diff --git a/README.md b/README.md
index 473001fb18..5d31921f71 100644
--- a/README.md
+++ b/README.md
@@ -210,38 +210,39 @@ can easily configure them for you specific needs.
| LM75 |
LP503X |
LSM303A |
+LSM6DS33 |
LTC2984 |
MAX6966 |
-MAX7219 |
+| MAX7219 |
MCP23X17 |
MCP2515 |
NOKIA5110 |
NRF24 |
TFT-DISPLAY |
-PAT9125EL |
+| PAT9125EL |
PCA8574 |
PCA9535 |
PCA9548A |
PCA9685 |
SIEMENS-S65 |
-SIEMENS-S75 |
+| SIEMENS-S75 |
SK6812 |
SK9822 |
SSD1306 |
SX1276 |
TCS3414 |
-TCS3472 |
+| TCS3472 |
TLC594X |
TMP102 |
TMP175 |
VL53L0 |
VL6180 |
-WS2812 |
+| WS2812 |
diff --git a/src/modm/driver/inertial/lsm6ds33.hpp b/src/modm/driver/inertial/lsm6ds33.hpp
new file mode 100644
index 0000000000..8cff8be54a
--- /dev/null
+++ b/src/modm/driver/inertial/lsm6ds33.hpp
@@ -0,0 +1,447 @@
+/*
+ * Copyright (c) 2020, Benjamin Carrick
+ *
+ * This file is part of the modm project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+// ----------------------------------------------------------------------------
+
+#ifndef MODM_LSM6DS33_HPP
+#define MODM_LSM6DS33_HPP
+
+#include
+#include
+#include
+#include
+#include "lis3_transport.hpp"
+
+namespace modm
+{
+
+/// @ingroup modm_driver_lsm6ds33
+struct lsm6ds33
+{
+ enum class
+ Register : uint8_t
+ {
+ FIFO_CTRL1 = 0x06, ///< FIFO control register 1
+ FIFO_CTRL2 = 0x07, ///< FIFO control register 2
+ FIFO_CTRL3 = 0x08, ///< FIFO control register 3
+ FIFO_CTRL4 = 0x09, ///< FIFO control register 4
+ FIFO_CTRL5 = 0x0A, ///< FIFO control register 5
+
+ ORIENT_CFG_G = 0x0B, ///< Orientation config register
+
+ INT1_CTRL = 0x0D, ///< Interrrupt 1 Control register
+ INT2_CTRL = 0x0E, ///< Interrrupt 1 Control register
+
+ WHO_AM_I = 0x0F, ///< Contains 0x69
+
+ CTRL1 = 0x10, ///< Control register 1: rw
+ CTRL2 = 0x11, ///< Control register 2: rw
+ CTRL3 = 0x12, ///< Control register 3: rw
+ CTRL4 = 0x13, ///< Control register 4: rw
+ CTRL5 = 0x14, ///< Control register 5: rw
+ CTRL6 = 0x15, ///< Control register 6: rw
+ CTRL7 = 0x16, ///< Control register 7: rw
+ CTRL8 = 0x17, ///< Control register 8: rw
+ CTRL9 = 0x18, ///< Control register 9: rw
+ CTRL10 = 0x19, ///< Control register 10: rw
+
+ STATUS = 0x1E, ///< Status Data Register
+
+ OUT_TEMP_L = 0x20, ///< Temperature output register low
+ OUT_TEMP_H = 0x21, ///< Temperature output register high
+
+ OUT_X_L_G = 0x22, ///< Angular rates output x-axis register low
+ OUT_X_H_G = 0x23, ///< Angular rates output x-axis register high
+ OUT_Y_L_G = 0x24, ///< Angular rates output y-axis register low
+ OUT_Y_H_G = 0x25, ///< Angular rates output y-axis register high
+ OUT_Z_L_G = 0x26, ///< Angular rates output z-axis register low
+ OUT_Z_H_G = 0x27, ///< Angular rates output z-axis register high
