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@@ -32,6 +32,9 @@
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#include "Wire.h"
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#include "SPI.h"
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+#ifdef TARGET_SEEED_XIAO_NRF52840_SENSE
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+#define Wire Wire1
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+#endif
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//****************************************************************************//
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//
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// LSM6DS3Core functions.
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@@ -62,7 +65,16 @@ LSM6DS3Core::LSM6DS3Core(uint8_t busType, uint8_t inputArg) : commInterface(I2C_
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status_t LSM6DS3Core::beginCore(void) {
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status_t returnError = IMU_SUCCESS;
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-
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+#ifdef PIN_LSM6DS3TR_C_POWER
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+ pinMode(PIN_LSM6DS3TR_C_POWER, OUTPUT);
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+ NRF_P1->PIN_CNF[8] = ((uint32_t)NRF_GPIO_PIN_DIR_OUTPUT << GPIO_PIN_CNF_DIR_Pos)
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+ | ((uint32_t)NRF_GPIO_PIN_INPUT_DISCONNECT << GPIO_PIN_CNF_INPUT_Pos)
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+ | ((uint32_t)NRF_GPIO_PIN_NOPULL << GPIO_PIN_CNF_PULL_Pos)
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+ | ((uint32_t)NRF_GPIO_PIN_H0H1 << GPIO_PIN_CNF_DRIVE_Pos)
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+ | ((uint32_t)NRF_GPIO_PIN_NOSENSE << GPIO_PIN_CNF_SENSE_Pos);
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+ digitalWrite(PIN_LSM6DS3TR_C_POWER, HIGH);
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+ delay(10);
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+#endif
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switch (commInterface) {
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case I2C_MODE:
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@@ -70,6 +82,7 @@ status_t LSM6DS3Core::beginCore(void) {
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break;
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case SPI_MODE:
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+#ifndef TARGET_SEEED_XIAO_NRF52840_SENSE
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// start the SPI library:
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SPI.begin();
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// Maximum SPI frequency is 10MHz, could divide by 2 here:
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@@ -98,6 +111,7 @@ status_t LSM6DS3Core::beginCore(void) {
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// initalize the data ready and chip select pins:
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pinMode(chipSelectPin, OUTPUT);
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digitalWrite(chipSelectPin, HIGH);
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+#endif
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break;
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default:
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break;
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@@ -165,6 +179,7 @@ status_t LSM6DS3Core::readRegisterRegion(uint8_t* outputPointer, uint8_t offset,
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break;
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case SPI_MODE:
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+#ifndef TARGET_SEEED_XIAO_NRF52840_SENSE
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// take the chip select low to select the device:
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digitalWrite(chipSelectPin, LOW);
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// send the device the register you want to read:
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@@ -185,6 +200,7 @@ status_t LSM6DS3Core::readRegisterRegion(uint8_t* outputPointer, uint8_t offset,
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}
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// take the chip select high to de-select:
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digitalWrite(chipSelectPin, HIGH);
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+#endif
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break;
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default:
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@@ -224,6 +240,7 @@ status_t LSM6DS3Core::readRegister(uint8_t* outputPointer, uint8_t offset) {
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break;
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case SPI_MODE:
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+#ifndef TARGET_SEEED_XIAO_NRF52840_SENSE
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// take the chip select low to select the device:
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digitalWrite(chipSelectPin, LOW);
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// send the device the register you want to read:
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@@ -237,6 +254,7 @@ status_t LSM6DS3Core::readRegister(uint8_t* outputPointer, uint8_t offset) {
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//we've recieved all ones, report
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returnError = IMU_ALL_ONES_WARNING;
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}
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+#endif
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break;
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default:
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@@ -288,6 +306,7 @@ status_t LSM6DS3Core::writeRegister(uint8_t offset, uint8_t dataToWrite) {
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break;
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case SPI_MODE:
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+#ifndef TARGET_SEEED_XIAO_NRF52840_SENSE
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// take the chip select low to select the device:
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digitalWrite(chipSelectPin, LOW);
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// send the device the register you want to read:
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@@ -297,6 +316,7 @@ status_t LSM6DS3Core::writeRegister(uint8_t offset, uint8_t dataToWrite) {
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// decrement the number of bytes left to read:
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// take the chip select high to de-select:
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digitalWrite(chipSelectPin, HIGH);
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+#endif
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break;
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//No way to check error on this write (Except to read back but that's not reliable)
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953308023@qq.com