ideasX-encoder-firmware/include/hal/lsm6ds3.h

#ifndef LSM6DS3_H_
#define LSM6DS3_H_

#include "ets_sys.h"
#include "driver/spi_interface.h"

/*------------------------------------------------------------------------------*/
// Debugging Flag(s)
/*------------------------------------------------------------------------------*/
#define LSM6DS3_DEBUG	 1 // flag for printing data to aid debugging
/*------------------------------------------------------------------------------*/

/*------------------------------------------------------------------------------*/
// Debugging Function(s)
/*------------------------------------------------------------------------------*/
#if LSM6DS3_DEBUG
void lsm6ds3_xl_print(void);
#endif
/*------------------------------------------------------------------------------*/

#define LSM6DS3_BIT(x) 				((uint16_t)x)

/*------------------------------------------------------------------------------*/
// Device Registers
/*------------------------------------------------------------------------------*/
#define LSM6DS3_FUNC_CFG_ACCESS         	0x01	// embedded functions config. reg.
#define LSM6DS3_FUNC_CFG_EN					BIT7
/*------------------------------------------------------------------------------*/
#define LSM6DS3_SENSOR_SYNC_TIME_FRAME  	0x04	// sensor sync config. reg.
/*------------------------------------------------------------------------------*/
#define LSM6DS3_FIFO_CTRL1              	0x06	// FIFO configuration regs.
#define LSM6DS3_FIFO_CTRL2              	0x07
#define LSM6DS3_FIFO_CTRL3              	0x08
#define LSM6DS3_FIFO_CTRL4              	0x09
#define LSM6DS3_FIFO_CTRL5              	0x0A
/*------------------------------------------------------------------------------*/
#define LSM6DS3_INT1_CTRL               	0x0D	// interrupt pin control regs.
#define LSM6DS3_INT2_CTRL               	0x0E
/*------------------------------------------------------------------------------*/
#define LSM6DS3_WHO_AM_I                	0x0F	// who i am ID
/*------------------------------------------------------------------------------*/
#define LSM6DS3_CTRL1_XL                	0x10

#define	LSM6DS3_ODR_XL_POWERDOWN			0x00
#define	LSM6DS3_ODR_XL_13Hz					0x10
#define	LSM6DS3_ODR_XL_26Hz					0x20
#define	LSM6DS3_ODR_XL_52Hz					0x30
#define	LSM6DS3_ODR_XL_104Hz				0x40
#define	LSM6DS3_ODR_XL_208Hz				0x50
#define	LSM6DS3_ODR_XL_416Hz				0x60
#define	LSM6DS3_ODR_XL_833Hz				0x70
#define	LSM6DS3_ODR_XL_1_66kHz				0x80
#define	LSM6DS3_ODR_XL_3_33_kHz				0x90
#define	LSM6DS3_ODR_XL_6_66_kHz				0xA0
#define LSM6DS3_FS_XL_2G					0x00
#define LSM6DS3_FS_XL_16G					0x04
#define LSM6DS3_FS_XL_4G					0x08
#define LSM6DS3_FS_XL_8G					0x0C
#define LSM6DS3_BW_XL_400Hz					0x00
#define LSM6DS3_BW_XL_200Hz					0x01
#define LSM6DS3_BW_XL_100Hz					0x02
#define LSM6DS3_BW_XL_50Hz					0x03

#define LSM6DS3_CTRL2_G                 	0x11

#define LSM6DS3_ODR_G_POWERDOWN				0x00
#define LSM6DS3_ODR_G_13Hz					0x10
#define LSM6DS3_ODR_G_26Hz					0x20
#define LSM6DS3_ODR_G_52Hz					0x30
#define LSM6DS3_ODR_G_104Hz					0x40
#define LSM6DS3_ODR_G_208Hz					0x50
#define LSM6DS3_ODR_G_416Hz					0x60
#define LSM6DS3_ODR_G_833Hz					0x70
#define LSM6DS3_ODR_G_1_66kHz				0x80
#define LSM6DS3_FS_G_245DPS					0x00
#define LSM6DS3_FS_G_500DPS					0x04
#define LSM6DS3_FS_G_1000DPS				0x08
#define LSM6DS3_FS_G_2000DPS				0x0C
#define LSM6DS3_FS_125						0x02

#define LSM6DS3_CTRL3_C                 	0x12

#define LSM6DS3_BOOT 						BIT7
#define LSM6DS3_BDU							BIT6
#define LSM6DS3_H_LACTIVE					BIT5
#define LSM6DS3_PP_OD						BIT4
#define LSM6DS3_SIM							BIT3
#define LSM6DS3_IF_INC						BIT2
#define LSM6DS3_BLE							BIT1
#define LSM6DS3_SW_RESET					BIT0

