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STMicro LSM6DSV16X IMU support (#13046)

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Add support for LSM6DSV16X
This commit is contained in:
Steve Evans 2023-12-04 01:19:48 +00:00 • committed by GitHub
parent 010a71820a
commit e126f1c4a4
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GPG key ID: 4AEE18F83AFDEB23
10 changed files with 1151 additions and 7 deletions
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4
src/main/cli/settings.c
View file

@ -138,14 +138,14 @@
const char * const lookupTableAccHardware[] = { const char * const lookupTableAccHardware[] = {
"AUTO", "NONE", "ADXL345", "MPU6050", "MMA8452", "BMA280", "LSM303DLHC", "AUTO", "NONE", "ADXL345", "MPU6050", "MMA8452", "BMA280", "LSM303DLHC",
"MPU6000", "MPU6500", "MPU9250", "ICM20601", "ICM20602", "ICM20608G", "ICM20649", "ICM20689", "ICM42605", "ICM42688P", "MPU6000", "MPU6500", "MPU9250", "ICM20601", "ICM20602", "ICM20608G", "ICM20649", "ICM20689", "ICM42605", "ICM42688P",
"BMI160", "BMI270", "LSM6DSO", "VIRTUAL" "BMI160", "BMI270", "LSM6DSO", "LSM6DSV16X", "VIRTUAL"
}; };
// sync with gyroHardware_e // sync with gyroHardware_e
const char * const lookupTableGyroHardware[] = { const char * const lookupTableGyroHardware[] = {
"AUTO", "NONE", "MPU6050", "L3G4200D", "MPU3050", "L3GD20", "AUTO", "NONE", "MPU6050", "L3G4200D", "MPU3050", "L3GD20",
"MPU6000", "MPU6500", "MPU9250", "ICM20601", "ICM20602", "ICM20608G", "ICM20649", "ICM20689", "ICM42605", "ICM42688P", "MPU6000", "MPU6500", "MPU9250", "ICM20601", "ICM20602", "ICM20608G", "ICM20649", "ICM20689", "ICM42605", "ICM42688P",
"BMI160", "BMI270", "LSM6DSO", "VIRTUAL" "BMI160", "BMI270", "LSM6DSO", "LSM6DSV16X", "VIRTUAL"
}; };
#if defined(USE_SENSOR_NAMES) || defined(USE_BARO) #if defined(USE_SENSOR_NAMES) || defined(USE_BARO)

1
src/main/drivers/accgyro/accgyro.h
View file

@ -59,6 +59,7 @@ typedef enum {
GYRO_BMI160, GYRO_BMI160,
GYRO_BMI270, GYRO_BMI270,
GYRO_LSM6DSO, GYRO_LSM6DSO,
GYRO_LSM6DSV16X,
GYRO_VIRTUAL GYRO_VIRTUAL
} gyroHardware_e; } gyroHardware_e;

8
src/main/drivers/accgyro/accgyro_mpu.c
View file

@ -56,6 +56,7 @@
#include "drivers/accgyro/accgyro_spi_mpu6500.h" #include "drivers/accgyro/accgyro_spi_mpu6500.h"
#include "drivers/accgyro/accgyro_spi_mpu9250.h" #include "drivers/accgyro/accgyro_spi_mpu9250.h"
#include "drivers/accgyro/accgyro_spi_l3gd20.h" #include "drivers/accgyro/accgyro_spi_l3gd20.h"
#include "drivers/accgyro/accgyro_spi_lsm6dsv16x.h"
#include "drivers/accgyro/accgyro_mpu.h" #include "drivers/accgyro/accgyro_mpu.h"
#include "pg/pg.h" #include "pg/pg.h"
@ -132,7 +133,7 @@ busStatus_e mpuIntcallback(uint32_t arg)
return BUS_READY; return BUS_READY;
} }
static void mpuIntExtiHandler(extiCallbackRec_t *cb) void mpuIntExtiHandler(extiCallbackRec_t *cb)
{ {
gyroDev_t *gyro = container_of(cb, gyroDev_t, exti); gyroDev_t *gyro = container_of(cb, gyroDev_t, exti);
@ -277,7 +278,7 @@ bool mpuGyroReadSPI(gyroDev_t *gyro)
if (spiUseDMA(&gyro->dev)) { if (spiUseDMA(&gyro->dev)) {
gyro->dev.callbackArg = (uint32_t)gyro; gyro->dev.callbackArg = (uint32_t)gyro;
gyro->dev.txBuf[0] = gyro->accDataReg | 0x80; gyro->dev.txBuf[0] = gyro->accDataReg | 0x80;
gyro->segments[0].len = gyro->gyroDataReg - gyro->accDataReg + 7; gyro->segments[0].len = gyro->gyroDataReg - gyro->accDataReg + sizeof(uint8_t) + 3 * sizeof(int16_t);
gyro->segments[0].callback = mpuIntcallback; gyro->segments[0].callback = mpuIntcallback;
gyro->segments[0].u.buffers.txData = gyro->dev.txBuf; gyro->segments[0].u.buffers.txData = gyro->dev.txBuf;
gyro->segments[0].u.buffers.rxData = &gyro->dev.rxBuf[1]; gyro->segments[0].u.buffers.rxData = &gyro->dev.rxBuf[1];
@ -339,6 +340,9 @@ bool mpuGyroReadSPI(gyroDev_t *gyro)
typedef uint8_t (*gyroSpiDetectFn_t)(const extDevice_t *dev); typedef uint8_t (*gyroSpiDetectFn_t)(const extDevice_t *dev);
static gyroSpiDetectFn_t gyroSpiDetectFnTable[] = { static gyroSpiDetectFn_t gyroSpiDetectFnTable[] = {
#ifdef USE_ACCGYRO_LSM6DSV16X
lsm6dsv16xSpiDetect,
#endif
#ifdef USE_GYRO_SPI_ICM20689 #ifdef USE_GYRO_SPI_ICM20689
icm20689SpiDetect, // icm20689SpiDetect detects ICM20602 and ICM20689 icm20689SpiDetect, // icm20689SpiDetect detects ICM20602 and ICM20689
#endif #endif

5
src/main/drivers/accgyro/accgyro_mpu.h
View file

@ -45,6 +45,7 @@
#define ICM20689_WHO_AM_I_CONST (0x98) #define ICM20689_WHO_AM_I_CONST (0x98)
#define ICM42605_WHO_AM_I_CONST (0x42) #define ICM42605_WHO_AM_I_CONST (0x42)
#define ICM42688P_WHO_AM_I_CONST (0x47) #define ICM42688P_WHO_AM_I_CONST (0x47)
#define LSM6DSV16X_WHO_AM_I_CONST (0x71) // TODO Datasheet says this should be 0x70
// RA = Register Address // RA = Register Address
@ -204,6 +205,7 @@ typedef enum {
BMI_270_SPI, BMI_270_SPI,
LSM6DSO_SPI, LSM6DSO_SPI,
L3GD20_SPI, L3GD20_SPI,
LSM6DSV16X_SPI
} mpuSensor_e; } mpuSensor_e;
typedef enum { typedef enum {
@ -229,3 +231,6 @@ uint8_t mpuGyroReadRegister(const extDevice_t *dev, uint8_t reg);
struct accDev_s; struct accDev_s;
bool mpuAccRead(struct accDev_s *acc); bool mpuAccRead(struct accDev_s *acc);
bool mpuAccReadSPI(struct accDev_s *acc); bool mpuAccReadSPI(struct accDev_s *acc);
busStatus_e mpuIntcallback(uint32_t arg);
void mpuIntExtiHandler(extiCallbackRec_t *cb);

