LELEC2811 - I&S
LIS2DW12 accelerometer sensor library
Dependencies: X_NUCLEO_COMMON ST_INTERFACES
LIS2DW12Sensor.cpp
- Committer:
- cparata
- Date:
- 2019-07-24
- Revision:
- 4:94c5d5546161
- Parent:
- 0:dff8803aace7
- Child:
- 5:b6ce53be44c2
File content as of revision 4:94c5d5546161:
/**
******************************************************************************
* @file LIS2DW12Sensor.cpp
* @author CLab
* @version V1.0.0
* @date 15 November 2018
* @brief Implementation of an LIS2DW12 Inertial Measurement Unit (IMU) 3 axes
* sensor.
******************************************************************************
* @attention
*
* <h2><center>© COPYRIGHT(c) 2018 STMicroelectronics</center></h2>
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted provided that the following conditions are met:
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include "LIS2DW12Sensor.h"
/* Class Implementation ------------------------------------------------------*/
/** Constructor
* @param i2c object of an helper class which handles the I2C peripheral
* @param address the address of the component's instance
* @param int1_pin the interrupt 1 pin
* @param int2_pin the interrupt 2 pin
*/
LIS2DW12Sensor::LIS2DW12Sensor(DevI2C *i2c, uint8_t address, PinName int1_pin, PinName int2_pin) :
_dev_i2c(i2c), _address(address), _cs_pin(NC), _int1_irq(int1_pin), _int2_irq(int2_pin)
{
assert(i2c);
_dev_spi = NULL;
_reg_ctx.write_reg = LIS2DW12_io_write;
_reg_ctx.read_reg = LIS2DW12_io_read;
_reg_ctx.handle = (void *)this;
}
/** Constructor
* @param spi object of an helper class which handles the SPI peripheral
* @param cs_pin the chip select pin
* @param int1_pin the interrupt 1 pin
* @param int2_pin the interrupt 2 pin
* @param spi_type the SPI type (4-Wires or 3-Wires)
*/
LIS2DW12Sensor::LIS2DW12Sensor(SPI *spi, PinName cs_pin, PinName int1_pin, PinName int2_pin, SPI_type_t spi_type) :
_dev_spi(spi), _cs_pin(cs_pin), _int1_irq(int1_pin), _int2_irq(int2_pin), _spi_type(spi_type)
{
assert(spi);
if (cs_pin == NC) {
printf("ERROR LPS22HBSensor CS MUST NOT BE NC\n\r");
_dev_spi = NULL;
_dev_i2c = NULL;
return;
}
_reg_ctx.write_reg = LIS2DW12_io_write;
_reg_ctx.read_reg = LIS2DW12_io_read;
_reg_ctx.handle = (void *)this;
_cs_pin = 1;
_dev_i2c = NULL;
_address = 0;
if (_spi_type == SPI3W) {
/* Enable SPI 3-Wires on the component */
uint8_t data = 0x05;
lis2dw12_write_reg(&_reg_ctx, LIS2DW12_CTRL2, &data, 1);
}
/* Disable I2C on the component */
lis2dw12_i2c_interface_set(&_reg_ctx, LIS2DW12_I2C_DISABLE);
}
/**
* @brief Initializing the component.
* @param[in] init pointer to device specific initalization structure.
* @retval "0" in case of success, an error code otherwise.
