Merge pull request cloudn1ne#11 from jeremysalwen/main

Add support for LSM6DSO and remove unused altIMU code

stm32/mainboard_firmware/debug.cfg

@@ -0,0 +1,7 @@
+source [find interface/stlink-v2.cfg]
+source [find target/stm32f4x.cfg]
+init
+
+tpiu config internal - uart off 84000000
+itm ports on
+

stm32/ros_usbnode/include/board.h

@@ -104,7 +104,7 @@ extern "C"
 #define EXTERNAL_IMU_ANGULAR       1
 
 // Force disable IMU to be detected - CURRENTLY THIS SETTING DOES NOT WORK!
-//#define DISABLE_ALTIMU10v5
+//#define DISABLE_LSM6
 //#define DISABLE_MPU6050
 //#define DISABLE_WT901
 
@@ -254,7 +254,7 @@ extern "C"
 #define PANEL_USART_IRQ USART1_IRQn
 #endif
 
-// J18 has the SPI3 pins, as we dont use SPI3, we recycle them for I2C Bitbanging (for our Pololu ALtIMU-10v5)
+// J18 has the SPI3 pins, as we dont use SPI3, we recycle them for I2C Bitbanging (for our IMU)
 #ifdef SOFT_I2C_ENABLED
 #define SOFT_I2C_SCL_PIN GPIO_PIN_3
 #define SOFT_I2C_SCL_PORT GPIOB

stm32/ros_usbnode/include/imu/lsm6.h

@@ -0,0 +1,98 @@
+
+#ifndef __LSM6_H
+#define __LSM6_H
+
+/* Calibration, Conversion factors */
+
+#define LSM6_G_FACTOR           0.000061f           // LSM6DS33 datasheet (page 15)  0.061 mg/LSB
+#define LSM6_DPS_FACTOR         0.00875f            // LSM6DS33 datasheet (page 15)  0.00875 °/sec/LSB 
+
+/* Gyro / Accelerometer */
+#define LSM6_SA0_LOW_ADDRESS 0b1101010
+#define LSM6_SA0_HIGH_ADDRESS 0b1101011
+#define DSO_WHO_ID    0x6C         // WHO_AM_I will report this value
+#define DS33_WHO_ID    0x69         // WHO_AM_I will report this value
+
+
+#define LSM6_FUNC_CFG_ACCESS    0x01
+#define LSM6_FIFO_CTRL1         0x06
+#define LSM6_FIFO_CTRL2         0x07
+#define LSM6_FIFO_CTRL3         0x08
+#define LSM6_FIFO_CTRL4         0x09
+#define LSM6_FIFO_CTRL5         0x0A
+#define LSM6_ORIENT_CFG_G       0x0B
+#define LSM6_INT1_CTRL          0x0D
+#define LSM6_INT2_CTRL          0x0E
+#define LSM6_WHO_AM_I           0x0F
+#define LSM6_CTRL1_XL           0x10
+#define LSM6_CTRL2_G            0x11
+#define LSM6_CTRL3_C            0x12
+#define LSM6_CTRL4_C            0x13
+#define LSM6_CTRL5_C            0x14
+#define LSM6_CTRL6_C            0x15
+#define LSM6_CTRL7_G            0x16
+#define LSM6_CTRL8_XL           0x17
+#define LSM6_CTRL9_XL           0x18
+#define LSM6_CTRL10_C           0x19
+#define LSM6_WAKE_UP_SRC        0x1B
+#define LSM6_TAP_SRC            0x1C
+#define LSM6_D6D_SRC            0x1D
+#define LSM6_STATUS_REG         0x1E
+#define LSM6_OUT_TEMP_L         0x20
+#define LSM6_OUT_TEMP_H         0x21
+#define LSM6_OUTX_L_G           0x22
+#define LSM6_OUTX_H_G           0x23
+#define LSM6_OUTY_L_G           0x24
+#define LSM6_OUTY_H_G           0x25
+#define LSM6_OUTZ_L_G           0x26
+#define LSM6_OUTZ_H_G           0x27
+#define LSM6_OUTX_L_XL          0x28
+#define LSM6_OUTX_H_XL          0x29
+#define LSM6_OUTY_L_XL          0x2A
+#define LSM6_OUTY_H_XL          0x2B
+#define LSM6_OUTZ_L_XL          0x2C
+#define LSM6_OUTZ_H_XL          0x2D
+#define LSM6_FIFO_STATUS1       0x3A
+#define LSM6_FIFO_STATUS2       0x3B
+#define LSM6_FIFO_STATUS3       0x3C
+#define LSM6_FIFO_STATUS4       0x3D
+#define LSM6_FIFO_DATA_OUT_L    0x3E
+#define LSM6_FIFO_DATA_OUT_H    0x3F
+#define LSM6_TIMESTAMP0_REG     0x40
+#define LSM6_TIMESTAMP1_REG     0x41
+#define LSM6_TIMESTAMP2_REG     0x42
+#define LSM6_STEP_TIMESTAMP_L   0x49
+#define LSM6_STEP_TIMESTAMP_H   0x4A
+#define LSM6_STEP_COUNTER_L     0x4B
+#define LSM6_STEP_COUNTER_H     0x4C
+#define LSM6_FUNC_SRC           0x53
+#define LSM6_TAP_CFG            0x58
+#define LSM6_TAP_THS_6D         0x59
+#define LSM6_INT_DUR2           0x5A
+#define LSM6_WAKE_UP_THS        0x5B
+#define LSM6_WAKE_UP_DUR        0x5C
+#define LSM6_FREE_FALL          0x5D
+#define LSM6_MD1_CFG            0x5E
+#define LSM6_MD2_CFG            0x5F
+
+
+uint8_t LSM6_TestDevice(void);
+/**
+  * @brief  Initialize IMU
+  * LSM6 +/- 2g acceleration 
+  */
+void LSM6_Init(void);
+
+/**
+  * @brief  Reads the 3 accelerometer channels and stores them in *x,*y,*z
+  * units are m/s^2
+  */
+void LSM6_ReadAccelerometerRaw(float *x, float *y, float *z);
+
+/**
+  * @brief  Reads the 3 gyro channels and stores them in *x,*y,*z
+  * units are rad/sec
+  */
+void LSM6_ReadGyroRaw(float *x, float *y, float *z);
+
+#endif /* __LSM6_H */