165 lines
5.2 KiB
C
165 lines
5.2 KiB
C
/****************************************************************************
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* include/nuttx/sensors/lsm9ds1.h
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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_LSM9DS1_H
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#define __INCLUDE_NUTTX_SENSORS_LSM9DS1_H
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <nuttx/sensors/ioctl.h>
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#if defined(CONFIG_I2C) && defined(CONFIG_SENSORS_LSM9DS1)
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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/* I2C Addresses ************************************************************/
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/* Accelerometer addresses */
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#define LSM9DS1ACCEL_ADDR0 0x6a
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#define LSM9DS1ACCEL_ADDR1 0x6b
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/* Gyroscope addresses */
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#define LSM9DS1GYRO_ADDR0 LSM9DS1ACCEL_ADDR0
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#define LSM9DS1GYRO_ADDR1 LSM9DS1ACCEL_ADDR1
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/* Magnetometer addresses */
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#define LSM9DS1MAG_ADDR0 0x1c
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#define LSM9DS1MAG_ADDR1 0x1e
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/****************************************************************************
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* Public Types
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****************************************************************************/
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struct i2c_master_s;
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struct lsm9ds1_config_s
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{
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FAR struct i2c_master_s *i2c;
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int addr_acc;
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int addr_gyro;
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int addr_mag;
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};
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/****************************************************************************
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* Public Function Prototypes
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****************************************************************************/
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#ifdef __cplusplus
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extern "C"
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{
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#endif
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#ifndef CONFIG_SENSORS_LSM9DS1_UORB
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/****************************************************************************
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* Name: lsm9ds1accel_register
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*
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* Description:
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* Register the LSM9DS1 accelerometer character device as 'devpath'.
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*
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* Input Parameters:
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* devpath - The full path to the driver to register, e.g., "/dev/accel0".
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* i2c - An I2C driver instance.
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* addr - The I2C address of the LSM9DS1 accelerometer.
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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 lsm9ds1accel_register(FAR const char *devpath,
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FAR struct i2c_master_s *i2c,
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uint8_t addr);
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/****************************************************************************
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* Name: lsm9ds1gyro_register
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*
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* Description:
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* Register the LSM9DS1 gyroscope character device as 'devpath'.
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*
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* Input Parameters:
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* devpath - The full path to the driver to register, e.g., "/dev/gyro0".
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* i2c - An I2C driver instance.
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* addr - The I2C address of the LSM9DS1 gyroscope.
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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 lsm9ds1gyro_register(FAR const char *devpath,
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FAR struct i2c_master_s *i2c,
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uint8_t addr);
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/****************************************************************************
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* Name: lsm9ds1mag_register
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*
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* Description:
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* Register the LSM9DS1 magnetometer character device as 'devpath'.
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*
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* Input Parameters:
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* devpath - The full path to the driver to register, e.g., "/dev/mag0".
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* i2c - An I2C driver instance.
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* addr - The I2C address of the LSM9DS1 magnetometer.
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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 lsm9ds1mag_register(FAR const char *devpath,
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FAR struct i2c_master_s *i2c,
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uint8_t addr);
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#else
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/****************************************************************************
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* Name: lsm9ds1_register_uorb
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*
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* Description:
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* Register the LSM9DS1 IMU as sensor device
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*
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* Input Parameters:
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* devno - Instance number for driver
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* config - configuratio
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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 lsm9ds1_register_uorb(int devno, FAR struct lsm9ds1_config_s *config);
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#endif
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#ifdef __cplusplus
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}
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#endif
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#endif /* CONFIG_I2C && CONFIG_SENSORS_LSM9DS1 */
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#endif /* __INCLUDE_NUTTX_SENSORS_LSM9DS1_H */
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