269
src/main/drivers/accgyro/accgyro_spi_lsm6dsv16x.c Normal file
View file

@ -0,0 +1,269 @@
/*
* This file is part of Betaflight.
*
* Betaflight is free software. You can redistribute this software
* and/or modify this software under the terms of the GNU General
* Public License as published by the Free Software Foundation,
* either version 3 of the License, or (at your option) any later
* version.
*
* Betaflight 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 software.
*
* If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdbool.h>
#include <stdint.h>
#include <stdlib.h>
#include <string.h>
#include "platform.h"
#if defined(USE_ACCGYRO_LSM6DSV16X)
#include "drivers/accgyro/accgyro_spi_lsm6dsv16x.h"
// 10 MHz max SPI frequency
#define LSM6DSV16X_MAX_SPI_CLK_HZ 10000000
// Need to see at least this many interrupts during initialisation to confirm EXTI connectivity
#define GYRO_EXTI_DETECT_THRESHOLD 1000
uint8_t lsm6dsv16xSpiDetect(const extDevice_t *dev)
{
const uint8_t whoAmI = spiReadRegMsk(dev, LSM6DSV_WHO_AM_I);
if (whoAmI != LSM6DSV16X_WHO_AM_I_CONST) {
return MPU_NONE;
}
return LSM6DSV16X_SPI;
}
void lsm6dsv16xAccInit(accDev_t *acc)
{
const extDevice_t *dev = &acc->gyro->dev;
// Enable the accelerometer in high accuracy mode at 1kHz
spiWriteReg(dev, LSM6DSV_CTRL1,
LSM6DSV_ENCODE_BITS(LSM6DSV_CTRL1_OP_MODE_XL_HIGH_ACCURACY,
LSM6DSV_CTRL1_OP_MODE_XL_MASK,
LSM6DSV_CTRL1_OP_MODE_XL_SHIFT) |
LSM6DSV_ENCODE_BITS(LSM6DSV_CTRL1_ODR_XL_1000HZ,
LSM6DSV_CTRL1_ODR_XL_MASK,
LSM6DSV_CTRL1_ODR_XL_SHIFT));
// Enable 16G sensitivity
spiWriteReg(dev, LSM6DSV_CTRL8,
LSM6DSV_ENCODE_BITS(LSM6DSV_CTRL8_FS_XL_16G,
LSM6DSV_CTRL8_FS_XL_MASK,
LSM6DSV_CTRL8_FS_XL_SHIFT));
// ±16G mode
acc->acc_1G = 512 * 4;
}
static bool lsm6dsv16xAccReadSPI(accDev_t *acc)
{
switch (acc->gyro->gyroModeSPI) {
case GYRO_EXTI_INT:
case GYRO_EXTI_NO_INT:
{
acc->gyro->dev.txBuf[0] = LSM6DSV_OUTX_L_A | 0x80;
busSegment_t segments[] = {
{.u.buffers = {NULL, NULL}, 7, true, NULL},
{.u.link = {NULL, NULL}, 0, true, NULL},
};
segments[0].u.buffers.txData = acc->gyro->dev.txBuf;
segments[0].u.buffers.rxData = &acc->gyro->dev.rxBuf[1];
spiSequence(&acc->gyro->dev, &segments[0]);
// Wait for completion
spiWait(&acc->gyro->dev);
int16_t *accData = (int16_t *)acc->gyro->dev.rxBuf;
acc->ADCRaw[X] = accData[1];
acc->ADCRaw[Y] = accData[2];
acc->ADCRaw[Z] = accData[3];
break;
}
case GYRO_EXTI_INT_DMA:
{
// If read was triggered in interrupt don't bother waiting. The worst that could happen is that we pick
// up an old value.
// This data was read from the gyro, which is the same SPI device as the acc
int16_t *accData = (int16_t *)acc->gyro->dev.rxBuf;
acc->ADCRaw[X] = accData[4];
acc->ADCRaw[Y] = accData[5];
acc->ADCRaw[Z] = accData[6];
break;
}
case GYRO_EXTI_INIT:
default:
break;
}
return true;
}
bool lsm6dsv16xSpiAccDetect(accDev_t *acc)
{
if (acc->mpuDetectionResult.sensor != LSM6DSV16X_SPI) {
return false;
}
acc->initFn = lsm6dsv16xAccInit;
acc->readFn = lsm6dsv16xAccReadSPI;
return true;
}
void lsm6dsv16xGyroInit(gyroDev_t *gyro)
{
const extDevice_t *dev = &gyro->dev;
spiSetClkDivisor(dev, spiCalculateDivider(LSM6DSV16X_MAX_SPI_CLK_HZ));
// Perform a software reset
spiWriteReg(dev, LSM6DSV_CTRL3, LSM6DSV_CTRL3_SW_RESET);
// Select high-accuracy ODR mode 1 before leaving power-off mode
spiWriteReg(dev, LSM6DSV_HAODR_CFG,
LSM6DSV_ENCODE_BITS(LSM6DSV_HAODR_MODE1,
LSM6DSV_HAODR_CFG_HAODR_SEL_MASK,
LSM6DSV_HAODR_CFG_HAODR_SEL_SHIFT));
// Enable the gyro in high accuracy mode at 8kHz
spiWriteReg(dev, LSM6DSV_CTRL2,
LSM6DSV_ENCODE_BITS(LSM6DSV_CTRL2_OP_MODE_G_HIGH_ACCURACY,
LSM6DSV_CTRL2_OP_MODE_G_MASK,
LSM6DSV_CTRL2_OP_MODE_G_SHIFT) |
LSM6DSV_ENCODE_BITS(LSM6DSV_CTRL2_ODR_G_8000HZ,
LSM6DSV_CTRL2_ODR_G_MASK,
LSM6DSV_CTRL2_ODR_G_SHIFT));
// Enable 2000 deg/s sensitivity
spiWriteReg(dev, LSM6DSV_CTRL6,
LSM6DSV_ENCODE_BITS(LSM6DSV_CTRL6_FS_G_BW_407HZ,
LSM6DSV_CTRL6_LPF1_G_BW_MASK,
LSM6DSV_CTRL6_LPF1_G_BW_SHIFT) |
LSM6DSV_ENCODE_BITS(LSM6DSV_CTRL6_FS_G_2000DPS,
LSM6DSV_CTRL6_FS_G_MASK,
LSM6DSV_CTRL6_FS_G_SHIFT));
// Autoincrement register address when doing block SPI reads and update continuously
spiWriteReg(dev, LSM6DSV_CTRL3, LSM6DSV_CTRL3_IF_INC);
// Generate pulse on interrupt line, not requiring a read to clear
// TODO this pulse lasts 66us followed by a low of 66us, so we get 132us cycle time, not 125us
spiWriteReg(dev, LSM6DSV_CTRL4, LSM6DSV_CTRL4_DRDY_PULSED);
// From section 4.1, Mechanical characteristics, of the datasheet, G_So is 70mdps/LSB for FS = ±2000 dps.
gyro->scale = 0.070f;
// Enable the INT1 output to interrupt when new gyro data is ready
spiWriteReg(dev, LSM6DSV_INT1_CTRL, LSM6DSV_INT1_CTRL_INT1_DRDY_G);
mpuGyroInit(gyro);
}
bool lsm6dsv16xGyroReadSPI(gyroDev_t *gyro)
{
int16_t *gyroData = (int16_t *)gyro->dev.rxBuf;
switch (gyro->gyroModeSPI) {
case GYRO_EXTI_INIT:
{
// Initialise the tx buffer to all 0xff
memset(gyro->dev.txBuf, 0xff, 16);
// Check that minimum number of interrupts have been detected
// We need some offset from the gyro interrupts to ensure sampling after the interrupt
gyro->gyroDmaMaxDuration = 5;
if (gyro->detectedEXTI > GYRO_EXTI_DETECT_THRESHOLD) {
if (spiUseDMA(&gyro->dev)) {
gyro->dev.callbackArg = (uint32_t)gyro;
gyro->dev.txBuf[0] = LSM6DSV_OUTX_L_G | 0x80;
// Read three words of gyro data immediately followed by three bytes of acc data
gyro->segments[0].len = sizeof(uint8_t) + 6 * sizeof(int16_t);
gyro->segments[0].callback = mpuIntcallback;
gyro->segments[0].u.buffers.txData = gyro->dev.txBuf;
gyro->segments[0].u.buffers.rxData = &gyro->dev.rxBuf[1];
gyro->segments[0].negateCS = true;
gyro->gyroModeSPI = GYRO_EXTI_INT_DMA;
} else {
// Interrupts are present, but no DMA
gyro->gyroModeSPI = GYRO_EXTI_INT;
}
} else {
gyro->gyroModeSPI = GYRO_EXTI_NO_INT;
}
break;
}
case GYRO_EXTI_INT:
case GYRO_EXTI_NO_INT:
{
gyro->dev.txBuf[0] = gyro->gyroDataReg | 0x80;
busSegment_t segments[] = {
{.u.buffers = {NULL, NULL}, 7, true, NULL},
{.u.link = {NULL, NULL}, 0, true, NULL},
};
segments[0].u.buffers.txData = gyro->dev.txBuf;
segments[0].u.buffers.rxData = &gyro->dev.rxBuf[1];
spiSequence(&gyro->dev, &segments[0]);
// Wait for completion
spiWait(&gyro->dev);
gyro->gyroADCRaw[X] = gyroData[1];
gyro->gyroADCRaw[Y] = gyroData[2];
gyro->gyroADCRaw[Z] = gyroData[3];
break;
}
case GYRO_EXTI_INT_DMA:
{
// If read was triggered in interrupt don't bother waiting. The worst that could happen is that we pick
// up an old value.
gyro->gyroADCRaw[X] = gyroData[1];
gyro->gyroADCRaw[Y] = gyroData[2];
gyro->gyroADCRaw[Z] = gyroData[3];
break;
}
default:
break;
}
return true;
}
bool lsm6dsv16xSpiGyroDetect(gyroDev_t *gyro)
{
if (gyro->mpuDetectionResult.sensor != LSM6DSV16X_SPI) {
return false;
}
gyro->initFn = lsm6dsv16xGyroInit;
gyro->readFn = lsm6dsv16xGyroReadSPI;
return true;
}
#endif // USE_ACCGYRO_LSM6DSV16X