*/
int LIS2DW12Sensor::init(void *init)
{
/* Enable register address automatically incremented during a multiple byte
access with a serial interface. */
if (lis2dw12_auto_increment_set(&_reg_ctx, PROPERTY_ENABLE) != 0) {
return 1;
}
/* Enable BDU */
if (lis2dw12_block_data_update_set(&_reg_ctx, PROPERTY_ENABLE) != 0) {
return 1;
}
/* FIFO mode selection */
if (lis2dw12_fifo_mode_set(&_reg_ctx, LIS2DW12_BYPASS_MODE) != 0) {
return 1;
}
/* Power mode selection */
if (lis2dw12_power_mode_set(&_reg_ctx, LIS2DW12_HIGH_PERFORMANCE) != 0) {
return 1;
}
/* Output data rate selection - power down. */
if (lis2dw12_data_rate_set(&_reg_ctx, LIS2DW12_XL_ODR_OFF) != 0) {
return 1;
}
/* Full scale selection. */
if (lis2dw12_full_scale_set(&_reg_ctx, LIS2DW12_2g) != 0) {
return 1;
}
/* Select default output data rate. */
_x_last_odr = 100.0f;
_x_last_operating_mode = LIS2DW12_HIGH_PERFORMANCE_MODE;
_x_last_noise = LIS2DW12_LOW_NOISE_DISABLE;
_x_is_enabled = 0;
return 0;
}
/**
* @brief Enable LIS2DW12 Accelerator
* @retval 0 in case of success, an error code otherwise
*/
int LIS2DW12Sensor::enable_x(void)
{
/* Check if the component is already enabled */
if (_x_is_enabled == 1) {
return 0;
}
/* Output data rate selection. */
if (set_x_odr_when_enabled(_x_last_odr, _x_last_operating_mode, _x_last_noise) == 1) {
return 1;
}
_x_is_enabled = 1;
return 0;
}
/**
* @brief Disable LIS2DW12 Accelerator
* @retval 0 in case of success, an error code otherwise
*/
int LIS2DW12Sensor::disable_x(void)
{
/* Check if the component is already disabled */
if (_x_is_enabled == 0) {
return 0;
}
/* Output data rate selection - power down. */
if (lis2dw12_data_rate_set(&_reg_ctx, LIS2DW12_XL_ODR_OFF) != 0) {
return 1;
}
_x_is_enabled = 0;
return 0;
}
/**
* @brief Read ID of LIS2DW12 Accelerometer and Gyroscope
* @param p_id the pointer where the ID of the device is stored
* @retval 0 in case of success, an error code otherwise
*/
int LIS2DW12Sensor::read_id(uint8_t *id)
{
if (!id) {
return 1;
}
/* Read WHO AM I register */
if (lis2dw12_device_id_get(&_reg_ctx, id) != 0) {
return 1;
}
return 0;
}
/**
* @brief Read data from LIS2DW12 Accelerometer
* @param acceleration the pointer where the accelerometer data are stored
* @retval 0 in case of success, an error code otherwise
*/
int LIS2DW12Sensor::get_x_axes(int32_t *acceleration)
{
int16_t data_raw[3];
float sensitivity = 0;
/* Read raw data from LIS2DW12 output register. */
if (get_x_axes_raw(data_raw) == 1) {
return 1;
}
/* Get LIS2DW12 actual sensitivity. */
if (get_x_sensitivity(&sensitivity) == 1) {
return 1;
}
/* Calculate the data. */
acceleration[0] = (int32_t)(data_raw[0] * sensitivity);
acceleration[1] = (int32_t)(data_raw[1] * sensitivity);
acceleration[2] = (int32_t)(data_raw[2] * sensitivity);
return 0;
}
/**
* @brief Read Accelerometer Sensitivity
* @param sensitivity the pointer where the accelerometer sensitivity is stored
* @retval 0 in case of success, an error code otherwise
*/
int LIS2DW12Sensor::get_x_sensitivity(float *sensitivity)
{
int32_t ret = 0;
lis2dw12_fs_t full_scale;
lis2dw12_mode_t mode;
/* Read actual full scale selection from sensor. */
if (lis2dw12_full_scale_get(&_reg_ctx, &full_scale) != 0) {
return 1;
}
/* Read actual power mode selection from sensor. */
if (lis2dw12_power_mode_get(&_reg_ctx, &mode) != 0) {
return 1;
}
switch (mode) {
