DPS 0x08
#define LSM6DS3_GYRO_RANGE_2000DPS 0x0c
#define LSM6DS3_GYRO_ODR_MASK 0xf0
#define LSM6DS3_GYRO_ODR_POWER_DOWN 0x00
#define LSM6DS3_GYRO_ODR_13HZ 0x10
#define LSM6DS3_GYRO_ODR_26HZ 0x20
#define LSM6DS3_GYRO_ODR_52HZ 0x30
#define LSM6DS3_GYRO_ODR_104HZ 0x40
#define LSM6DS3_GYRO_ODR_208HZ 0x50
#define LSM6DS3_GYRO_ODR_416HZ 0x60
#define LSM6DS3_GYRO_ODR_833HZ 0x70
#define LSM6DS3_GYRO_ODR_1660HZ 0x80
#define AUTO_INCREMENT 0x80
#define LSM6DS3_CTRL3_C_IFINC 0x04
#define LSM6DS3_ACC_SENSITIVITY_2G 61 /*ug/LSB*/
#define LSM6DS3_ACC_SENSITIVITY_4G 122 /*ug/LSB*/
#define LSM6DS3_ACC_SENSITIVITY_8G 244 /*ug/LSB*/
#define LSM6DS3_ACC_SENSITIVITY_16G 488 /*ug/LSB*/
#define LSM6DS3_ACC_ENABLE_AXIS_MASK 0X38
#define LSM6DS3_ACC_ENABLE_AXIS_X 0x08
#define LSM6DS3_ACC_ENABLE_AXIS_Y 0x10
#define LSM6DS3_ACC_ENABLE_AXIS_Z 0x20
#define LSM6DS3_GYRO_SENSITIVITY_125DPS 4375 /*udps/LSB*/
#define LSM6DS3_GYRO_SENSITIVITY_245DPS 8750 /*udps/LSB*/
#define LSM6DS3_GYRO_SENSITIVITY_500DPS 17500 /*udps/LSB*/
#define LSM6DS3_GYRO_SENSITIVITY_1000DPS 35000 /*udps/LSB*/
#define LSM6DS3_GYRO_SENSITIVITY_2000DPS 70000 /*udps/LSB*/
#define LSM6DS3_GYRO_ENABLE_AXIS_MASK 0x38
#define LSM6DS3_GYRO_ENABLE_AXIS_X 0x08
#define LSM6DS3_GYRO_ENABLE_AXIS_Y 0x10
#define LSM6DS3_GYRO_ENABLE_AXIS_Z 0x20
#define LSM6DS3_ACC_GYRO_FUNC_EN_MASK 0x04
#define LSM6DS3_PEDO_EN_MASK 0x40
typedef enum {
LSM6DS3_ACC_GYRO_PEDO_EN_DISABLED =0x00,
LSM6DS3_ACC_GYRO_PEDO_EN_ENABLED =0x40,
} LSM6DS3_ACC_GYRO_PEDO_EN_t;
#define LSM6DS3_TILT_EN_MASK 0x20
typedef enum {
LSM6DS3_ACC_GYRO_TILT_EN_DISABLED =0x00,
LSM6DS3_ACC_GYRO_TILT_EN_ENABLED =0x20,
} LSM6DS3_ACC_GYRO_TILT_EN_t;
typedef enum {
LSM6DS3_ACC_GYRO_INT1 =0,
LSM6DS3_ACC_GYRO_INT2 =1,
} LSM6DS3_ACC_GYRO_ROUNT_INT_t;
typedef enum {
LSM6DS3_ACC_GYRO_FUNC_EN_DISABLED =0x00,
LSM6DS3_ACC_GYRO_FUNC_EN_ENABLED =0x04,
} LSM6DS3_ACC_GYRO_FUNC_EN_t;
typedef enum {
LSM6DS3_ACC_GYRO_INT_TILT_DISABLED =0x00,
LSM6DS3_ACC_GYRO_INT_TILT_ENABLED =0x02,
} LSM6DS3_ACC_GYRO_INT2_TILT_t;
#define LSM6DS3_ACC_GYRO_INT_TILT_MASK 0x02
typedef enum {
LSM6DS3_ACC_GYRO_TILT_DISABLED =0x00,
LSM6DS3_ACC_GYRO_TILT_ENABLED =0x02,
} LSM6DS3_ACC_GYRO_TILT_t;
#define LSM6DS3_ACC_GYRO_TILT_MASK 0x02
typedef enum {
LSM6DS3_ACC_GYRO_INT_SIGN_MOT_DISABLED =0x00,
LSM6DS3_ACC_GYRO_INT_SIGN_MOT_ENABLED =0x40,
} LSM6DS3_ACC_GYRO_INT_SIGN_MOT_t;
#define LSM6DS3_ACC_GYRO_INT_SIGN_MOT_MASK 0x40
typedef enum {
LSM6DS3_ACC_GYRO_SIGN_MOT_DISABLED =0x00,
LSM6DS3_ACC_GYRO_SIGN_MOT_ENABLED =0x01,
} LSM6DS3_ACC_GYRO_SIGN_MOT_t;
#define LSM6DS3_ACC_GYRO_SIGN_MOT_MASK 0x01
typedef enum {
LSM6DS3_ACC_GYRO_RAM_PAGE_DISABLED =0x00,
LSM6DS3_ACC_GYRO_RAM_PAGE_ENABLED =0x80,
} LSM6DS3_ACC_GYRO_RAM_PAGE_t;
#define LSM6DS3_RAM_PAGE_MASK 0x80
#define LSM6DS3_CONFIG_PEDO_THS_MIN 0x0F
typedef enum {
LSM6DS3_ACC_GYRO_PEDO_RST_STEP_DISABLED =0x00,
LSM6DS3_ACC_GYRO_PEDO_RST_STEP_ENABLED =0x02,
} LSM6DS3_ACC_GYRO_PEDO_RST_STEP_t;
#define LSM6DS3_PEDO_RST_STEP_MASK 0x02
typedef enum {
LSM6DS3_ACC_GYRO_INT_ACTIVE_HIGH =0x00,
LSM6DS3_ACC_GYRO_INT_ACTIVE_LOW =0x20,
} LSM6DS3_ACC_GYRO_INT_ACTIVE_t;
#define LSM6DS3_ACC_GYRO_INT_ACTIVE_MASK 0x20
typedef enum {
LSM6DS3_ACC_GYRO_INT_LATCH =0x01,
LSM6DS3_ACC_GYRO_INT_NO_LATCH =0x00,
} LSM6DS3_ACC_GYRO_INT_LATCH_CTL_t;
#define LSM6DS3_ACC_GYRO_INT_LATCH_CTL_MASK 0x01
#define LSM6DS3_SIGNICANT_MOTION_INT_STATUS 0x40
#define LSM6DS3_TILT_INT_STATUS 0x20
#define LSM6DS3_STEP_DETECT_INT_STATUS 0x10
#define LSM6DS3_SUCCESS 0
#define LSM6DS3_ERR_I2C -1
#define LSM6DS3_ERR_STATUS -3
#define LSM6DS3_ERR_SETUP_FAILURE -4
#define LSM6DS3_ERR_GETGSENSORDATA -5
#define LSM6DS3_ERR_IDENTIFICATION -6
#define LSM6DS3_BUFSIZE 60
/*------------------------------------------------------------------*/
// 1 rad = 180/PI degree, L3G4200D_OUT_MAGNIFY = 131,
// 180*131/PI = 7506
#define DEGREE_TO_RAD 180*1000000/PI//7506 // fenggy mask
//#define DEGREE_TO_RAD 819
#endif //L3M6DS3_H
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