+
+ OUT_X_L_XL = 0x28, ///< Acceleration output x-axis register low
+ OUT_X_H_XL = 0x29, ///< Acceleration output x-axis register high
+ OUT_Y_L_XL = 0x2A, ///< Acceleration output y-axis register low
+ OUT_Y_H_XL = 0x2B, ///< Acceleration output y-axis register high
+ OUT_Z_L_XL = 0x2C, ///< Acceleration output z-axis register low
+ OUT_Z_H_XL = 0x2D, ///< Acceleration output z-axis register high
+
+ FIFO_STATUS1 = 0x3A, ///< Fifo status register 1
+ FIFO_STATUS2 = 0x3B, ///< Fifo status register 2
+ FIFO_STATUS3 = 0x3C, ///< Fifo status register 3
+ FIFO_STATUS4 = 0x3D, ///< Fifo status register 4
+
+ FIFO_DATA_OUT_L = 0x3E, ///< Fifo data output register low
+ FIFO_DATA_OUT_H = 0x3F, ///< Fifo data output register high
+
+ };
+
+public:
+ /// Control register for the acceleration sensor
+ enum class
+ Control1 : uint8_t
+ {
+ ODR3_XL = Bit7, ///< Output data rate bit 3
+ ODR2_XL = Bit6, ///< Output data rate bit 2
+ ODR1_XL = Bit5, ///< Output data rate bit 1
+ ODR0_XL = Bit4, ///< Output data rate bit 0
+
+ FS1_XL = Bit3, ///< Full scale selection bit 1
+ FS0_XL = Bit2, ///< Full scale selection bit 0
+
+ BW1_XL = Bit1, ///< Anti-aliasing bandwidth bit 1
+ BW0_XL = Bit0, ///< Anti-aliasing bandwidth bit 0
+
+ };
+ MODM_FLAGS8(Control1);
+
+ /// Output Data Rates for the Acceleration sensor
+ enum class
+ AccDataRate : uint8_t
+ {
+ Off = 0x00, ///< Turn off the acceleration sensor
+ Rate_13_Hz = 0x10, ///< 13 Hz
+ Rate_26_Hz = 0x20, ///< 26 Hz
+ Rate_52_Hz = 0x30, ///< 52 Hz
+ Rate_104_Hz = 0x40, ///< 104 Hz
+ Rate_208_Hz = 0x50, ///< 208 Hz
+ Rate_416_Hz = 0x60, ///< 416 Hz
+ Rate_833_Hz = 0x70, ///< 833 Hz
+ Rate_1666_Hz = 0x80, ///< 1666 Hz
+ Rate_3332_Hz = 0x90, ///< 3332 Hz
+ Rate_6664_Hz = 0xA0, ///< 6664 Hz
+ };
+ typedef modm::Configuration AccDataRate_t;
+
+ /// Full scale of the acceleration sensor data output
+ enum class
+ AccScale : uint8_t
+ {
+ Scale_2_G = 0x00, ///< +- 2g
+ Scale_4_G = 0x08, ///< +- 4g
+ Scale_8_G = 0x0C, ///< +- 8g
+ Scale_16_G = 0x04, ///< +- 16g
+ };
+ typedef modm::Configuration AccScale_t;
+
+ /// Anti aliasing filter bandwith for the acceleration sensor (only used when Control Register 4, Bit 7 is 1)
+ enum class
+ AccAABandwith : uint8_t
+ {
+ Bw_400_Hz = 0x00, ///< 400 Hz
+ Bw_200_Hz = 0x01, ///< 200 Hz
+ BW_100_Hz = 0x02, ///< 100 Hz
+ Bw_50_Hz = 0x03, ///< 50 Hz
+ };
+ typedef modm::Configuration AccAABandwith_t;
+
+// ----------------------------------------------------------------------------
+
+ /// Control Register 2 for the Gyroscope
+ enum class
+ Control2 : uint8_t
+ {
+ ODR3_G = Bit7, ///< Output data rate bit 3
+ ODR2_G = Bit6, ///< Output data rate bit 2
+ ODR1_G = Bit5, ///< Output data rate bit 1