#define LSM6DS3_CTRL4_C                 	0x13

#define LSM6DS3_XL_SCAL_ODR					BIT7
#define LSM6DS3_SLEEP_G						BIT6
#define LSM6DS3_INT2_ON_INT1				BIT5
#define LSM6DS3_FIFO_TEMP_EN				BIT4
#define LSM6DS3_DRDY_MASK					BIT3
#define LSM6DS3_I2C_DISABLE					BIT2
#define	LSM6DS3_MODE3_EN					BIT1
#define LSM6DS3_STOP_ON_FTH					BIT0

#define LSM6DS3_CTRL5_C                 	0x14

#define LSM6DS3_CTRL6_C                 	0x15

#define LSM6DS3_TRIG_EN						BIT7
#define LSM6DS3_LVLEN						BIT6
#define LSM6DS3_LVL2_EN						BIT5
#define LSM6DS3_XL_HM_MODE					BIT4

#define LSM6DS3_CTRL7_G                 	0x16

#define LSM6DS3_G_HM_MODE					BIT7
#define LSM6DS3_HP_G_EN						BIT6
#define LSM6DS3_HP_G_RST					BIT5
#define LSM6DS3_ROUNDING_STATUS				BIT4
#define LSM6DS3_HPCF_G_0_081Hz				0x00
#define LSM6DS3_HPCF_G_0_324Hz				0x01
#define LSM6DS3_HPCF_G_2_070Hz				0x02
#define LSM6DS3_HPCF_G_1_632Hz				0x03

#define LSM6DS3_CTRL8_XL                	0x17

#define LSM6DS3_LPF2_XL_EN					BIT7
#define LSM6DS3_HPCF_XL_SLOPE_D50			0x00
#define LSM6DS3_HPCF_XL_HP_D100				0x20
#define LSM6DS3_HPCF_XL_HP_D9				0x40
#define LSM6DS3_HPCF_XL_HPD400				0x60

#define LSM6DS3_CTRL9_XL                	0x18
#define LSM6DS3_CTRL10_C                	0x19

#define LSM6DS3_Z_EN_G						BIT5
#define LSM6DS3_Y_EN_G						BIT4
#define LSM6DS3_X_EN_G						BIT3
#define LSM6DS3_FUNC_EN						BIT2
#define LSM6DS3_PEDO_RST_STEP				BIT1
#define LSM6DS3_SIGN_MOTION_EN				BIT0

#define LSM6DS3_ORIENT_CFG_G            	0x0B
/*------------------------------------------------------------------------------*/
#define LSM6DS3_MASTER_CONFIG            	0x1A	// I2C master config. reg.

#define LSM6DS3_DRDY_ON_INT1 				BIT7
#define LSM6DS3_DATA_VALID_SEL_FIFO			BIT6
#define LSM6DS3_START_CONIFG 				BIT4
#define LSM6DS3_PULL_UP_EN					BIT3
#define LSM6DS3_PASS_THROUGH_MODE			BIT2
#define LSM6DS3_IRON_EN						BIT1
#define LSM6DS3_MASTER_ON					BIT0
/*------------------------------------------------------------------------------*/
#define LSM6DS3_WAKE_UP_SRC             	0x1B	// interrupt regs.
#define LSM6DS3_TAP_SRC                 	0x1C
#define LSM6DS3_D6D_SRC                 	0x1D
/*------------------------------------------------------------------------------*/
#define LSM6DS3_STATUS_REG              	0x1E	// status reg.
/*------------------------------------------------------------------------------*/
#define LSM6DS3_OUT_TEMP_L 					0x20	// temp. output regs.
#define LSM6DS3_OUT_TEMP_H              	0x21
/*------------------------------------------------------------------------------*/
#define LSM6DS3_OUTX_L_G 					0x22	// gyro. output regs.
#define LSM6DS3_OUTX_H_G 					0x23
#define LSM6DS3_OUTY_L_G					0x24
#define LSM6DS3_OUTY_H_G					0x25
#define LSM6DS3_OUTZ_L_G 					0x26
#define LSM6DS3_OUTZ_H_G 					0x27
/*------------------------------------------------------------------------------*/
#define LSM6DS3_OUTX_L_XL					0x28	// acc. output regs.
#define LSM6DS3_OUTX_H_XL					0x29
#define LSM6DS3_OUTY_L_XL					0x2A
#define LSM6DS3_OUTY_H_XL					0x2B
#define LSM6DS3_OUTZ_L_XL 					0x2C
#define LSM6DS3_OUTZ_H_XL 					0x2D
/*------------------------------------------------------------------------------*/
#define LSM6DS3_SENSORHUB1_REG 				0x2E	// sensor hub output regs.
#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_FIFO_STATUS1				0x3A	// FIFO status regs.
#define LSM6DS3_FIFO_STATUS2				0x3B
/*------------------------------------------------------------------------------*/
#define LSM6DS3_FIFO_EMPTY 			BIT4
#define LSM6DS3_FIFO_FULL 			BIT5
#define LSM6DS3_FIFO_OVER_RUN		BIT6
#define LSM6DS3_FIFO_THRESHOLD		BIT7
/*------------------------------------------------------------------------------*/


