729f8a75f7
Adds support for the LSM6DSO32 IMU by STM using the uORB framework. This only contains limited support for the I2C interface, interrupt and polling driven measurement and standard modes of operation (high performance ODRs). Features like interrupts besides DRDY, filtering, gesture recognition and acting as a bus master are not implemented.
88 lines
3.4 KiB
C
88 lines
3.4 KiB
C
/****************************************************************************
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* include/nuttx/sensors/lsm6dso32.h
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*
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* Contributed by Carleton University InSpace
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance with the
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* License. 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, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations
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* under the License.
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*
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****************************************************************************/
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#ifndef __INCLUDE_NUTTX_SENSORS_LSM6DSO32_H
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#define __INCLUDE_NUTTX_SENSORS_LSM6DSO32_H
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/irq.h>
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#include <nuttx/i2c/i2c_master.h>
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#include <nuttx/sensors/ioctl.h>
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/****************************************************************************
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* Public Types
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****************************************************************************/
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/* LSM6DSO32 interrupt pins */
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enum lsm6dso32_int_e
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{
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LSM6DSO32_INT1 = 0, /* Interrupt pin 1 */
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LSM6DSO32_INT2 = 1, /* Interrupt pin 2 */
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};
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typedef int (*lsm6dso32_attach)(xcpt_t handler, FAR void *arg);
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/* Configuration for the LSM6DSO32 driver. */
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struct lsm6dso32_config_s
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{
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enum lsm6dso32_int_e gy_int; /* Interrupt pin to use for gyro */
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enum lsm6dso32_int_e xl_int; /* Interrupt pin to use for accel */
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lsm6dso32_attach gy_attach; /* Attach gyro interrupt (NULL for kthread) */
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lsm6dso32_attach xl_attach; /* Attach accel interrupt (NULL for kthread) */
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};
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/****************************************************************************
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* Public Function Prototypes
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****************************************************************************/
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/****************************************************************************
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* Name: lsm6dso32_register
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*
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* Description:
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* Register the LSM6DSO32 character device as a UORB sensor with accel and
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* gyro topics. If used with interrupts and device registration fails, it
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* is the caller's responsibility to detach the interrupt handler.
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*
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* Input Parameters:
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* i2c - An instance of the I2C interface to use to communicate with
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* the LSM6DSO32
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* addr - The I2C address of the LSM6DSO32.
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* devno - The device number for the UORB topics registered (i.e.
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* sensor_accel<n>)
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* config - Configuration setup for interrupt-driven or polling driven
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* data fetching. Leave `*_attach` function NULL to use kthread
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* polling instead of interrupt handling.
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*
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* Returned Value:
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* Zero (OK) on success; a negated errno value on failure.
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*
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****************************************************************************/
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int lsm6dso32_register(FAR struct i2c_master_s *i2c, uint8_t addr,
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uint8_t devno, struct lsm6dso32_config_s *config);
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#endif // __INCLUDE_NUTTX_SENSORS_LSM6DSO32_H
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