+ ODR0_G = Bit4, ///< Output data rate bit 0
+
+ FS2_G = Bit3, ///< Full scale selection bit 2
+ FS1_G = Bit2, ///< Full scale selection bit 1
+ FS0_G = Bit1, ///< Full scale selection bit 0
+ };
+ MODM_FLAGS8(Control2);
+
+ /// Output Data Rates for the gyroscope
+ enum class
+ GyroDataRate : uint8_t
+ {
+ Off = 0x00, ///< Turn off the gyroscope
+ Rate_13_Hz = 0x10, ///< 13 Hz
+ Rate_26_Hz = 0x20, ///< 26 Hz
+ Rate_52_Hz = 0x30, ///< 52 Hz
+ Rate_104_Hz = 0x40, ///< 104 Hz
+ Rate_208_Hz = 0x50, ///< 208 Hz
+ Rate_416_Hz = 0x60, ///< 416 Hz
+ Rate_833_Hz = 0x70, ///< 833 Hz
+ Rate_1666_Hz = 0x80, ///< 1666 Hz
+ };
+ typedef modm::Configuration GyroDataRate_t;
+
+ /// Full scale of the gyroscope data output
+ enum class
+ GyroScale : uint8_t
+ {
+ Scale_125_dps = 0x02, ///< 125 degrees per second
+ Scale_245_dps = 0x00, ///< 245 degrees per second
+ Scale_500_dps = 0x04, ///< 500 degrees per second
+ Scale_1000_dps = 0x08, ///< 1000 degrees per second
+ Scale_2000_dps = 0x0C, ///< 2000 degrees per secons
+ };
+ typedef modm::Configuration GyroScale_t;
+
+// ----------------------------------------------------------------------------
+
+ /// Control Register 3
+ enum class
+ Control3 : uint8_t
+ {
+ BOOT = Bit7, ///< Reboot memory content
+ BDU = Bit6, ///< Block data update (0 = continous (default), 1 = wait until registers read)
+ H_LACTIVE = Bit5, ///< Interrupt activation level (0 = high active(default), 1= low active)
+ PP_OD = Bit4, ///< Interrupt pin mode (0 = Push-Pull(default), 1 = Open-Drain)
+ SIM = Bit3, ///< SPI Interface Mode (0 = 4 Wire(default), 1 = 3 Wire)
+ IF_INC = Bit2, ///< I2C increment register on access (0 = disabled, 1= enabled(default))
+ BLE = Bit1, ///< Endianess selection (0 = Little endian(default), 1 = Big endian.
+ SW_RESET = Bit0 ///< Software Reset
+ };
+ MODM_FLAGS8(Control3);
+
+// ----------------------------------------------------------------------------
+
+ /// Control Register 4
+ enum class
+ Control4 : uint8_t
+ {
+ XL_BW_SCAL_ODR = Bit7, ///< Manual selection of bandwidth for the acceleration sensor (0 = automatic, 1 = manual)
+ SLEEP_G = Bit6, ///< Gyroscope sleep mode enable (default = 0)
+ INT2_on_INT1 = Bit5, ///< Interrupt 2 output on Interrupt 1 pad (default = 0)
+ FIFO_TEMP_EN = Bit4 ///< Enable Temperature output as 4th fifo set
+ };
+ MODM_FLAGS8(Control4);
+
+// ----------------------------------------------------------------------------
+
+ /// Control Register 6
+ enum class
+ Control6 : uint8_t
+ {
+ TRIG_EN = Bit7, ///< Gyroscope data edge-sensitive trigger enable (default = 0)
+ LVL_EN = Bit6, ///< Gyroscope data level-sensitive trigger enable (default = 0)
+ LVL2_EN = Bit5, ///< Gyroscope level-sensitive latched enable.