840
src/main/drivers/accgyro/accgyro_spi_lsm6dsv16x.h Normal file
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@ -0,0 +1,840 @@
/*
* This file is part of Betaflight.
*
* Betaflight is free software. You can redistribute this software
* and/or modify this software under the terms of the GNU General
* Public License as published by the Free Software Foundation,
* either version 3 of the License, or (at your option) any later
* version.
*
* Betaflight 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 software.
*
* If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include "drivers/bus_spi.h"
#include "drivers/accgyro/accgyro.h"
//#include "drivers/exti.h"
/* See datasheet
*
* https://www.st.com/content/ccc/resource/technical/document/datasheet/group3/47/03/b2/44/47/32/4b/76/DM00741844/files/DM00741844.pdf/jcr:content/translations/en.DM00741844.pdf
*
*/
// Macros to encode/decode multi-bit values
#define LSM6DSV_ENCODE_BITS(val, mask, shift) ((val << shift) & mask)
#define LSM6DSV_DECODE_BITS(val, mask, shift) ((val & mask) >> shift)
// Enable embedded functions register (R/W)
#define LSM6DSV_FUNC_CFG_ACCESS 0x01
#define LSM6DSV_EMB_FUNC_REG_ACCESS_EMB_FUNC_REG_ACCESS 0x80
#define LSM6DSV_EMB_FUNC_REG_ACCESS_SHUB_REG_ACCESS 0x40
#define LSM6DSV_EMB_FUNC_REG_ACCESS_FSM_WR_CTRL_EN 0x08
#define LSM6DSV_EMB_FUNC_REG_ACCESS_SW_POR 0x04
#define LSM6DSV_EMB_FUNC_REG_ACCESS_SPI2_RESET 0x02
#define LSM6DSV_EMB_FUNC_REG_ACCESS_OIS_CTRL_FROM_UI 0x01
// SDO, OCS_Aux, SDO_Aux pins pull-up register (R/W)
#define LSM6DSV_PIN_CTRL 0x02
#define LSM6DSV_PIN_CTRL_OIRS_PU_DIS 0x80
#define LSM6DSV_PIN_CTRL_DSO_PU_EN 0x40
#define LSM6DSV_PIN_CTRL_IBHR_POR_EN 0x20
#define LSM6DSV_PIN_CTRL_RESDV 0x03
// Interface configuration register (R/W)
#define LSM6DSV_IF_CFG 0x03
#define LSM6DSV_IF_CFG_SDA_PU_EN 0x80
#define LSM6DSV_IF_CFG_SHUB_PU_EN 0x40
#define LSM6DSV_IF_CFG_ASF_CTRL 0x20
#define LSM6DSV_IF_CFG_H_LACTIVE 0x10
#define LSM6DSV_IF_CFG_PP_OD 0x08
#define LSM6DSV_IF_CFG_SIM 0x04
#define LSM6DSV_IF_CFG_I2C_I3C_DISABLE 0x01
// ODR-triggered mode configuration register (R/W)
#define LSM6DSV_ODR_TRIG_CFG 0x06
// FIFO control register 1 (R/W)
#define LSM6DSV_FIFO_CTRL1 0x07
// FIFO control register 2 (R/W)
#define LSM6DSV_FIFO_CTRL2 0x08
#define LSM6DSV_FIFO_CTRL2_STOP_ON_WTM 0x80
#define LSM6DSV_FIFO_CTRL2_FIFO_COMPR_RT_EN 0x40
#define LSM6DSV_FIFO_CTRL2_ODR_CHG_EN 0x10
#define LSM6DSV_FIFO_CTRL2_UNCOMPR_RATE_MASK 0x06
#define LSM6DSV_FIFO_CTRL2_UNCOMPR_RATE_SHIFT 1
#define LSM6DSV_FIFO_CTRL2_UNCOMPR_RATE_NOT_FORCED 0
#define LSM6DSV_FIFO_CTRL2_UNCOMPR_RATE_8 1
#define LSM6DSV_FIFO_CTRL2_UNCOMPR_RATE_16 2
#define LSM6DSV_FIFO_CTRL2_UNCOMPR_RATE_32 3
#define LSM6DSV_FIFO_CTRL2_XL_DUALC_BATCH_FROM_FS 0x01
// FIFO control register 3 (R/W)
#define LSM6DSV_FIFO_CTRL3 0x09
#define LSM6DSV_FIFO_CTRL3_BDR_GY_MASK 0xf0
#define LSM6DSV_FIFO_CTRL3_BDR_GY_SHIFT 4
#define LSM6DSV_FIFO_CTRL3_BDR_GY_1875HZ 0x01
#define LSM6DSV_FIFO_CTRL3_BDR_GY_7_5HZ 0x02
#define LSM6DSV_FIFO_CTRL3_BDR_GY_15HZ 0x03
#define LSM6DSV_FIFO_CTRL3_BDR_GY_30HZ 0x04
#define LSM6DSV_FIFO_CTRL3_BDR_GY_60HZ 0x05
#define LSM6DSV_FIFO_CTRL3_BDR_GY_120HZ 0x06
#define LSM6DSV_FIFO_CTRL3_BDR_GY_240HZ 0x07
#define LSM6DSV_FIFO_CTRL3_BDR_GY_480HZ 0x08
#define LSM6DSV_FIFO_CTRL3_BDR_GY_960HZ 0x09
#define LSM6DSV_FIFO_CTRL3_BDR_GY_1920HZ 0x0a
#define LSM6DSV_FIFO_CTRL3_BDR_GY_3840HZ 0x0b
#define LSM6DSV_FIFO_CTRL3_BDR_GY_7680HZ 0x0c
#define LSM6DSV_FIFO_CTRL3_BDR_XL_MASK 0xff
#define LSM6DSV_FIFO_CTRL3_BDR_XL_SHIFT 0
#define LSM6DSV_FIFO_CTRL3_BDR_XL_1875HZ 0x01
#define LSM6DSV_FIFO_CTRL3_BDR_XL_7_5HZ 0x02
#define LSM6DSV_FIFO_CTRL3_BDR_XL_15HZ 0x03
#define LSM6DSV_FIFO_CTRL3_BDR_XL_30HZ 0x04
#define LSM6DSV_FIFO_CTRL3_BDR_XL_60HZ 0x05
#define LSM6DSV_FIFO_CTRL3_BDR_XL_120HZ 0x06
#define LSM6DSV_FIFO_CTRL3_BDR_XL_240HZ 0x07
#define LSM6DSV_FIFO_CTRL3_BDR_XL_480HZ 0x08
#define LSM6DSV_FIFO_CTRL3_BDR_XL_960HZ 0x09
#define LSM6DSV_FIFO_CTRL3_BDR_XL_1920HZ 0x0a
#define LSM6DSV_FIFO_CTRL3_BDR_XL_3840HZ 0x0b
#define LSM6DSV_FIFO_CTRL3_BDR_XL_7680HZ 0x0c
// FIFO control register 4 (R/W)
#define LSM6DSV_FIFO_CTRL4 0x0A
#define LSM6DSV_FIFO_CTRL4_DEC_TS_BATCH_MASK 0xc0
#define LSM6DSV_FIFO_CTRL4_DEC_TS_BATCH_SHIFT 6
#define LSM6DSV_FIFO_CTRL4_DEC_TS_BATCH_NONE 0
#define LSM6DSV_FIFO_CTRL4_DEC_TS_BATCH_DECIMATION_1 1
#define LSM6DSV_FIFO_CTRL4_DEC_TS_BATCH_DECIMATION_8 2
#define LSM6DSV_FIFO_CTRL4_DEC_TS_BATCH_DECIMATION_32 3
#define LSM6DSV_FIFO_CTRL4_ODR_T_BATCH_MASK 0x30
#define LSM6DSV_FIFO_CTRL4_ODR_T_BATCH_SHIFT 4
#define LSM6DSV_FIFO_CTRL4_ODR_T_BATCH_NONE 0
#define LSM6DSV_FIFO_CTRL4_ODR_T_BATCH_1875HZ 1
#define LSM6DSV_FIFO_CTRL4_ODR_T_BATCH_15HZ 2
#define LSM6DSV_FIFO_CTRL4_ODR_T_BATCH_60HZ 3
#define LSM6DSV_FIFO_CTRL4_G_EIS_FIFO_EN 0x08
#define LSM6DSV_FIFO_CTRL4_FIFO_MODE_MASK 0x07
#define LSM6DSV_FIFO_CTRL4_FIFO_MODE_SHIFT 0
#define LSM6DSV_FIFO_CTRL4_FIFO_MODE_BYPASS 0
#define LSM6DSV_FIFO_CTRL4_FIFO_MODE_FIFO_MODE 1
#define LSM6DSV_FIFO_CTRL4_FIFO_MODE_CONT_WTM 2
#define LSM6DSV_FIFO_CTRL4_FIFO_MODE_CONT_FIFO 3
#define LSM6DSV_FIFO_CTRL4_FIFO_MODE_BYPASS_CONT 4
#define LSM6DSV_FIFO_CTRL4_FIFO_MODE_CONT 6
#define LSM6DSV_FIFO_CTRL4_FIFO_MODE_BYPASS_FIFO 7
// Counter batch data rate register 1 (R/W)
#define LSM6DSV_COUNTER_BDR_REG1 0x0B
#define LSM6DSV_COUNTER_BDR_REG1_TRIG_COUNTER_BDR_MASK 0x60
#define LSM6DSV_COUNTER_BDR_REG1_TRIG_COUNTER_BDR_SHIFT 5
#define LSM6DSV_COUNTER_BDR_REG1_TRIG_COUNTER_BDR_ACC 0
#define LSM6DSV_COUNTER_BDR_REG1_TRIG_COUNTER_BDR_GYRO 1
#define LSM6DSV_COUNTER_BDR_REG1_TRIG_COUNTER_BDR_GYRO_EIS 2
#define LSM6DSV_COUNTER_BDR_REG2_CNT_BDR_TH_HI_MASK 0x03
#define LSM6DSV_COUNTER_BDR_REG2_CNT_BDR_TH_HI_SHIFT 0
// Counter batch data rate register 2 (R/W)
#define LSM6DSV_COUNTER_BDR_REG2 0x0C
// INT1 pin control register (R/W)
#define LSM6DSV_INT1_CTRL 0x0D
#define LSM6DSV_INT1_CTRL_INT1_CNT_BDR 0x40
#define LSM6DSV_INT1_CTRL_INT1_FIFO_FULL 0x20
#define LSM6DSV_INT1_CTRL_INT1_FIFO_OVR 0x10
#define LSM6DSV_INT1_CTRL_INT1_FIFO_TH 0x08
#define LSM6DSV_INT1_CTRL_INT1_DRDY_G 0x02
#define LSM6DSV_INT1_CTRL_INT1_DRDY_XL 0x01
// INT2 pin control register (R/W)
#define LSM6DSV_INT2_CTRL 0x0E
#define LSM6DSV_INT2_CTRL_INT2_EMB_FUNC_ENDOP 0x80