#define LSM6DS3_FIFO_STATUS3				0x3C
#define LSM6DS3_FIFO_STATUS4				0x3D
/*------------------------------------------------------------------------------*/
#define LSM6DS3_FIFO_DATA_OUT_L				0x3E	// FIFO data output regs.
#define LSM6DS3_FIFO_DATA_OUT_H 			0x3F
/*------------------------------------------------------------------------------*/
#define LSM6DS3_TIMESTAMP0_REG 				0x40	// time stamp output regs.
#define LSM6DS3_TIMESTAMP1_REG 				0x41
#define LSM6DS3_TIMESTAMP2_REG 				0x42
/*------------------------------------------------------------------------------*/
#define LSM6DS3_STEP_TIMESTAMP_L 			0x49	// step counter timestamp regs.
#define LSM6DS3_STEP_TIMESTAMP_H 			0x4A
#define LSM6DS3_STEP_COUNTER_L				0x4B	// step counter output regs.
#define LSM6DS3_STEP_COUNTER_H 				0x4C
/*------------------------------------------------------------------------------*/
#define LSM6DS3_SENSORHUB13_REG 			0x4D	// sensor hub output regs.
#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
/*------------------------------------------------------------------------------*/
#define LSM6DS3_FUNC_SRC					0x53	// interrupt regs.
#define LSM6DS3_TAP_CFG 					0x58

#define LSM6DS3_TIMER_EN					BIT7
#define LSM6DS3_PEDO_EN						BIT6
#define LSM6DS3_TILT_EN						BIT5
#define LSM6DS3_SLOPE_FDS					BIT4
#define LSM6DS3_TAP_X_EN					BIT3
#define LSM6DS3_TAP_Y_EN					BIT2
#define	LSM6DS3_TAP_Z_EN					BIT1
#define LSM6DS3_LIR 						BIT0

#define LSM6DS3_TAP_THS_6D 					0x59
#define LSM6DS3_INT_DUR2 					0x5A
#define LSM6DS3_WAKE_UP_THS					0x5B

#define LSM6DS3_SINGLE_DOUBLE_TAP			BIT7
#define LSM6DS3_INACTIVITY					BIT6

#define LSM6DS3_WAKE_UP_DUR					0x5C

#define LSM6DS3_FF_DUR5						BIT7
#define LSM6DS3_TIMER_HR					BIT4

#define LSM6DS3_FREE_FALL					0x5D
#define LSM6DS3_MD1_CFG 					0x5E

#define LSM6DS3_INT1_WU						BIT5

#define LSM6DS3_MD2_CFG 					0x5F

#define LSM6DS3_INT2_WU						BIT5
/*------------------------------------------------------------------------------*/
#define LSM6DS3_OUT_MAG_RAW_X_L 			0x66	// external mag. raw data output regs.
#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
/*------------------------------------------------------------------------------*/

typedef enum {
    LSM6DS3_NO_INT = 0,
    LSM6DS3_FIFO_FULL_INT,
    LSM6DS3_FIFO_OVERFLOW_INT,
    LSM6DS3_SIGN_MOTION_INT
}   LSM6DS3_Interrupt_et;

/*------------------------------------------------------------------------------*/
// Function Prototypes
/*------------------------------------------------------------------------------*/
int32_t LSM6DS3_Enable_I2C_Bridge(uint8_t enable);
int32_t LSM6DS3_Enable_I2C_Pullups(uint8_t enable);
void LSM6DS3_Reset(void);
void LSM6DS3_EnableMotion(void);
void LSM6DS3_DisableMotion(void);
LSM6DS3_Interrupt_et LSM6DS3_Get_Interrupts(void);
/*------------------------------------------------------------------------------*/

#endif /* INCLUDE_DRIVER_LSM6DS3_H_ */