+ XL_HM_MODE = Bit4 ///< Disable high performance mode for acceleration sensor (default = 0)
+ };
+ MODM_FLAGS8(Control6);
+
+// ----------------------------------------------------------------------------
+
+ /// Control Register 7
+ enum class
+ Control7 : uint8_t
+ {
+ G_HM_MODE = Bit7, ///< Disable high performance mode for gyroscope (default = 0)s
+ HP_G_EN = Bit6, ///< Enable high-pass filter for gyroscope (default = 0)
+ HP_CF_G1 = Bit5, ///< Gyroscope high-pass filter cutoff frequency bit 1
+ HP_CF_G0 = Bit4, ///< Gyroscope high-pass filter cutoff frequuency bit 0
+ HP_G_RST = Bit3 ///< Reset high-pass filter for gyroscope.
+ };
+ MODM_FLAGS8(Control7);
+
+ /// High-pass cutoff frequency selection for the gyroscope
+ enum class
+ GyroHPCutoff : uint8_t
+ {
+ Cutoff_0_0081_Hz = 0x00, ///< 0.0081 Hz
+ Cutoff_0_0324_Hz = 0x10, ///< 0.0324 Hz
+ Cutoff_2_07_Hz = 0x20, ///< 2.07 Hz
+ Cutoff_16_32_Hz = 0x30 ///< 16.32 Hz
+ };
+ typedef modm::Configuration GyroHPCutoff_t;
+
+// ----------------------------------------------------------------------------
+
+ /// Control Register 8
+ enum class
+ Control8: uint8_t
+ {
+ LPF_XL_EN = Bit7, ///< Enable the low-pass filter for the acceleration sensor
+ HP_CF_XL1 = Bit6, ///< Acceleration sensor high-pass filter cutoff frequency bit 1
+ HP_CF_XL0 = Bit5, ///< Acceleration sensor high-pass filter cutoff frequency bit 0
+ HP_SLOPE_XL_EN = Bit3 ///< High-pass or slope filter selection
+ };
+ MODM_FLAGS8(Control8);
+
+ /// High-pass cutoff frequency selection for the gyroscope
+ enum class
+ AccHPCutoff : uint8_t
+ {
+ Cutoff_DIV_50 = 0x00, ///< Acceleration Data Rate / 50
+ Cutoff_DIV_100 = 0x10, ///< Acceleration Data Rate / 100
+ Cutoff_DIV_9 = 0x20, ///< Acceleration Data Rate / 9
+ Cutoff_DIV_400 = 0x30 ///< Acceleration Data Rate / 400
+ };
+ typedef modm::Configuration AccHPCutoff_t;
+
+// ----------------------------------------------------------------------------
+ /// Control Register 9
+ enum class
+ Control9: uint8_t
+ {
+ Z_EN_XL = Bit5, ///< Enable Z-Axis for the acceleration sensor (default 1)
+ X_EN_XL = Bit4, ///< Enable X-Axis for the acceleration sensor (default 1)
+ Y_EN_XL = Bit3 ///< Enable Y-Axis for the acceleration sensor (default 1)
+ };
+ MODM_FLAGS8(Control9);
+
+// ----------------------------------------------------------------------------
+
+ /// Control Register 10
+ enum class
+ Control10: uint8_t
+ {
+ Z_EN_G = Bit5, ///< Enable Z-Axis for the gyroscope (default 1)
+ X_EN_G = Bit4, ///< Enable X-Axis for the gyroscope (default 1)
+ Y_EN_G = Bit3 ///< Enable Y-Axis for the gyroscope (default 1)
+ };
+ MODM_FLAGS8(Control10);
+
+// ----------------------------------------------------------------------------
+
+ /// STATUS is read-only
+ enum class
+ Status : uint8_t
+ {
+ EV_BOOT = Bit3, ///< Bootup is running
+ TDA = Bit2, ///< New temperature data available
+ GDA = Bit1, ///< New gyroscope data available
+ XLDA = Bit0 ///< New acceleration sensor data available
+ };
+ MODM_FLAGS8(Status);
+
+protected:
+ // Conversion table to convert raw acceleration values to physical
+ static constexpr float accConvTable [4] = {
+ 0.000061035f, // Conversion for 2 g scale
+ 0.000488281f, // Conversion for 16 g scale
+ 0.00012207f, // Conversion for 4 g scale
+ 0.000244141f // Conversion for 8 g scale
+ };
+
+ static constexpr float gyroConvTable [4] = {
+ 0.007476807f, // Conversion for 245 dps scale
+ 0.015258789f, // Conversion for 500 dps scale
+ 0.030517578f, // Conversion for 1000 dps scale
+ 0.061035156f // Conversion for 2000 scale
+ };
+
+ /// @endcond
+}; // struct lsm6ds33
+
+/**
+ * \tparam I2cMaster I2cMaster interface
+ *
+ * \author Benjamin Carrick