#define LSM6DSV_INT2_CTRL_INT2_CNT_BDR 0x40
#define LSM6DSV_INT2_CTRL_INT2_FIFO_FULL 0x20
#define LSM6DSV_INT2_CTRL_INT2_FIFO_OVR 0x10
#define LSM6DSV_INT2_CTRL_INT2_FIFO_TH 0x08
#define LSM6DSV_INT2_CTRL_INT2_DRDY_G_EIS 0x04
#define LSM6DSV_INT2_CTRL_INT2_DRDY_G 0x02
#define LSM6DSV_INT2_CTRL_INT2_DRDY_XL 0x01
// WHO_AM_I register (R)
#define LSM6DSV_WHO_AM_I 0x0F
// Accelerometer control register 1 (R/W)
#define LSM6DSV_CTRL1 0x10
#define LSM6DSV_CTRL1_OP_MODE_XL_MASK 0x70
#define LSM6DSV_CTRL1_OP_MODE_XL_SHIFT 4
#define LSM6DSV_CTRL1_OP_MODE_XL_HIGH_PERF 0
#define LSM6DSV_CTRL1_OP_MODE_XL_HIGH_ACCURACY 1
#define LSM6DSV_CTRL1_OP_MODE_XL_ODR_TRIG 3
#define LSM6DSV_CTRL1_OP_MODE_XL_LOW_PWR_MODE1 4
#define LSM6DSV_CTRL1_OP_MODE_XL_LOW_PWR_MODE2 5
#define LSM6DSV_CTRL1_OP_MODE_XL_LOW_PWR_MODE3 6
#define LSM6DSV_CTRL1_OP_MODE_XL_NORMAL 7
#define LSM6DSV_CTRL1_ODR_XL_MASK 0x0f
#define LSM6DSV_CTRL1_ODR_XL_SHIFT 0
#define LSM6DSV_CTRL1_ODR_XL_POWERDOWN 0
#define LSM6DSV_CTRL1_ODR_XL_1875HZ 1
#define LSM6DSV_CTRL1_ODR_XL_7_5HZ 2
// Values to use in high-accuracy ODR mode with HAODR_SEL[] = 00
// or in high-performance mode mode
#define LSM6DSV_CTRL1_ODR_XL_15HZ 3
#define LSM6DSV_CTRL1_ODR_XL_30HZ 4
#define LSM6DSV_CTRL1_ODR_XL_60HZ 5
#define LSM6DSV_CTRL1_ODR_XL_120HZ 6
#define LSM6DSV_CTRL1_ODR_XL_240HZ 7
#define LSM6DSV_CTRL1_ODR_XL_480HZ 8
#define LSM6DSV_CTRL1_ODR_XL_960HZ 9
#define LSM6DSV_CTRL1_ODR_XL_1920HZ 10
#define LSM6DSV_CTRL1_ODR_XL_3840HZ 11
#define LSM6DSV_CTRL1_ODR_XL_7680HZ 12
// Values to use in high-accuracy ODR mode with HAODR_SEL[] = 01
#define LSM6DSV_CTRL1_ODR_XL_15_625HZ 3
#define LSM6DSV_CTRL1_ODR_XL_31_25HZ 4
#define LSM6DSV_CTRL1_ODR_XL_62_5HZ 5
#define LSM6DSV_CTRL1_ODR_XL_125HZ 6
#define LSM6DSV_CTRL1_ODR_XL_250HZ 7
#define LSM6DSV_CTRL1_ODR_XL_500HZ 8
#define LSM6DSV_CTRL1_ODR_XL_1000HZ 9
#define LSM6DSV_CTRL1_ODR_XL_2000HZ 10
#define LSM6DSV_CTRL1_ODR_XL_4000HZ 11
#define LSM6DSV_CTRL1_ODR_XL_8000HZ 12
// Values to use in high-accuracy ODR mode with HAODR_SEL[] = 10
#define LSM6DSV_CTRL1_ODR_XL_12_5HZ 3
#define LSM6DSV_CTRL1_ODR_XL_25HZ 4
#define LSM6DSV_CTRL1_ODR_XL_50HZ 5
#define LSM6DSV_CTRL1_ODR_XL_100HZ 6
#define LSM6DSV_CTRL1_ODR_XL_200HZ 7
#define LSM6DSV_CTRL1_ODR_XL_400HZ 8
#define LSM6DSV_CTRL1_ODR_XL_800HZ 9
#define LSM6DSV_CTRL1_ODR_XL_1600HZ 10
#define LSM6DSV_CTRL1_ODR_XL_3200HZ 11
#define LSM6DSV_CTRL1_ODR_XL_6400HZ 12
// Gyroscope control register 2 (R/W)
#define LSM6DSV_CTRL2 0x11
#define LSM6DSV_CTRL2_OP_MODE_G_MASK 0x70
#define LSM6DSV_CTRL2_OP_MODE_G_SHIFT 4
#define LSM6DSV_CTRL2_OP_MODE_G_HIGH_PERF 0
#define LSM6DSV_CTRL2_OP_MODE_G_HIGH_ACCURACY 1
#define LSM6DSV_CTRL2_OP_MODE_G_ODR_TRIG 3
#define LSM6DSV_CTRL2_OP_MODE_G_SLEEP 4
#define LSM6DSV_CTRL2_OP_MODE_G_LOW_PWR_MODE 5
#define LSM6DSV_CTRL2_ODR_G_MASK 0x0f
#define LSM6DSV_CTRL2_ODR_G_SHIFT 0
#define LSM6DSV_CTRL2_ODR_G_POWERDOWN 0
#define LSM6DSV_CTRL2_ODR_G_1875HZ 1
#define LSM6DSV_CTRL2_ODR_G_7_5HZ 2
// Values to use in high-accuracy ODR mode with HAODR_SEL[] = 00
// or in high-performance mode mode
#define LSM6DSV_CTRL2_ODR_G_15HZ 3
#define LSM6DSV_CTRL2_ODR_G_30HZ 4
#define LSM6DSV_CTRL2_ODR_G_60HZ 5
#define LSM6DSV_CTRL2_ODR_G_120HZ 6
#define LSM6DSV_CTRL2_ODR_G_240HZ 7
#define LSM6DSV_CTRL2_ODR_G_480HZ 8
#define LSM6DSV_CTRL2_ODR_G_960HZ 9
#define LSM6DSV_CTRL2_ODR_G_1920HZ 10
#define LSM6DSV_CTRL2_ODR_G_3840HZ 11
#define LSM6DSV_CTRL2_ODR_G_7680HZ 12
// Values to use in high-accuracy ODR mode with HAODR_SEL[] = 01
#define LSM6DSV_CTRL2_ODR_G_15_625HZ 3
#define LSM6DSV_CTRL2_ODR_G_31_25HZ 4
#define LSM6DSV_CTRL2_ODR_G_62_5HZ 5
#define LSM6DSV_CTRL2_ODR_G_125HZ 6
#define LSM6DSV_CTRL2_ODR_G_250HZ 7
#define LSM6DSV_CTRL2_ODR_G_500HZ 8
#define LSM6DSV_CTRL2_ODR_G_1000HZ 9
#define LSM6DSV_CTRL2_ODR_G_2000HZ 10
#define LSM6DSV_CTRL2_ODR_G_4000HZ 11
#define LSM6DSV_CTRL2_ODR_G_8000HZ 12
// Values to use in high-accuracy ODR mode with HAODR_SEL[] = 10
#define LSM6DSV_CTRL2_ODR_G_12_5HZ 3
#define LSM6DSV_CTRL2_ODR_G_25HZ 4
#define LSM6DSV_CTRL2_ODR_G_50HZ 5
#define LSM6DSV_CTRL2_ODR_G_100HZ 6
#define LSM6DSV_CTRL2_ODR_G_200HZ 7
#define LSM6DSV_CTRL2_ODR_G_400HZ 8
#define LSM6DSV_CTRL2_ODR_G_800HZ 9
#define LSM6DSV_CTRL2_ODR_G_1600HZ 10
#define LSM6DSV_CTRL2_ODR_G_3200HZ 11
#define LSM6DSV_CTRL2_ODR_G_6400HZ 12
// Control register 3 (R/W)
#define LSM6DSV_CTRL3 0x12
#define LSM6DSV_CTRL3_BOOT 0x80
#define LSM6DSV_CTRL3_BDU 0x40
#define LSM6DSV_CTRL3_IF_INC 0x04
#define LSM6DSV_CTRL3_SW_RESET 0x01
// Control register 4 (R/W)
#define LSM6DSV_CTRL4 0x13
#define LSM6DSV_CTRL4_INT2_ON_INT1 0x10
#define LSM6DSV_CTRL4_DRDY_MASK 0x08
#define LSM6DSV_CTRL4_INT2_DRDY_TEMP 0x04
#define LSM6DSV_CTRL4_DRDY_PULSED 0x02
#define LSM6DSV_CTRL4_INT2_IN_LH 0x01
// Control register 5 (R/W)
#define LSM6DSV_CTRL5 0x14
#define LSM6DSV_CTRL5_BUS_ACT_SEL_MASK 0x06
#define LSM6DSV_CTRL5_BUS_ACT_SEL_SHIFT 1
#define LSM6DSV_CTRL5_BUS_ACT_SEL_2US 0
#define LSM6DSV_CTRL5_BUS_ACT_SEL_50US 1
#define LSM6DSV_CTRL5_BUS_ACT_SEL_1US 2
#define LSM6DSV_CTRL5_BUS_ACT_SEL_25US 3
#define LSM6DSV_CTRL5_INT_EN_I3C 0x01
// Control register 6 (R/W)
#define LSM6DSV_CTRL6 0x15
#define LSM6DSV_CTRL6_LPF1_G_BW_MASK 0x70 // See table 64
#define LSM6DSV_CTRL6_LPF1_G_BW_SHIFT 4
// Gyro LPF1 + LPF2 bandwidth selection when ODR=7.68kHz
#define LSM6DSV_CTRL6_FS_G_BW_281HZ 0
#define LSM6DSV_CTRL6_FS_G_BW_213HZ 1
#define LSM6DSV_CTRL6_FS_G_BW_156HZ 2
#define LSM6DSV_CTRL6_FS_G_BW_407HZ 3
#define LSM6DSV_CTRL6_FS_G_BW_102HZ 4
#define LSM6DSV_CTRL6_FS_G_BW_58HZ 5
#define LSM6DSV_CTRL6_FS_G_BW_28_8HZ 6
#define LSM6DSV_CTRL6_FS_G_BW_14_4HZ 7
#define LSM6DSV_CTRL6_FS_G_MASK 0x0f
#define LSM6DSV_CTRL6_FS_G_SHIFT 0
#define LSM6DSV_CTRL6_FS_G_125DPS 0x00
#define LSM6DSV_CTRL6_FS_G_250DPS 0x01
#define LSM6DSV_CTRL6_FS_G_500DPS 0x02
#define LSM6DSV_CTRL6_FS_G_1000DPS 0x03
#define LSM6DSV_CTRL6_FS_G_2000DPS 0x04
#define LSM6DSV_CTRL6_FS_G_4000DPS 0xc0
// Control register 7 (R/W)
#define LSM6DSV_CTRL7 0x16
#define LSM6DSV_CTRL7_AH_QVAR_EN 0x80
#define LSM6DSV_CTRL7_INT2_DRDY_AH_QVAR 0x40
#define LSM6DSV_CTRL7_AH_QVAR_C_ZIN_MASK 0x30
#define LSM6DSV_CTRL7_AH_QVAR_C_ZIN_SHIFT 4
#define LSM6DSV_CTRL7_AH_QVAR_C_ZIN_2_4G 0
#define LSM6DSV_CTRL7_AH_QVAR_C_ZIN_730M 1