case LIS2DW12_CONT_LOW_PWR_12bit:
case LIS2DW12_SINGLE_LOW_PWR_12bit:
case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_12bit:
case LIS2DW12_SINGLE_LOW_LOW_NOISE_PWR_12bit:
switch (full_scale) {
case LIS2DW12_2g:
*sensitivity = LIS2DW12_ACC_SENSITIVITY_FOR_FS_2G_LOPOW1_MODE;
break;
case LIS2DW12_4g:
*sensitivity = LIS2DW12_ACC_SENSITIVITY_FOR_FS_4G_LOPOW1_MODE;
break;
case LIS2DW12_8g:
*sensitivity = LIS2DW12_ACC_SENSITIVITY_FOR_FS_8G_LOPOW1_MODE;
break;
case LIS2DW12_16g:
*sensitivity = LIS2DW12_ACC_SENSITIVITY_FOR_FS_16G_LOPOW1_MODE;
break;
default:
*sensitivity = -1.0f;
ret = 1;
break;
}
break;
case LIS2DW12_HIGH_PERFORMANCE:
case LIS2DW12_CONT_LOW_PWR_4:
case LIS2DW12_CONT_LOW_PWR_3:
case LIS2DW12_CONT_LOW_PWR_2:
case LIS2DW12_SINGLE_LOW_PWR_4:
case LIS2DW12_SINGLE_LOW_PWR_3:
case LIS2DW12_SINGLE_LOW_PWR_2:
case LIS2DW12_HIGH_PERFORMANCE_LOW_NOISE:
case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_4:
case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_3:
case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_2:
case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_4:
case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_3:
case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_2:
switch (full_scale) {
case LIS2DW12_2g:
*sensitivity = LIS2DW12_ACC_SENSITIVITY_FOR_FS_2G_OTHER_MODES;
break;
case LIS2DW12_4g:
*sensitivity = LIS2DW12_ACC_SENSITIVITY_FOR_FS_4G_OTHER_MODES;
break;
case LIS2DW12_8g:
*sensitivity = LIS2DW12_ACC_SENSITIVITY_FOR_FS_8G_OTHER_MODES;
break;
case LIS2DW12_16g:
*sensitivity = LIS2DW12_ACC_SENSITIVITY_FOR_FS_16G_OTHER_MODES;
break;
default:
*sensitivity = -1.0f;
ret = 1;
break;
}
break;
default:
*sensitivity = -1.0f;
ret = 1;
break;
}
return ret;
}
/**
* @brief Read raw data from LIS2DW12 Accelerometer
* @param value the pointer where the accelerometer raw data are stored
* @retval 0 in case of success, an error code otherwise
*/
int LIS2DW12Sensor::get_x_axes_raw(int16_t *value)
{
axis3bit16_t data_raw;
lis2dw12_mode_t mode;
int32_t ret = 0;
/* Read actual power mode selection from sensor. */
if (lis2dw12_power_mode_get(&_reg_ctx, &mode) != 0) {
return 1;
}
/* Read raw data values. */
if (lis2dw12_acceleration_raw_get(&_reg_ctx, data_raw.u8bit) != 0) {
return 1;
}
switch (mode) {
case LIS2DW12_CONT_LOW_PWR_12bit:
case LIS2DW12_SINGLE_LOW_PWR_12bit:
case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_12bit:
case LIS2DW12_SINGLE_LOW_LOW_NOISE_PWR_12bit:
/* Data format 12 bits. */
value[0] = (data_raw.i16bit[0] / 16);
value[1] = (data_raw.i16bit[1] / 16);
value[2] = (data_raw.i16bit[2] / 16);
break;
case LIS2DW12_HIGH_PERFORMANCE:
case LIS2DW12_CONT_LOW_PWR_4:
case LIS2DW12_CONT_LOW_PWR_3:
case LIS2DW12_CONT_LOW_PWR_2:
case LIS2DW12_SINGLE_LOW_PWR_4:
case LIS2DW12_SINGLE_LOW_PWR_3:
case LIS2DW12_SINGLE_LOW_PWR_2:
case LIS2DW12_HIGH_PERFORMANCE_LOW_NOISE:
case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_4:
case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_3:
case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_2:
case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_4:
case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_3:
case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_2:
/* Data format 14 bits. */
value[0] = (data_raw.i16bit[0] / 4);
value[1] = (data_raw.i16bit[1] / 4);
value[2] = (data_raw.i16bit[2] / 4);