+ * \ingroup modm_driver_lsm6ds33
+ */
+template < class I2cMaster >
+class Lsm6ds33 : public lsm6ds33, public Lis3TransportI2c
+{
+public:
+ /**
+ * \brief Construct a driver object for the LSM6DS33 chip
+ *
+ * \param address The I2C device address of the sensor
+ */
+ Lsm6ds33(uint8_t address = 0x6A);
+
+ /**
+ * \brief Configures the acceleration sensor
+ * This method will setup the data rate and the scale with which the sensor will sample the acceleration data.
+ * A sample rate has to be set in order to turn on the sensor.
+ *
+ * \param accRate The sample rate for the acceleration sensor
+ * \param accScale The full scale of the acceleration data
+ * \return Whether the configuration was successful
+ */
+ modm::ResumableResult
+ configureAccelerationSensor(AccDataRate accRate, AccScale accScale);
+
+ /**
+ * \brief Configures the gyroscope
+ * This method will setup the data rate and the scale with which the sensor will sample the spin rates.
+ * A sample rate has to be set in order to turn on the sensor.
+ *
+ * \param accRate The sample rate for the gyroscope
+ * \param accScale The full scale of the spin rate data
+ * \return Whether the configuration was successful
+ */
+ modm::ResumableResult
+ configureGyroscope(GyroDataRate gyroRate, GyroScale gyroScale);
+
+ /**
+ * @brief Reads out the raw acceleration data into a given vector object.
+ *
+ * @param acceleration A reference to a Vector3i object the data will be written to
+ * @return Whether the sensor data have been read
+ */
+ modm::ResumableResult
+ readAccelerationRaw(Vector3i& acceleration);
+
+ /**
+ * @brief Reads out the raw gyroscope data into a given vector object.
+ *
+ * @param spinRates A reference to a Vector3i object the data will be written to
+ * @return Whether the sensor data have been read
+ */
+ modm::ResumableResult
+ readGyroscopeRaw(Vector3i& spinRates);
+
+ /**
+ * @brief Get the currently configured scale for the acceleration sensor
+ *
+ * @return AccScale The currently config acceleration data scale
+ */
+ AccScale
+ getAccelerationScale();
+
+ /**
+ * @brief Get the currently configured scale for the gyroscope
+ *
+ * @return AccScale The currently config gyroscope data scale
+ */
+ GyroScale
+ getGyroscopeScale();
+
+
+ /**
+ * \brief Reads out the scaled acceleration data in g
+ *
+ * \param acceleration A reference to a Vector3f object the data will be written to
+ * \return Whether the sensor data have been read
+ */
+ modm::ResumableResult
+ readAcceleration(Vector3f& acceleration);
+
+ /**
+ * \brief Reads out the scaled spin rates from the gyroscope in degrees per second
+ *
+ * \param spinRates A reference to a Vector3f object the data will be written to
+ * \return Whether the sensor data have been read
+ */
+ modm::ResumableResult
+ readGyroscope(Vector3f& spinRates);
+
+private:
+ /// The shadow for the control register 1 (accelerometer)
+ Control1_t control1Shadow;
+ /// The shadow for the control register 2 (gyro)
+ Control2_t control2Shadow;
+ /// The shadow for the control register 3
+ Control3_t control3Shadow;
+
+ /// The buffer for reading out the data registers
+ int16_t readBuffer[3];
+
+ /// Variable to hold the success of a transaction to the sensor
+ bool success;
+};
+
+} // namespace modm
+
+#include "lsm6ds33_impl.hpp"
+
+#endif // MODM_LSM6DS33_HPP
diff --git a/src/modm/driver/inertial/lsm6ds33.lb b/src/modm/driver/inertial/lsm6ds33.lb
new file mode 100644
index 0000000000..9333d75134
--- /dev/null
+++ b/src/modm/driver/inertial/lsm6ds33.lb
@@ -0,0 +1,41 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# Copyright (c) 2020, Benjamin Carrick
+#
+# This file is part of the modm project.