#define LSM6DSV_CTRL7_AH_QVAR_C_ZIN_300M 2
#define LSM6DSV_CTRL7_AH_QVAR_C_ZIN_235M 3
#define LSM6DSV_CTRL7_LPF1_G_EN 0x01
// Control register 8 (R/W)
#define LSM6DSV_CTRL8 0x17
#define LSM6DSV_CTRL8_HP_LPF2_XL_BW_2_MASK 0xe0 // See table 69
#define LSM6DSV_CTRL8_HP_LPF2_XL_BW_2_SHIFT 5
#define LSM6DSV_CTRL8_XL_DUALC_EN 0x08
#define LSM6DSV_CTRL8_FS_XL_MASK 0x03
#define LSM6DSV_CTRL8_FS_XL_SHIFT 0
#define LSM6DSV_CTRL8_FS_XL_2G 0
#define LSM6DSV_CTRL8_FS_XL_4G 1
#define LSM6DSV_CTRL8_FS_XL_8G 2
#define LSM6DSV_CTRL8_FS_XL_16G 3
// Control register 9 (R/W)
#define LSM6DSV_CTRL9 0x18
#define LSM6DSV_CTRL9_HP_REF_MODE_XL 0x40
#define LSM6DSV_CTRL9_XL_FASTSETTL_MODE 0x20
#define LSM6DSV_CTRL9_HP_SLOPE_XL_EN 0x10
#define LSM6DSV_CTRL9_LPF2_XL_EN 0x08
#define LSM6DSV_CTRL9_USR_OFF_W 0x02
#define LSM6DSV_CTRL9_USR_OFF_ON_OUT 0x01
// Control register 10 (R/W)
#define LSM6DSV_CTRL10 0x19
#define LSM6DSV_CTRL10_EMB_FUNC_DEBUG 0x40
#define LSM6DSV_CTRL10_ST_G_MASK 0x0c
#define LSM6DSV_CTRL10_ST_G_SHIFT 2
#define LSM6DSV_CTRL10_ST_G_NORMAL 0
#define LSM6DSV_CTRL10_ST_G_POS_SELFTEST 1
#define LSM6DSV_CTRL10_ST_G_NEG_SELFTEST 2
#define LSM6DSV_CTRL10_ST_XL_MASK 0x03
#define LSM6DSV_CTRL10_ST_XL_SHIFT 0
#define LSM6DSV_CTRL10_ST_XL_NORMAL 0
#define LSM6DSV_CTRL10_ST_XL_POS_SELFTEST 1
#define LSM6DSV_CTRL10_ST_XL_NEG_SELFTEST 2
// Control Status (R)
#define LSM6DSV_CTRL_STATUS 0x1A
#define LSM6DSV_CTRL_STATUS_FSM_WR_CTRL_STATUS 0x04
// FIFO status register 1 (R)
#define LSM6DSV_FIFO_STATUS1 0x1B
// FIFO status register 2 (R)
#define LSM6DSV_FIFO_STATUS2 0x1C
#define LSM6DSV_FIFO_STATUS2_FIFO_WTM_IA 0x80
#define LSM6DSV_FIFO_STATUS2_FIFO_OVR_IA 0x40
#define LSM6DSV_FIFO_STATUS2_FIFO_FULL_IA 0x20
#define LSM6DSV_FIFO_STATUS2_COUNTER_BDR_IA 0x10
#define LSM6DSV_FIFO_STATUS2_FIFO_OVR_LATCHED 0x08
#define LSM6DSV_FIFO_STATUS2_DIFF_FIFO_8 0x01
// Source register for all interrupts (R)
#define LSM6DSV_ALL_INT_SRC 0x1D
#define LSM6DSV_ALL_INT_SRC_EMB_FUNC_IA 0x80
#define LSM6DSV_ALL_INT_SRC_SHUB_IA 0x40
#define LSM6DSV_ALL_INT_SRC_SLEEP_CHANGE_IA 0x20
#define LSM6DSV_ALL_INT_SRC_D6D_IA 0x10
#define LSM6DSV_ALL_INT_SRC_TAP_IA 0x04
#define LSM6DSV_ALL_INT_SRC_WU_IA 0x02
#define LSM6DSV_ALL_INT_SRC_FF_IA 0x01
// The STATUS_REG register is read by the primary interface SPI/I²C & MIPI I3C® (R)
#define LSM6DSV_STATUS_REG 0x1E
#define LSM6DSV_STATUS_REG_TIMESTAMP_ENDCOUNT 0x80
#define LSM6DSV_STATUS_REG_OIS_DRDY 0x20
#define LSM6DSV_STATUS_REG_GDA_EIS 0x10
#define LSM6DSV_STATUS_REG_AH_QVARDA 0x80
#define LSM6DSV_STATUS_REG_TDA 0x40
#define LSM6DSV_STATUS_REG_GDA 0x20
#define LSM6DSV_STATUS_REG_XLDA 0x10
// RESERVED - 1F
// Temperature data output register (R)
#define LSM6DSV_OUT_TEMP_L 0x20
#define LSM6DSV_OUT_TEMP_H 0x21
// Angular rate sensor pitch axis (X) angular rate output register (R)
#define LSM6DSV_OUTX_L_G 0x22
#define LSM6DSV_OUTX_H_G 0x23
// Angular rate sensor roll axis (Y) angular rate output register (R)
#define LSM6DSV_OUTY_L_G 0x24
#define LSM6DSV_OUTY_H_G 0x25
// Angular rate sensor yaw axis (Z) angular rate output register (R)
#define LSM6DSV_OUTZ_L_G 0x26
#define LSM6DSV_OUTZ_H_G 0x27
// Linear acceleration sensor X-axis output register (R)
#define LSM6DSV_OUTX_L_A 0x28
#define LSM6DSV_OUTX_H_A 0x29
// Linear acceleration sensor Y-axis output register (R)
#define LSM6DSV_OUTY_L_A 0x2A
#define LSM6DSV_OUTY_H_A 0x2B
// Linear acceleration sensor Z-axis output register (R)
#define LSM6DSV_OUTZ_L_A 0x2C
#define LSM6DSV_OUTZ_H_A 0x2D
// Angular rate sensor pitch axis (X) angular rate output register (R)
#define LSM6DSV_UI_OUTX_L_G_OIS_EIS 0x2E
#define LSM6DSV_UI_OUTX_H_G_OIS_EIS 0x2F
// Angular rate sensor roll axis (Y) angular rate output register (R)
#define LSM6DSV_UI_OUTY_L_G_OIS_EIS 0x30
#define LSM6DSV_UI_OUTY_H_G_OIS_EIS 0x31
// Angular rate sensor yaw axis (Z) angular rate output register (R)
#define LSM6DSV_UI_OUTZ_L_G_OIS_EIS 0x32
#define LSM6DSV_UI_OUTZ_H_G_OIS_EIS 0x33
// Linear acceleration sensor X-axis output register (R)
#define UI_OUTX_L_A_OIS_DualC 0x34
#define UI_OUTX_H_A_OIS_DualC 0x35
// Linear acceleration sensor Y-axis output register (R)
#define UI_OUTY_L_A_OIS_DualC 0x36
#define UI_OUTY_H_A_OIS_DualC 0x37
// Linear acceleration sensor Z-axis output register (R)
#define UI_OUTZ_L_A_OIS_DualC 0x38
#define UI_OUTZ_H_A_OIS_DualC 0x39
// Analog hub and Qvar data output register (R)
#define LSM6DSV_AH_QVAR_OUT_L 0x3A
#define LSM6DSV_AH_QVAR_OUT_H 0x3B
// RESERVED - 3C-3F
// Timestamp first data output register (R)
#define LSM6DSV_TIMESTAMP0 0x40
#define LSM6DSV_TIMESTAMP1 0x41
#define LSM6DSV_TIMESTAMP2 0x42
#define LSM6DSV_TIMESTAMP3 0x43
// Status regsiter
#define LSM6DSV_UI_STATUS_REG_OIS 0x44
#define LSM6DSV_UI_STATUS_REG_OIS_GYRO_SETTLING 0x04
#define LSM6DSV_UI_STATUS_REG_OIS_GDA_OIS 0x02
#define LSM6DSV_UI_STATUS_REG_OIS_XLDA_OIS 0x01
// Wake-up interrupt source register (R)
#define LSM6DSV_WAKE_UP_SRC 0x45
#define LSM6DSV_WAKE_UP_SRC_SLEEP_CHANGE_IA 0x40
#define LSM6DSV_WAKE_UP_SRC_FF_IA 0x20
#define LSM6DSV_WAKE_UP_SRC_SLEEP_STATE 0x10
#define LSM6DSV_WAKE_UP_SRC_WU_IA 0x08
#define LSM6DSV_WAKE_UP_SRC_X_WU 0x04
#define LSM6DSV_WAKE_UP_SRC_Y_WU 0x02
#define LSM6DSV_WAKE_UP_SRC_Z_WU 0x01
//Tap source register (R)
#define LSM6DSV_TAP_SRC 0x46
#define LSM6DSV_TAP_SRC_TAP_IA 0x40
#define LSM6DSV_TAP_SRC_SINGLE_TAP 0x20
#define LSM6DSV_TAP_SRC_DOUBLE_TAP 0x10
#define LSM6DSV_TAP_SRC_TAP_SIGN 0x08
#define LSM6DSV_TAP_SRC_X_TAP 0x04
#define LSM6DSV_TAP_SRC_Y_TAP 0x02
#define LSM6DSV_TAP_SRC_Z_TAP 0x01
// Portrait, landscape, face-up and face-down source register (R)
#define LSM6DSV_D6D_SRC 0x47
#define LSM6DSV_D6D_SRC_D6D_IA 0x40
#define LSM6DSV_D6D_SRC_ZH 0x20
#define LSM6DSV_D6D_SRC_ZL 0x10
#define LSM6DSV_D6D_SRC_YH 0x08
#define LSM6DSV_D6D_SRC_YL 0x04
#define LSM6DSV_D6D_SRC_XH 0x02
#define LSM6DSV_D6D_SRC_XL 0x01
// Sensor hub source register (R)
#define LSM6DSV_STATUS_MASTER_MAINPAGE 0x48
#define LSM6DSV_STATUS_MASTER_MAINPAGE_WR_ONCE_DONE 0x80
#define LSM6DSV_STATUS_MASTER_MAINPAGE_SLAVE3_NACK 0x40
#define LSM6DSV_STATUS_MASTER_MAINPAGE_SLAVE2_NACK 0x20
#define LSM6DSV_STATUS_MASTER_MAINPAGE_SLAVE1_NACK 0x10
#define LSM6DSV_STATUS_MASTER_MAINPAGE_SLAVE0_NACK 0x08
