lsm6ds3tr: initial implementation

lsm6ds3tr/lsm6ds3tr_xiao_ble.go

@@ -0,0 +1,35 @@
+//go:build xiao_ble
+// +build xiao_ble
+
+package lsm6ds3tr
+
+import (
+	"device/nrf"
+	"machine"
+	"time"
+)
+
+// Configure sets up the device for communication.
+func (d *Device) Configure(cfg Configuration) error {
+
+	// Following lines are XIAO BLE Sense specific, they have nothing to do with sensor per se
+	// Implementation adapted from https://github.com/Seeed-Studio/Seeed_Arduino_LSM6DS3/blob/master/LSM6DS3.cpp#L68-L77
+
+	// Special mode for IMU power pin on this board.
+	// Can not use pin.Configure() directly due to special mode and 32 bit size
+	pinConfig := uint32(nrf.GPIO_PIN_CNF_DIR_Output<<nrf.GPIO_PIN_CNF_DIR_Pos) |
+		uint32(nrf.GPIO_PIN_CNF_INPUT_Disconnect<<nrf.GPIO_PIN_CNF_INPUT_Pos) |
+		uint32(nrf.GPIO_PIN_CNF_PULL_Disabled<<nrf.GPIO_PIN_CNF_PULL_Pos) |
+		uint32(nrf.GPIO_PIN_CNF_DRIVE_H0H1<<nrf.GPIO_PIN_CNF_DRIVE_Pos) |
+		uint32(nrf.GPIO_PIN_CNF_SENSE_Disabled<<nrf.GPIO_PIN_CNF_SENSE_Pos)
+	nrf.P1.PIN_CNF[8].Set(pinConfig) // LSM_PWR == P1_08
+
+	// Enable IMU
+	machine.LSM_PWR.High()
+
+	// Wait a moment
+	time.Sleep(10 * time.Millisecond)
+
+	// Common initialisation code
+	return d.doConfigure(cfg)
+}