+#
+# This Source Code Form is subject to the terms of the Mozilla Public
+# License, v. 2.0. If a copy of the MPL was not distributed with this
+# file, You can obtain one at http://mozilla.org/MPL/2.0/.
+# -----------------------------------------------------------------------------
+
+
+def init(module):
+ module.name = ":driver:lsm6ds33"
+ module.description = """\
+# LSM6DS33 always-on 3D accelerometer and 3D gyroscope
+
+The LSM6DS33 is a system-in-package featuring a 3D digital accelerometer and
+a 3D digital gyroscope performing at 1.25 mA (up to 1.6 kHz ODR) in high-performance mode.
+has a full-scale acceleration range of ±2/±4/±8/±16 g and an angular rate range
+of ±125/±245/±500/±1000/±2000 dps.
+The LSM6DS33 includes an I2C serial bus interface that supports standard and
+fast mode 100 kHz and 400 kHz.
+
+This driver only supports the raw data output of the sensor.
+Functions like tap recognition, step counter, free fall recogition, etc. are not supported
+"""
+
+def prepare(module, options):
+ module.depends(
+ ":architecture:register",
+ ":driver:lis3.transport",
+ ":math:utils",
+ ":math:geometry")
+ return True
+
+def build(env):
+ env.outbasepath = "modm/src/modm/driver/inertial"
+ env.copy("lsm6ds33.hpp")
+ env.copy("lsm6ds33_impl.hpp")
diff --git a/src/modm/driver/inertial/lsm6ds33_impl.hpp b/src/modm/driver/inertial/lsm6ds33_impl.hpp
new file mode 100644
index 0000000000..5e6e458202
--- /dev/null
+++ b/src/modm/driver/inertial/lsm6ds33_impl.hpp
@@ -0,0 +1,142 @@
+/*
+ * Copyright (c) 2020, Benjamin Carrick
+ *
+ * This file is part of the modm project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+// ----------------------------------------------------------------------------
+
+#ifndef MODM_LSM6DS33_HPP
+# error "Don't include this file directly, use 'lsm6ds33.hpp' instead!"