break;
default:
ret = 1;
break;
}
return ret;
}
/**
* @brief Read LIS2DW12 Accelerometer output data rate
* @param odr the pointer to the output data rate
* @retval 0 in case of success, an error code otherwise
*/
int LIS2DW12Sensor::get_x_odr(float *odr)
{
int32_t ret = 0;
lis2dw12_odr_t odr_low_level;
lis2dw12_mode_t mode;
/* Get current output data rate. */
if (lis2dw12_data_rate_get(&_reg_ctx, &odr_low_level) != 0) {
return 1;
}
/* Read actual power mode selection from sensor. */
if (lis2dw12_power_mode_get(&_reg_ctx, &mode) != 0) {
return 1;
}
switch (odr_low_level) {
case LIS2DW12_XL_ODR_OFF:
case LIS2DW12_XL_SET_SW_TRIG:
case LIS2DW12_XL_SET_PIN_TRIG:
*odr = 0.0f;
break;
case LIS2DW12_XL_ODR_1Hz6_LP_ONLY:
switch (mode) {
case LIS2DW12_HIGH_PERFORMANCE:
case LIS2DW12_HIGH_PERFORMANCE_LOW_NOISE:
*odr = 12.5f;
break;
case LIS2DW12_CONT_LOW_PWR_4:
case LIS2DW12_CONT_LOW_PWR_3:
case LIS2DW12_CONT_LOW_PWR_2:
case LIS2DW12_CONT_LOW_PWR_12bit:
case LIS2DW12_SINGLE_LOW_PWR_4:
case LIS2DW12_SINGLE_LOW_PWR_3:
case LIS2DW12_SINGLE_LOW_PWR_2:
case LIS2DW12_SINGLE_LOW_PWR_12bit:
case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_4:
case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_3:
case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_2:
case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_12bit:
case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_4:
case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_3:
case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_2:
case LIS2DW12_SINGLE_LOW_LOW_NOISE_PWR_12bit:
*odr = 1.6f;
break;
default:
*odr = -1.0f;
ret = 1;
break;
}
break;
case LIS2DW12_XL_ODR_12Hz5:
*odr = 12.5f;
break;
case LIS2DW12_XL_ODR_25Hz:
*odr = 25.0f;
break;
case LIS2DW12_XL_ODR_50Hz:
*odr = 50.0f;
break;
case LIS2DW12_XL_ODR_100Hz:
*odr = 100.0f;
break;
case LIS2DW12_XL_ODR_200Hz:
*odr = 200.0f;
break;
case LIS2DW12_XL_ODR_400Hz:
switch (mode) {
case LIS2DW12_HIGH_PERFORMANCE:
case LIS2DW12_HIGH_PERFORMANCE_LOW_NOISE:
*odr = 400.0f;
break;
case LIS2DW12_CONT_LOW_PWR_4:
case LIS2DW12_CONT_LOW_PWR_3:
case LIS2DW12_CONT_LOW_PWR_2:
case LIS2DW12_CONT_LOW_PWR_12bit:
case LIS2DW12_SINGLE_LOW_PWR_4:
case LIS2DW12_SINGLE_LOW_PWR_3:
case LIS2DW12_SINGLE_LOW_PWR_2:
case LIS2DW12_SINGLE_LOW_PWR_12bit:
case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_4:
case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_3:
case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_2:
case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_12bit:
case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_4:
case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_3:
case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_2:
case LIS2DW12_SINGLE_LOW_LOW_NOISE_PWR_12bit:
*odr = 200.0f;
break;
default:
*odr = -1.0f;
ret = 1;
break;
}
break;
case LIS2DW12_XL_ODR_800Hz:
switch (mode) {
case LIS2DW12_HIGH_PERFORMANCE:
case LIS2DW12_HIGH_PERFORMANCE_LOW_NOISE:
*odr = 800.0f;
break;
case LIS2DW12_CONT_LOW_PWR_4:
case LIS2DW12_CONT_LOW_PWR_3:
case LIS2DW12_CONT_LOW_PWR_2:
case LIS2DW12_CONT_LOW_PWR_12bit:
case LIS2DW12_SINGLE_LOW_PWR_4:
case LIS2DW12_SINGLE_LOW_PWR_3:
case LIS2DW12_SINGLE_LOW_PWR_2:
case LIS2DW12_SINGLE_LOW_PWR_12bit:
case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_4:
case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_3:
case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_2:
case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_12bit:
case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_4:
case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_3:
case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_2:
case LIS2DW12_SINGLE_LOW_LOW_NOISE_PWR_12bit:
*odr = 200.0f;
break;
default:
*odr = -1.0f;
ret = 1;
break;
}
break;
case LIS2DW12_XL_ODR_1k6Hz:
switch (mode) {
case LIS2DW12_HIGH_PERFORMANCE:
case LIS2DW12_HIGH_PERFORMANCE_LOW_NOISE:
*odr = 1600.0f;
break;
case LIS2DW12_CONT_LOW_PWR_4:
case LIS2DW12_CONT_LOW_PWR_3:
case LIS2DW12_CONT_LOW_PWR_2:
case LIS2DW12_CONT_LOW_PWR_12bit:
case LIS2DW12_SINGLE_LOW_PWR_4:
case LIS2DW12_SINGLE_LOW_PWR_3:
case LIS2DW12_SINGLE_LOW_PWR_2:
case LIS2DW12_SINGLE_LOW_PWR_12bit:
case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_4:
case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_3:
case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_2:
case LIS2DW12_CONT_LOW_PWR_LOW_NOISE_12bit:
case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_4:
case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_3:
case LIS2DW12_SINGLE_LOW_PWR_LOW_NOISE_2:
case LIS2DW12_SINGLE_LOW_LOW_NOISE_PWR_12bit:
*odr = 200.0f;
break;
default:
*odr = -1.0f;
ret = 1;
break;
}
break;
default:
*odr = -1.0f;
ret = 1;
break;
}
return ret;
}
/**
* @brief Set LIS2DW12 Accelerometer output data rate
* @param odr the output data rate to be set
* @retval 0 in case of success, an error code otherwise
*/
int LIS2DW12Sensor::set_x_odr(float odr)
{
return set_x_odr_with_mode(odr, LIS2DW12_HIGH_PERFORMANCE_MODE, LIS2DW12_LOW_NOISE_DISABLE);
}
/**
* @brief Set LIS2DW12 Accelerometer output data rate
* @param odr the output data rate to be set
* @param mode the operating mode to be used
* @param noise the low noise option
* @retval 0 in case of success, an error code otherwise
*/
int LIS2DW12Sensor::set_x_odr_with_mode(float odr, LIS2DW12_Operating_Mode_t mode, LIS2DW12_Low_Noise_t noise)
{
if (_x_is_enabled == 1) {
if (set_x_odr_when_enabled(odr, mode, noise) != 0) {
return 1;
}
} else {
if (set_x_odr_when_disabled(odr, mode, noise) != 0) {
return 1;
}
}
return 0;
}
/**
* @brief Set LIS2DW12 Accelerometer output data rate when enabled
* @param odr the output data rate to be set
* @param mode the operating mode to be used
* @param noise the low noise option
* @retval 0 in case of success, an error code otherwise
*/
int LIS2DW12Sensor::set_x_odr_when_enabled(float odr, LIS2DW12_Operating_Mode_t mode, LIS2DW12_Low_Noise_t noise)
{
lis2dw12_odr_t new_odr;
lis2dw12_mode_t new_power_mode;
switch (mode) {
case LIS2DW12_HIGH_PERFORMANCE_MODE:
default:
switch (noise) {
case LIS2DW12_LOW_NOISE_DISABLE:
default:
new_power_mode = LIS2DW12_HIGH_PERFORMANCE;
break;
case LIS2DW12_LOW_NOISE_ENABLE:
new_power_mode = LIS2DW12_HIGH_PERFORMANCE_LOW_NOISE;
break;
}
/* If High Performance mode minimum ODR is 12.5Hz */
if (odr < 12.5f) {
odr = 12.5f;
}
break;
case LIS2DW12_LOW_POWER_MODE4:
switch (noise) {
case LIS2DW12_LOW_NOISE_DISABLE:
default:
new_power_mode = LIS2DW12_CONT_LOW_PWR_4;
break;
case LIS2DW12_LOW_NOISE_ENABLE:
new_power_mode = LIS2DW12_CONT_LOW_PWR_LOW_NOISE_4;
break;
}
/* If Low Power mode maximum ODR is 200Hz */
if (odr > 200.0f) {
odr = 200.0f;
}
break;
case LIS2DW12_LOW_POWER_MODE3:
