Diff: LSM6DS3.h

Revision:

0:301b2cb34ead

Child:

1:cc2caaf5536c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/LSM6DS3.h	Fri Feb 19 09:50:40 2016 +0000
@@ -0,0 +1,176 @@
+#ifndef __LSM6DS3IMU_H__
+#define __LSM6DS3IMU_H__
+
+
+#include "mbed.h"
+#include "stdint.h"
+#include "LSM6DS3_Types.h"
+#include "LSM6DS3_Registers.h"
+
+#include "math.h"
+
+#define I2C_MODE 0
+#define SPI_MODE 1
+
+// Return values 
+typedef enum
+{
+    IMU_SUCCESS,
+    IMU_HW_ERROR,
+    IMU_NOT_SUPPORTED,
+    IMU_GENERIC_ERROR,
+    IMU_OUT_OF_BOUNDS,
+    IMU_ALL_ONES_WARNING,
+    //...
+} status_t;
+
+//This is the core operational class of the driver.
+//  LSM6DS3Core contains only read and write operations towards the IMU.
+//  To use the higher level functions, use the class LSM6DS3 which inherits
+//  this class.
+//========================self define=================
+
+//====================================================
+
+class LSM6DS3Core
+{
+public:
+    LSM6DS3Core( uint8_t );
+    LSM6DS3Core( uint8_t, uint8_t );
+ //   ~LSM6DS3Core() = default;
+    
+    status_t beginCore( void );
+    
+    //The following utilities read and write to the IMU
+
+    //ReadRegisterRegion takes a uint8 array address as input and reads
+    //  a chunk of memory into that array.
+    status_t readRegisterRegion(uint8_t*, uint8_t, uint8_t );
+    
+    //readRegister reads one 8-bit register
+    status_t readRegister(uint8_t*, uint8_t);
+    
+    //Reads two 8-bit regs, LSByte then MSByte order, and concatenates them.
+    //  Acts as a 16-bit read operation
+    status_t readRegisterInt16(int16_t*, uint8_t offset );
+    
+    //Writes an 8-bit byte;
+    status_t writeRegister(uint8_t, uint8_t);
+    
+    //Change to embedded page
+    status_t embeddedPage( void );
+    
+    //Change to base page
+    status_t basePage( void );
+    
+private:
+    
+    //Communication stuff
+    uint8_t commInterface;
+    uint8_t I2CAddress;
+    uint8_t chipSelectPin;
+
+};
+
+//This struct holds the settings the driver uses to do calculations
+struct SensorSettings {
+public:
+    //Gyro settings
+    uint8_t gyroEnabled;
+    uint16_t gyroRange;
+    uint16_t gyroSampleRate;
+    uint16_t gyroBandWidth;
+
+    uint8_t gyroFifoEnabled;
+    uint8_t gyroFifoDecimation;
+
+    //Accelerometer settings
+    uint8_t accelEnabled;
+    uint8_t accelODROff;
+    uint16_t accelRange;
+    uint16_t accelSampleRate;
+    uint16_t accelBandWidth;
+    
+    uint8_t accelFifoEnabled;
+    uint8_t accelFifoDecimation;
+    
+    //Temperature settings
+    uint8_t tempEnabled;
+    
+    //Non-basic mode settings
+    uint8_t commMode;
+    
+    //FIFO control data
+    uint16_t fifoThreshold;
+    int16_t fifoSampleRate;
+    uint8_t fifoModeWord;
+    
+};
+
+
+//This is the highest level class of the driver.
+//
+//  class LSM6DS3 inherits the core and makes use of the beginCore()
+//method through it's own begin() method.  It also contains the
+//settings struct to hold user settings.
+
+class LSM6DS3 : public LSM6DS3Core
+{
+public:
+    //IMU settings
+    SensorSettings settings;
+    
+    //Error checking
+    uint16_t allOnesCounter;
+    uint16_t nonSuccessCounter;
+
+    //Constructor generates default SensorSettings.
+    //(over-ride after construction if desired)
+    LSM6DS3( uint8_t busType = I2C_MODE, uint8_t inputArg = 0x6B );
+//    ~LSM6DS3() = default;
+    
+    //Call to apply SensorSettings
+    status_t begin(void);
+
+    //Returns the raw bits from the sensor cast as 16-bit signed integers
+    int16_t readRawAccelX( void );
+    int16_t readRawAccelY( void );
+    int16_t readRawAccelZ( void );
+    int16_t readRawGyroX( void );
+    int16_t readRawGyroY( void );
+    int16_t readRawGyroZ( void );
+    
+    int16_t accelOffset[3];
+    int16_t gyroOffset[3];
+    void setOffset(int16_t, int16_t, int16_t, int16_t, int16_t, int16_t);
+    
+
+
+    //Returns the values as floats.  Inside, this calls readRaw___();
+    float readFloatAccelX( void );
+    float readFloatAccelY( void );
+    float readFloatAccelZ( void );
+    float readFloatGyroX( void );
+    float readFloatGyroY( void );
+    float readFloatGyroZ( void );
+
+    //Temperature related methods
+    int16_t readRawTemp( void );
+    float readTempC( void );
+    float readTempF( void );
+
+    //FIFO stuff
+    void fifoBegin( void );
+    void fifoClear( void );
+    int16_t fifoRead( void );
+    uint16_t fifoGetStatus( void );
+    void fifoEnd( void );
+    
+    float calcGyro( int32_t );
+    float calcAccel( int32_t );
+    
+private:
+
+};
+
+#endif
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