+#endif
+
+#include
+
+// ----------------------------------------------------------------------------
+template < class I2cMaster >
+modm::Lsm6ds33::Lsm6ds33( uint8_t address)
+: Lis3TransportI2c(address)
+{
+ control1Shadow.value = 0x00;
+ control2Shadow.value = 0x00;
+ control3Shadow.value = 0x04;
+}
+
+template < class I2cMaster >
+modm::ResumableResult
+modm::Lsm6ds33::configureAccelerationSensor(AccDataRate accRate, AccScale accScale)
+{
+ RF_BEGIN();
+ AccDataRate_t::set(control1Shadow,accRate);
+ AccScale_t::set(control1Shadow,accScale);
+ RF_END_RETURN_CALL(this->write(static_cast(Register::CTRL1),control1Shadow.value));
+}
+
+template < class I2cMaster >
+modm::ResumableResult
+modm::Lsm6ds33::configureGyroscope(GyroDataRate gyroRate, GyroScale gyroScale)
+{
+ RF_BEGIN();
+ GyroDataRate_t::set(control2Shadow,gyroRate);
+ GyroScale_t::set(control2Shadow,gyroScale);
+ RF_END_RETURN_CALL( this->write(static_cast(Register::CTRL2),control2Shadow.value));
+}
+
+template < class I2cMaster >
+modm::ResumableResult
+modm::Lsm6ds33::readAccelerationRaw(Vector3i& acceleration)
+{
+ RF_BEGIN();
+ success = RF_CALL(this->read(static_cast(Register::OUT_X_L_XL),reinterpret_cast(readBuffer),6));
+ if(success)
+ {
+ acceleration.x = readBuffer[0];
+ acceleration.y = readBuffer[1];
+ acceleration.z = readBuffer[2];
+ }
+ RF_END_RETURN(success);
+}
+
+template < class I2cMaster >
+modm::ResumableResult
+modm::Lsm6ds33::readGyroscopeRaw(Vector3i& spinRates)
+{
+ RF_BEGIN();
+ success = RF_CALL(this->read(static_cast(Register::OUT_X_L_G),reinterpret_cast(readBuffer),6));
+ if(success)
+ {
+ spinRates.x = readBuffer[0];
+ spinRates.y = readBuffer[1];
+ spinRates.z = readBuffer[2];
+ }
+ RF_END_RETURN(success);
+}
+
+template < class I2cMaster >
+modm::lsm6ds33::AccScale
+modm::Lsm6ds33::getAccelerationScale()
+{
+ return AccScale_t::get(control1Shadow);
+}
+
+template < class I2cMaster >
+modm::lsm6ds33::GyroScale
+modm::Lsm6ds33::getGyroscopeScale()
+{
+ return GyroScale_t::get(control2Shadow);
+}
+
+template < class I2cMaster >
+modm::ResumableResult
+modm::Lsm6ds33::readAcceleration(Vector3f& acceleration)
+{
+ RF_BEGIN();
+ success = RF_CALL(this->read(static_cast(Register::OUT_X_L_XL),reinterpret_cast(readBuffer),6));
+
+ if(success)
+ {
+ //use the bitmask of the acceleration scale to index the conversion table;
+ uint8_t accScaleIndex = (static_cast(getAccelerationScale()))>>2;
+ float conversionValue = accConvTable[accScaleIndex];
+
+ acceleration.x = static_cast(readBuffer[0]) * conversionValue;
+ acceleration.y = static_cast(readBuffer[1]) * conversionValue;
+ acceleration.z = static_cast(readBuffer[2]) * conversionValue;
+ }
+
+ RF_END_RETURN(success);
+}
+
+template < class I2cMaster >
+modm::ResumableResult
+modm::Lsm6ds33::readGyroscope(Vector3f& acceleration)
+{
+ RF_BEGIN();
+ success = RF_CALL(this->read(static_cast(Register::OUT_X_L_G),reinterpret_cast(readBuffer),6));
+
+ if(success)
+ {
+ GyroScale scale = getGyroscopeScale();
+ float conversionValue;
+ //Handle the 125 dps special case
+ if(scale == GyroScale::Scale_125_dps)
+ {
+ conversionValue = 0.003814697f;
+ }
+ else
+ {
+ //use the bitmask of the gyro scale to index the conversion table;
+ uint8_t gyroScaleIndex = (static_cast(scale))>>2;
+ conversionValue = gyroConvTable[gyroScaleIndex];
+ }
+
+ acceleration.x = static_cast(readBuffer[0]) * conversionValue;
+ acceleration.y = static_cast(readBuffer[1]) * conversionValue;
+ acceleration.z = static_cast(readBuffer[2]) * conversionValue;
+ }
+
+ RF_END_RETURN(success);
+}
\ No newline at end of file