#define LSM6DSV_STATUS_MASTER_MAINPAGE_SENS_HUB_ENDOP 0x01
// Embedded function status register (R)
#define LSM6DSV_EMB_FUNC_STATUS_MAINPAGE 0x49
#define LSM6DSV_EMB_FUNC_STATUS_MAINPAGE_IS_FSM_LC 0x80
#define LSM6DSV_EMB_FUNC_STATUS_MAINPAGE_IS_SIGMOT 0x20
#define LSM6DSV_EMB_FUNC_STATUS_MAINPAGE_IS_TILT 0x10
#define LSM6DSV_EMB_FUNC_STATUS_MAINPAGE_IS_STEP_DET 0x08
// Finite state machine status register (R)
#define LSM6DSV_FSM_STATUS_MAINPAGE 0x4A
#define LSM6DSV_FSM_STATUS_MAINPAGE_IS_FSM8 0x80
#define LSM6DSV_FSM_STATUS_MAINPAGE_IS_FSM7 0x40
#define LSM6DSV_FSM_STATUS_MAINPAGE_IS_FSM6 0x20
#define LSM6DSV_FSM_STATUS_MAINPAGE_IS_FSM5 0x10
#define LSM6DSV_FSM_STATUS_MAINPAGE_IS_FSM4 0x08
#define LSM6DSV_FSM_STATUS_MAINPAGE_IS_FSM3 0x04
#define LSM6DSV_FSM_STATUS_MAINPAGE_IS_FSM2 0x02
#define LSM6DSV_FSM_STATUS_MAINPAGE_IS_FSM1 0x01
// Embedded function status register (R)
#define LSM6DSV_MLC_STATUS_MAINPAGE 0x4B
#define LSM6DSV_MLC_STATUS_MAINPAGE_IS_MLC4 0x08
#define LSM6DSV_MLC_STATUS_MAINPAGE_IS_MLC3 0x04
#define LSM6DSV_MLC_STATUS_MAINPAGE_IS_MLC2 0x02
#define LSM6DSV_MLC_STATUS_MAINPAGE_IS_MLC1 0x01
// RESERVED - 4C-4E
// Internal frequency register (R)
#define LSM6DSV_INTERNAL_FREQ_FINE 0x4F
// Enable interrupt functions register (R/W)
#define LSM6DSV_FUNCTIONS_ENABLE 0x50
#define LSM6DSV_FUNCTIONS_ENABLE_INTERRUPTS_ENABLE 0x80
#define LSM6DSV_FUNCTIONS_ENABLE_TIMESTAMP_EN 0x40
#define LSM6DSV_FUNCTIONS_ENABLE_DIS_RST_LIR_ALL_INT 0x08
#define LSM6DSV_FUNCTIONS_ENABLE_INACT_EN_MASK 0x03
#define LSM6DSV_FUNCTIONS_ENABLE_INACT_EN_SHIFT 0
// DEN configuration register (R/W)
#define LSM6DSV_DEN 0x51
#define LSM6DSV_DEN_LVL1_EN 0x40
#define LSM6DSV_DEN_LVL2_EN 0x20
#define LSM6DSV_DEN_DEN_XL_EN 0x10
#define LSM6DSV_DEN_DEN_X 0x08
#define LSM6DSV_DEN_DEN_Y 0x04
#define LSM6DSV_DEN_DEN_Z 0x02
#define LSM6DSV_DEN_DEN_XL_G 0x01
// Activity/inactivity configuration register (R/W)
#define LSM6DSV_INACTIVITY_DUR 0x54
#define LSM6DSV_INACTIVITY_DUR_SLEEP_STATUS_ON_INT 0x80
#define LSM6DSV_INACTIVITY_DUR_WU_INACT_THS_W_MASK 0x70
#define LSM6DSV_INACTIVITY_DUR_WU_INACT_THS_W_SHIFT 4
#define LSM6DSV_INACTIVITY_DUR_WU_INACT_THS_W_7_8125MG_LSB 0
#define LSM6DSV_INACTIVITY_DUR_WU_INACT_THS_W_15_625MG_LSB 1
#define LSM6DSV_INACTIVITY_DUR_WU_INACT_THS_W_31_25MG_LSB 2
#define LSM6DSV_INACTIVITY_DUR_WU_INACT_THS_W_62_5MG_LSB 3
#define LSM6DSV_INACTIVITY_DUR_WU_INACT_THS_W_125MG_LSB 4
#define LSM6DSV_INACTIVITY_DUR_WU_INACT_THS_W_250MG_LSB 5
#define LSM6DSV_INACTIVITY_DUR_XL_INACT_ODR_MASK 0x0c
#define LSM6DSV_INACTIVITY_DUR_XL_INACT_ODR_SHIFT 2
#define LSM6DSV_INACTIVITY_DUR_XL_INACT_ODR_1_875HZ 0
#define LSM6DSV_INACTIVITY_DUR_XL_INACT_ODR_15HZ 1
#define LSM6DSV_INACTIVITY_DUR_XL_INACT_ODR_30HZ 2
#define LSM6DSV_INACTIVITY_DUR_XL_INACT_ODR_60HZ 3
#define LSM6DSV_INACTIVITY_DUR_INACT_DUR_MASK 0x03
#define LSM6DSV_INACTIVITY_DUR_INACT_DUR_SHIFT 0
#define LSM6DSV_INACTIVITY_DUR_INACT_DUR_1 0
#define LSM6DSV_INACTIVITY_DUR_INACT_DUR_2 1
#define LSM6DSV_INACTIVITY_DUR_INACT_DUR_3 2
#define LSM6DSV_INACTIVITY_DUR_INACT_DUR_4 3
// Activity/inactivity threshold setting register (R/W)
#define LSM6DSV_INACTIVITY_THS 0x55
#define LSM6DSV_INACTIVITY_THS_MASK 0x3f
// Tap configuration register 0 (R/W)
#define LSM6DSV_TAP_CFG0 0x56
#define LSM6DSV_TAP_CFG0_LOW_PASS_ON_6D 0x40
#define LSM6DSV_TAP_CFG0_HW_FUNC_MASK_XL_SETTL 0x20
#define LSM6DSV_TAP_CFG0_SLOPE_FDS 0x10
#define LSM6DSV_TAP_CFG0_TAP_X_EN 0x08
#define LSM6DSV_TAP_CFG0_TAP_Y_EN 0x04
#define LSM6DSV_TAP_CFG0_TAP_Z_EN 0x02
#define LSM6DSV_TAP_CFG0_LIR 0x01
// Tap configuration register 1 (R/W)
#define LSM6DSV_TAP_CFG1 0x57
#define LSM6DSV_TAP_CFG1_TAP_PRIORITY_MASK 0xe0
#define LSM6DSV_TAP_CFG1_TAP_PRIORITY_SHIFT 5
#define LSM6DSV_TAP_CFG1_TAP_THS_X_MASK 0x1f
#define LSM6DSV_TAP_CFG1_TAP_THS_X_SHIFT 0
// Tap configuration register 2 (R/W)
#define LSM6DSV_TAP_CFG2 0x58
#define LSM6DSV_TAP_CFG2_TAP_THS_X_MASK 0x1f
#define LSM6DSV_TAP_CFG2_TAP_THS_X_SHIFT 0
// Portrait/landscape position and tap function threshold register (R/W)
#define LSM6DSV_TAP_THS_6D 0x59
#define LSM6DSV_TAP_THS_6D_D4D_EN 0x80
#define LSM6DSV_TAP_THS_6D_SIXD_THS_MASK 0x60
#define LSM6DSV_TAP_THS_6D_SIXD_THS_SHIFT 5
#define LSM6DSV_TAP_THS_6D_TAP_THS_Z_MASK 0x1f
#define LSM6DSV_TAP_THS_6D_TAP_THS_Z_SHIFT 0
// Tap recognition function setting register (R/W)
#define LSM6DSV_TAP_DUR 0x5A
#define LSM6DSV_TAP_DUR_DUR_MASK 0xf0
#define LSM6DSV_TAP_DUR_DUR_SHIFT 4
#define LSM6DSV_TAP_DUR_QUIET_MASK 0x0c
#define LSM6DSV_TAP_DUR_QUIET_SHIFT 2
#define LSM6DSV_TAP_DUR_SHOCK_MASK 0x03
#define LSM6DSV_TAP_DUR_SHOCK_SHIFT 0
// Single/double-tap selection and wake-up configuration (R/W)
#define LSM6DSV_WAKE_UP_THS 0x5B
#define LSM6DSV_WAKE_UP_THS_SINGLE_DOUBLE_TAP 0x80
#define LSM6DSV_WAKE_UP_THS_USR_OFF_ON_WU 0x40
#define LSM6DSV_WAKE_UP_THS_WK_THS_MASK 0x3f
#define LSM6DSV_WAKE_UP_THS_WK_THS_SHIFT 6
// Free-fall, wake-up, and sleep mode functions duration setting register (R/W)
#define LSM6DSV_WAKE_UP_DUR 0x5C
#define LSM6DSV_WAKE_UP_DUR_FF_DUR_5 0x80
#define LSM6DSV_WAKE_UP_DUR_WAKE_DUR_MASK 0x60
#define LSM6DSV_WAKE_UP_DUR_WAKE_DUR_SHIFT 5
#define LSM6DSV_WAKE_UP_DUR_SLEEP_DUR_MASK 0x0f
#define LSM6DSV_WAKE_UP_DUR_SLEEP_DUR_SHIFT 0
// Free-fall function duration setting register (R/W)
#define LSM6DSV_FREE_FALL 0x5D
#define LSM6DSV_FREE_FALL_FF_DUR_MASK 0xf8
#define LSM6DSV_FREE_FALL_FF_DUR_SHIFT 3
#define LSM6DSV_FREE_FALL_FF_THS_MASK 0x07
#define LSM6DSV_FREE_FALL_FF_THS_SHIFT 0
// Functions routing to INT1 pin register (R/W)
#define LSM6DSV_MD1_CFG 0x5E
#define LSM6DSV_MD1_CFG_INT1_SLEEP_CHANG 0x80
#define LSM6DSV_MD1_CFG_INT1_SINGLE_TAP 0x40
#define LSM6DSV_MD1_CFG_INT1_WU 0x20
#define LSM6DSV_MD1_CFG_INT1_FF 0x10
#define LSM6DSV_MD1_CFG_INT1_DOUBLE_TAP 0x08
#define LSM6DSV_MD1_CFG_INT1_6D 0x04
#define LSM6DSV_MD1_CFG_INT1_EMB_FUNC 0x02
#define LSM6DSV_MD1_CFG_INT1_SHUB 0x01
// Functions routing to INT2 pin register (R/W)
#define LSM6DSV_MD2_CFG 0x5F
#define LSM6DSV_MD2_CFG_INT2_SLEEP_CHANG 0x80
#define LSM6DSV_MD2_CFG_INT2_SINGLE_TAP 0x40
#define LSM6DSV_MD2_CFG_INT2_WU 0x20
#define LSM6DSV_MD2_CFG_INT2_FF 0x10
#define LSM6DSV_MD2_CFG_INT2_DOUBLE_TAP 0x08
#define LSM6DSV_MD2_CFG_INT2_6D 0x04
#define LSM6DSV_MD2_CFG_INT2_EMB_FUNC 0x02