switch (noise) {
case LIS2DW12_LOW_NOISE_DISABLE:
default:
new_power_mode = LIS2DW12_CONT_LOW_PWR_3;
break;
case LIS2DW12_LOW_NOISE_ENABLE:
new_power_mode = LIS2DW12_CONT_LOW_PWR_LOW_NOISE_3;
break;
}
/* If Low Power mode maximum ODR is 200Hz */
if (odr > 200.0f) {
odr = 200.0f;
}
break;
case LIS2DW12_LOW_POWER_MODE2:
switch (noise) {
case LIS2DW12_LOW_NOISE_DISABLE:
default:
new_power_mode = LIS2DW12_CONT_LOW_PWR_2;
break;
case LIS2DW12_LOW_NOISE_ENABLE:
new_power_mode = LIS2DW12_CONT_LOW_PWR_LOW_NOISE_2;
break;
}
/* If Low Power mode maximum ODR is 200Hz */
if (odr > 200.0f) {
odr = 200.0f;
}
break;
case LIS2DW12_LOW_POWER_MODE1:
switch (noise) {
case LIS2DW12_LOW_NOISE_DISABLE:
default:
new_power_mode = LIS2DW12_CONT_LOW_PWR_12bit;
break;
case LIS2DW12_LOW_NOISE_ENABLE:
new_power_mode = LIS2DW12_CONT_LOW_PWR_LOW_NOISE_12bit;
break;
}
/* If Low Power mode maximum ODR is 200Hz */
if (odr > 200.0f) {
odr = 200.0f;
}
break;
}
new_odr = (odr <= 1.6f) ? LIS2DW12_XL_ODR_1Hz6_LP_ONLY
: (odr <= 12.5f) ? LIS2DW12_XL_ODR_12Hz5
: (odr <= 25.0f) ? LIS2DW12_XL_ODR_25Hz
: (odr <= 50.0f) ? LIS2DW12_XL_ODR_50Hz
: (odr <= 100.0f) ? LIS2DW12_XL_ODR_100Hz
: (odr <= 200.0f) ? LIS2DW12_XL_ODR_200Hz
: (odr <= 400.0f) ? LIS2DW12_XL_ODR_400Hz
: (odr <= 800.0f) ? LIS2DW12_XL_ODR_800Hz
: LIS2DW12_XL_ODR_1k6Hz;
/* Output data rate selection. */
if (lis2dw12_data_rate_set(&_reg_ctx, new_odr) != 0) {
return 1;
}
/* Power mode selection. */
if (lis2dw12_power_mode_set(&_reg_ctx, new_power_mode) != 0) {
return 1;
}
/* Store actual output data rate, operating mode and low noise. */
_x_last_odr = odr;
_x_last_operating_mode = mode;
_x_last_noise = noise;
return 0;
}
/**
* @brief Set LIS2DW12 Accelerometer output data rate when disabled
* @param odr the output data rate to be set
* @param mode the operating mode to be used
* @param noise the low noise option
* @retval 0 in case of success, an error code otherwise
*/
int LIS2DW12Sensor::set_x_odr_when_disabled(float odr, LIS2DW12_Operating_Mode_t mode, LIS2DW12_Low_Noise_t noise)
{
_x_last_operating_mode = mode;
_x_last_noise = noise;
_x_last_odr = (odr <= 1.6f) ? 1.6f
: (odr <= 12.5f) ? 12.5f
: (odr <= 25.0f) ? 25.0f
: (odr <= 50.0f) ? 50.0f
: (odr <= 100.0f) ? 100.0f
: (odr <= 200.0f) ? 200.0f
: (odr <= 400.0f) ? 400.0f
: (odr <= 800.0f) ? 800.0f
: 1600.0f;
return 0;
}
/**
* @brief Read LIS2DW12 Accelerometer full scale
* @param full_scale the pointer to the full scale
* @retval 0 in case of success, an error code otherwise
*/
int LIS2DW12Sensor::get_x_fs(float *full_scale)
{
int32_t ret = 0;
lis2dw12_fs_t fs_low_level;
/* Read actual full scale selection from sensor. */
if (lis2dw12_full_scale_get(&_reg_ctx, &fs_low_level) != 0) {
return 1;
}
switch (fs_low_level) {
case LIS2DW12_2g:
*full_scale = 2;
break;
case LIS2DW12_4g:
*full_scale = 4;
break;
case LIS2DW12_8g:
*full_scale = 8;
break;
case LIS2DW12_16g:
*full_scale = 16;
break;
default:
*full_scale = -1;
ret = 1;
break;
}
return ret;
}
/**
* @brief Set LIS2DW12 Accelerometer full scale
* @param full_scale the full scale to be set
* @retval 0 in case of success, an error code otherwise
*/
int LIS2DW12Sensor::set_x_fs(float full_scale)
{
lis2dw12_fs_t new_fs;
/* Seems like MISRA C-2012 rule 14.3a violation but only from single file statical analysis point of view because
the parameter passed to the function is not known at the moment of analysis */