#define LSM6DSV_MD2_CFG_INT2_TIMESTAMP 0x01
// RESERVED - 60-61
// HAODR data rate configuration register (R/W)
#define LSM6DSV_HAODR_CFG 0x62
#define LSM6DSV_HAODR_CFG_HAODR_SEL_MASK 0x03
#define LSM6DSV_HAODR_CFG_HAODR_SEL_SHIFT 0
#define LSM6DSV_HAODR_MODE0 0
#define LSM6DSV_HAODR_MODE1 1
#define LSM6DSV_HAODR_MODE2 2
// Embedded functions configuration register (R/W)
#define LSM6DSV_EMB_FUNC_CFG 0x63
#define LSM6DSV_EMB_FUNC_CFG_XL_DUALC_BATCH_FROM_IF 0x80
#define LSM6DSV_EMB_FUNC_CFG_EMB_FUNC_IRQ_MASK_G_SETTL 0x20
#define LSM6DSV_EMB_FUNC_CFG_EMB_FUNC_IRQ_MASK_XL_SETTL 0x10
#define LSM6DSV_EMB_FUNC_CFG_EMB_FUNC_DISABLE 0x08
// Control register (UI side) for UI / SPI2 shared registers (R/W)
#define LSM6DSV_UI_HANDSHAKE_CTRL 0x64
#define LSM6DSV_UI_HANDSHAKE_CTRL_UI_SHARED_ACK 0x02
#define LSM6DSV_UI_HANDSHAKE_CTRL_UI_SHARED_REQ 0x01
// UI / SPI2 shared register 0 (R/W)
#define LSM6DSV_UI_SPI2_SHARED_0 0x65
// UI / SPI2 shared register 1 (R/W)
#define LSM6DSV_UI_SPI2_SHARED_1 0x66
// UI / SPI2 shared register 2 (R/W)
#define LSM6DSV_UI_SPI2_SHARED_2 0x67
// UI / SPI2 shared register 3 (R/W)
#define LSM6DSV_UI_SPI2_SHARED_3 0x68
// UI / SPI2 shared register 4 (R/W)
#define LSM6DSV_UI_SPI2_SHARED_4 0x69
// UI / SPI2 shared register 5 (R/W)
#define LSM6DSV_UI_SPI2_SHARED_5 0x6A
// Gyroscope EIS channel control register (R/W)
#define LSM6DSV_CTRL_EIS 0x6B
#define LSM6DSV_CTRL_EIS_ODR_G_EIS_MASK 0xc0
#define LSM6DSV_CTRL_EIS_ODR_G_EIS_SHIFT 6
#define LSM6DSV_CTRL_EIS_ODR_G_EIS_OFF 0
#define LSM6DSV_CTRL_EIS_ODR_G_EIS_1920HZ 1
#define LSM6DSV_CTRL_EIS_ODR_G_EIS_960HZ 2
#define LSM6DSV_CTRL_EIS_LPF_G_EIS_BW 0x10
#define LSM6DSV_CTRL_EIS_G_EIS_ON_G_OIS_OUT_REG 0x08
#define LSM6DSV_CTRL_EIS_FS_G_EIS_MASK 0x07
#define LSM6DSV_CTRL_EIS_FS_G_EIS_SHIFT 0
#define LSM6DSV_CTRL_EIS_FS_G_EIS_125DPS 0
#define LSM6DSV_CTRL_EIS_FS_G_EIS_250DPS 1
#define LSM6DSV_CTRL_EIS_FS_G_EIS_500DPS 2
#define LSM6DSV_CTRL_EIS_FS_G_EIS_1000DPS 3
#define LSM6DSV_CTRL_EIS_FS_G_EIS_2000DPS 4
// RESERVED - 6C - 6E
// OIS interrupt configuration register (R/W)
#define LSM6DSV_UI_INT_OIS 0x6F
#define LSM6DSV_UI_INT_OIS_INT2_DRDY_OIS 0x80
#define LSM6DSV_UI_INT_OIS_DRDY_MASK_OIS 0x40
#define LSM6DSV_UI_INT_OIS_ST_OIS_CLAMPDIS 0x10
// OIS configuration register (R/W)
#define LSM6DSV_UI_CTRL1_OIS 0x70
#define LSM6DSV_UI_CTRL1_OIS_SIM_OIS 0x20
#define LSM6DSV_UI_CTRL1_OIS_OIS_XL_EN 0x04
#define LSM6DSV_UI_CTRL1_OIS_OIS_G_EN 0x02
#define LSM6DSV_UI_CTRL1_OIS_SPI2_READ_EN 0x01
// OIS configuration register (R/W)
#define LSM6DSV_UI_CTRL2_OIS 0x71
#define LSM6DSV_UI_CTRL2_OIS_LPF1_G_OIS_BW_MASK 0x18
#define LSM6DSV_UI_CTRL2_OIS_LPF1_G_OIS_BW_SHIFT 3
#define LSM6DSV_UI_CTRL2_OIS_FS_G_OIS_MASK 0x07
#define LSM6DSV_UI_CTRL2_OIS_FS_G_OIS_SHIFT 0
#define LSM6DSV_UI_CTRL2_FS_G_EIS_125DPS 0
#define LSM6DSV_UI_CTRL2_FS_G_EIS_250DPS 1
#define LSM6DSV_UI_CTRL2_FS_G_EIS_500DPS 2
#define LSM6DSV_UI_CTRL2_FS_G_EIS_1000DPS 3
#define LSM6DSV_UI_CTRL2_FS_G_EIS_2000DPS 4
// OIS configuration register (R/W)
#define LSM6DSV_UI_CTRL3_OIS 0x72
#define LSM6DSV_UI_CTRL3_OIS_LPF_XL_OIS_BW_MASK 0x38
#define LSM6DSV_UI_CTRL3_OIS_LPF_XL_OIS_BW_SHIFT 3
#define LSM6DSV_UI_CTRL3_OIS_LPF_XL_OIS_BW_2G 0
#define LSM6DSV_UI_CTRL3_OIS_LPF_XL_OIS_BW_4G 1
#define LSM6DSV_UI_CTRL3_OIS_LPF_XL_OIS_BW_8G 2
#define LSM6DSV_UI_CTRL3_OIS_LPF_XL_OIS_BW_16G 3
#define LSM6DSV_UI_CTRL3_OIS_FS_XL_OIS_MASK 0x03
#define LSM6DSV_UI_CTRL3_OIS_FS_XL_OIS_SHIFT 0
// Accelerometer X-axis user offset correction (R/W)
#define LSM6DSV_X_OFS_USR 0x73
// Accelerometer Y-axis user offset correction (R/W)
#define LSM6DSV_Y_OFS_USR 0x74
// Accelerometer Z-axis user offset correction (R/W)
#define LSM6DSV_Z_OFS_USR 0x75
// RESERVED - 76-77
// FIFO tag register (R)
#define LSM6DSV_FIFO_DATA_OUT_TAG 0x78
#define LSM6DSV_FIFO_DATA_OUT_TAG_SENSOR_MASK 0xf8
#define LSM6DSV_FIFO_DATA_OUT_TAG_SENSOR_SHIFT 3
#define LSM6DSV_FIFO_DATA_OUT_TAG_SENSOR_FIFO_EMPTY 0x00
#define LSM6DSV_FIFO_DATA_OUT_TAG_SENSOR_FIFO_GYRO_NC 0x01
#define LSM6DSV_FIFO_DATA_OUT_TAG_SENSOR_FIFO_ACC_NC 0x02
#define LSM6DSV_FIFO_DATA_OUT_TAG_SENSOR_FIFO_TEMP 0x03
#define LSM6DSV_FIFO_DATA_OUT_TAG_SENSOR_FIFO_TIMESTAMP 0x04
#define LSM6DSV_FIFO_DATA_OUT_TAG_SENSOR_FIFO_CFG_CHANGE 0x05
#define LSM6DSV_FIFO_DATA_OUT_TAG_SENSOR_FIFO_ACC_NC_T_2 0x06
#define LSM6DSV_FIFO_DATA_OUT_TAG_SENSOR_FIFO_ACC_NC_T_1 0x07
#define LSM6DSV_FIFO_DATA_OUT_TAG_SENSOR_FIFO_ACC_2XC 0x08
#define LSM6DSV_FIFO_DATA_OUT_TAG_SENSOR_FIFO_ACC_3XC 0x09
#define LSM6DSV_FIFO_DATA_OUT_TAG_SENSOR_FIFO_GYRO_NC_T_2 0x0a
#define LSM6DSV_FIFO_DATA_OUT_TAG_SENSOR_FIFO_GYRO_NC_T_1 0x0b
#define LSM6DSV_FIFO_DATA_OUT_TAG_SENSOR_FIFO_GYRO_2XC 0x0c
#define LSM6DSV_FIFO_DATA_OUT_TAG_SENSOR_FIFO_GYRO_3XC 0x0d
#define LSM6DSV_FIFO_DATA_OUT_TAG_SENSOR_FIFO_SENSOR_HUB_SLAVE_0 0x0e
#define LSM6DSV_FIFO_DATA_OUT_TAG_SENSOR_FIFO_SENSOR_HUB_SLAVE_1 0x0f
#define LSM6DSV_FIFO_DATA_OUT_TAG_SENSOR_FIFO_SENSOR_HUB_SLAVE_2 0x10
#define LSM6DSV_FIFO_DATA_OUT_TAG_SENSOR_FIFO_SENSOR_HUB_SLAVE_3 0x11
#define LSM6DSV_FIFO_DATA_OUT_TAG_SENSOR_FIFO_STEP_COUNT 0x12
#define LSM6DSV_FIFO_DATA_OUT_TAG_SENSOR_FIFO_SFLP_GAME_ROT_VEC 0x13
#define LSM6DSV_FIFO_DATA_OUT_TAG_SENSOR_FIFO_SFLP_GYRO_BIAS 0x16
#define LSM6DSV_FIFO_DATA_OUT_TAG_SENSOR_FIFO_SFLP_GRAVITY_VEC 0x17
#define LSM6DSV_FIFO_DATA_OUT_TAG_SENSOR_FIFO_SENSOR_HUB_NACK 0x19
#define LSM6DSV_FIFO_DATA_OUT_TAG_SENSOR_FIFO_MLC_RESULT 0x1a
#define LSM6DSV_FIFO_DATA_OUT_TAG_SENSOR_FIFO_MLC_FILTER 0x1b
#define LSM6DSV_FIFO_DATA_OUT_TAG_SENSOR_FIFO_MLC_FEATURE 0x1c
#define LSM6DSV_FIFO_DATA_OUT_TAG_SENSOR_FIFO_ACC_DUALC 0x1d
#define LSM6DSV_FIFO_DATA_OUT_TAG_SENSOR_FIFO_ENHANCED_EIS_GYRO 0x1e
#define LSM6DSV_FIFO_DATA_OUT_TAG_CNT_MASK 0x07
#define LSM6DSV_FIFO_DATA_OUT_TAG_CNT_SHIFT 0
// FIFO data output X (R)
#define LSM6DSV_FIFO_DATA_OUT_X_L 0x79
#define LSM6DSV_FIFO_DATA_OUT_X_H 0x7A
// FIFO data output Y (R)
#define LSM6DSV_FIFO_DATA_OUT_Y_L 0x7B
#define LSM6DSV_FIFO_DATA_OUT_Y_H 0x7C
// FIFO data output Z (R)
#define LSM6DSV_FIFO_DATA_OUT_Z_L 0x7D
#define LSM6DSV_FIFO_DATA_OUT_Z_H 0x7E
// Discovery functions
uint8_t lsm6dsv16xSpiDetect(const extDevice_t *dev);
bool lsm6dsv16xSpiAccDetect(accDev_t *acc);
bool lsm6dsv16xSpiGyroDetect(gyroDev_t *gyro);

1
src/main/sensors/acceleration.h
View file

@ -47,6 +47,7 @@ typedef enum {
ACC_BMI160, ACC_BMI160,
ACC_BMI270, ACC_BMI270,
ACC_LSM6DSO, ACC_LSM6DSO,
ACC_LSM6DSV16X,
ACC_VIRTUAL ACC_VIRTUAL
} accelerationSensor_e; } accelerationSensor_e;

13
src/main/sensors/acceleration_init.c
View file

@ -51,6 +51,7 @@
#include "drivers/accgyro/accgyro_spi_mpu6000.h" #include "drivers/accgyro/accgyro_spi_mpu6000.h"
#include "drivers/accgyro/accgyro_spi_mpu6500.h" #include "drivers/accgyro/accgyro_spi_mpu6500.h"
#include "drivers/accgyro/accgyro_spi_mpu9250.h" #include "drivers/accgyro/accgyro_spi_mpu9250.h"
#include "drivers/accgyro/accgyro_spi_lsm6dsv16x.h"
#ifdef USE_ACC_ADXL345 #ifdef USE_ACC_ADXL345
#include "drivers/accgyro_legacy/accgyro_adxl345.h" #include "drivers/accgyro_legacy/accgyro_adxl345.h"
@ -91,7 +92,8 @@
!defined(USE_ACC_SPI_ICM20689) && !defined(USE_ACCGYRO_LSM6DSO) && !defined(USE_ACCGYRO_BMI160) && \ !defined(USE_ACC_SPI_ICM20689) && !defined(USE_ACCGYRO_LSM6DSO) && !defined(USE_ACCGYRO_BMI160) && \
!defined(USE_ACCGYRO_BMI270) && !defined(USE_ACC_SPI_ICM42605) && !defined(USE_ACC_SPI_ICM42688P) && \ !defined(USE_ACCGYRO_BMI270) && !defined(USE_ACC_SPI_ICM42605) && !defined(USE_ACC_SPI_ICM42688P) && \
!defined(USE_ACC_ADXL345) && !defined(USE_ACC_BMA280) && !defined(USE_ACC_LSM303DLHC) && \ !defined(USE_ACC_ADXL345) && !defined(USE_ACC_BMA280) && !defined(USE_ACC_LSM303DLHC) && \
!defined(USE_ACC_MMA8452) && !defined(USE_VIRTUAL_ACC) !defined(USE_ACC_MMA8452) && !defined(USE_ACC_LSM303DLHC) && !defined(USE_ACCGYRO_LSM6DSV16X) && \
!defined(USE_VIRTUAL_ACC)
#error At least one USE_ACC device definition required #error At least one USE_ACC device definition required
#endif #endif
@ -328,6 +330,15 @@ retry:
FALLTHROUGH; FALLTHROUGH;
#endif #endif
#ifdef USE_ACCGYRO_LSM6DSV16X
case ACC_LSM6DSV16X:
if (lsm6dsv16xSpiAccDetect(dev)) {
accHardware = ACC_LSM6DSV16X;
break;
}
FALLTHROUGH;
#endif
#ifdef USE_VIRTUAL_ACC #ifdef USE_VIRTUAL_ACC
case ACC_VIRTUAL: case ACC_VIRTUAL:
if (virtualAccDetect(dev)) { if (virtualAccDetect(dev)) {

16
src/main/sensors/gyro_init.c
View file

@ -49,6 +49,7 @@
#include "drivers/accgyro/accgyro_spi_mpu6000.h" #include "drivers/accgyro/accgyro_spi_mpu6000.h"
#include "drivers/accgyro/accgyro_spi_mpu6500.h" #include "drivers/accgyro/accgyro_spi_mpu6500.h"
#include "drivers/accgyro/accgyro_spi_mpu9250.h" #include "drivers/accgyro/accgyro_spi_mpu9250.h"
#include "drivers/accgyro/accgyro_spi_lsm6dsv16x.h"
#ifdef USE_GYRO_L3GD20 #ifdef USE_GYRO_L3GD20
#include "drivers/accgyro/accgyro_spi_l3gd20.h" #include "drivers/accgyro/accgyro_spi_l3gd20.h"
@ -75,7 +76,7 @@
!defined(USE_GYRO_MPU6500) && !defined(USE_GYRO_SPI_ICM20689) && !defined(USE_GYRO_SPI_MPU6000) && \ !defined(USE_GYRO_MPU6500) && !defined(USE_GYRO_SPI_ICM20689) && !defined(USE_GYRO_SPI_MPU6000) && \
!defined(USE_GYRO_SPI_MPU6500) && !defined(USE_GYRO_SPI_MPU9250) && !defined(USE_GYRO_L3GD20) && \ !defined(USE_GYRO_SPI_MPU6500) && !defined(USE_GYRO_SPI_MPU9250) && !defined(USE_GYRO_L3GD20) && \
!defined(USE_GYRO_SPI_ICM42605) && !defined(USE_GYRO_SPI_ICM42688P) && !defined(USE_ACCGYRO_BMI270) && \ !defined(USE_GYRO_SPI_ICM42605) && !defined(USE_GYRO_SPI_ICM42688P) && !defined(USE_ACCGYRO_BMI270) && \
!defined(USE_ACCGYRO_LSM6DSO) && !defined(USE_VIRTUAL_GYRO) !defined(USE_ACCGYRO_LSM6DSV16X) && !defined(USE_ACCGYRO_LSM6DSO) && !defined(USE_VIRTUAL_GYRO)
#error At least one USE_GYRO device definition required #error At least one USE_GYRO device definition required
#endif #endif
@ -327,6 +328,7 @@ void gyroInitSensor(gyroSensor_t *gyroSensor, const gyroDeviceConfig_t *config)
case GYRO_MPU6500: case GYRO_MPU6500:
case GYRO_MPU9250: case GYRO_MPU9250:
case GYRO_LSM6DSO: case GYRO_LSM6DSO:
case GYRO_LSM6DSV16X:
gyroSensor->gyroDev.gyroHasOverflowProtection = true; gyroSensor->gyroDev.gyroHasOverflowProtection = true;
break; break;
@ -504,6 +506,15 @@ STATIC_UNIT_TESTED gyroHardware_e gyroDetect(gyroDev_t *dev)
FALLTHROUGH; FALLTHROUGH;
#endif #endif
#ifdef USE_ACCGYRO_LSM6DSV16X
case GYRO_LSM6DSV16X:
if (lsm6dsv16xSpiGyroDetect(dev)) {
gyroHardware = GYRO_LSM6DSV16X;
break;
}
FALLTHROUGH;
#endif
#ifdef USE_VIRTUAL_GYRO #ifdef USE_VIRTUAL_GYRO
case GYRO_VIRTUAL: case GYRO_VIRTUAL:
if (virtualGyroDetect(dev)) { if (virtualGyroDetect(dev)) {
@ -529,7 +540,8 @@ static bool gyroDetectSensor(gyroSensor_t *gyroSensor, const gyroDeviceConfig_t
{ {
#if defined(USE_GYRO_MPU6050) || defined(USE_GYRO_MPU3050) || defined(USE_GYRO_MPU6500) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU6000) \ #if defined(USE_GYRO_MPU6050) || defined(USE_GYRO_MPU3050) || defined(USE_GYRO_MPU6500) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU6000) \
|| defined(USE_ACC_MPU6050) || defined(USE_GYRO_SPI_MPU9250) || defined(USE_GYRO_SPI_ICM20601) || defined(USE_GYRO_SPI_ICM20649) \ || defined(USE_ACC_MPU6050) || defined(USE_GYRO_SPI_MPU9250) || defined(USE_GYRO_SPI_ICM20601) || defined(USE_GYRO_SPI_ICM20649) \
|| defined(USE_GYRO_SPI_ICM20689) || defined(USE_GYRO_L3GD20) || defined(USE_ACCGYRO_BMI160) || defined(USE_ACCGYRO_BMI270) || defined(USE_ACCGYRO_LSM6DSO) || defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P) || defined(USE_GYRO_SPI_ICM20689) || defined(USE_GYRO_L3GD20) || defined(USE_ACCGYRO_BMI160) || defined(USE_ACCGYRO_BMI270) \
|| defined(USE_ACCGYRO_LSM6DSO) || defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P) || defined(USE_ACCGYRO_LSM6DSV16X)
bool gyroFound = mpuDetect(&gyroSensor->gyroDev, config); bool gyroFound = mpuDetect(&gyroSensor->gyroDev, config);

1
src/main/target/common_pre.h
View file

@ -114,6 +114,7 @@
#define USE_GYRO_SPI_ICM42688P #define USE_GYRO_SPI_ICM42688P
#define USE_ACC_SPI_ICM42605 #define USE_ACC_SPI_ICM42605
#define USE_ACC_SPI_ICM42688P #define USE_ACC_SPI_ICM42688P
#define USE_ACCGYRO_LSM6DSV16X
#if TARGET_FLASH_SIZE > 512 #if TARGET_FLASH_SIZE > 512
#define USE_ACC_MPU6050 #define USE_ACC_MPU6050