new_fs = (full_scale <= 2) ? LIS2DW12_2g
: (full_scale <= 4) ? LIS2DW12_4g
: (full_scale <= 8) ? LIS2DW12_8g
: LIS2DW12_16g;
if (lis2dw12_full_scale_set(&_reg_ctx, new_fs) != 0) {
return 1;
}
return 0;
}
/**
* @brief Enable the wake up detection for LIS2DW12 accelerometer sensor
* @note This function sets the LIS2DW12 accelerometer ODR to 200Hz and the LIS2DW12 accelerometer full scale to 2g
* @retval 0 in case of success, an error code otherwise
*/
int LIS2DW12Sensor::enable_wake_up_detection(void)
{
int32_t ret = 0;
lis2dw12_ctrl4_int1_pad_ctrl_t val;
/* Output Data Rate selection */
if (set_x_odr(200.0f) != 0) {
return 1;
}
/* Full scale selection */
if (set_x_fs(2) != 0) {
return 1;
}
/* WAKE_DUR setting */
if (lis2dw12_wkup_dur_set(&_reg_ctx, 0x00) != 0) {
return 1;
}
/* Set wake up threshold. */
if (lis2dw12_wkup_threshold_set(&_reg_ctx, 0x02) != 0) {
return 1;
}
if (lis2dw12_pin_int1_route_get(&_reg_ctx, &val) != 0) {
return 1;
}
val.int1_wu = PROPERTY_ENABLE;
if (lis2dw12_pin_int1_route_set(&_reg_ctx, &val) != 0) {
return 1;
}
return ret;
}
/**
* @brief Disable the wake up detection for LIS2DW12 accelerometer sensor
* @retval 0 in case of success, an error code otherwise
*/
int LIS2DW12Sensor::disable_wake_up_detection(void)
{
lis2dw12_ctrl4_int1_pad_ctrl_t ctrl4_int1_reg;
lis2dw12_ctrl5_int2_pad_ctrl_t ctrl5_int2_reg;
lis2dw12_ctrl_reg7_t ctrl_reg7;
/* Disable wake up event on INT1 pin. */
if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_CTRL4_INT1_PAD_CTRL, (uint8_t *)&ctrl4_int1_reg, 1) != 0) {
return 1;
}
ctrl4_int1_reg.int1_wu = PROPERTY_DISABLE;
if (lis2dw12_write_reg(&_reg_ctx, LIS2DW12_CTRL4_INT1_PAD_CTRL, (uint8_t *)&ctrl4_int1_reg, 1) != 0) {
return 1;
}
/* Read INT2 Sleep Change */
if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_CTRL5_INT2_PAD_CTRL, (uint8_t *)&ctrl5_int2_reg, 1) != 0) {
return 1;
}
/*Disable Interrupts bit if none event is still enabled */
if (ctrl5_int2_reg.int2_sleep_chg == 0 && ctrl4_int1_reg.int1_wu == 0 && ctrl4_int1_reg.int1_6d == 0) {
if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_CTRL_REG7, (uint8_t *)&ctrl_reg7, 1) != 0) {
return 1;
}
ctrl_reg7.interrupts_enable = PROPERTY_DISABLE;
if (lis2dw12_write_reg(&_reg_ctx, LIS2DW12_CTRL_REG7, (uint8_t *)&ctrl_reg7, 1) != 0) {
return 1;
}
}
/* Reset wake up threshold. */
if (lis2dw12_wkup_threshold_set(&_reg_ctx, 0x00) != 0) {
return 1;
}
/* WAKE_DUR setting */
if (lis2dw12_wkup_dur_set(&_reg_ctx, 0x00) != 0) {
return 1;
}
return 0;
}
/**
* @brief Set the wake up threshold for LIS2DW12 accelerometer sensor
* @param thr the threshold to be set
* @retval 0 in case of success, an error code otherwise
*/
int LIS2DW12Sensor::set_wake_up_threshold(uint8_t thr)
{
/* Set wake up threshold. */
if (lis2dw12_wkup_threshold_set(&_reg_ctx, thr) != 0) {
return 1;
}
return 0;
}
/**
* @brief Set the wake up duration for LIS2DW12 accelerometer sensor
* @param dur the duration to be set
* @retval 0 in case of success, an error code otherwise
*/
int LIS2DW12Sensor::set_wake_up_duration(uint8_t dur)
{
/* Set wake up duration. */
if (lis2dw12_wkup_dur_set(&_reg_ctx, dur) != 0) {
return 1;
}
return 0;
}
/**
* @brief Enable the inactivity detection for LIS2DW12 accelerometer sensor
* @retval 0 in case of success, an error code otherwise
*/
int LIS2DW12Sensor::enable_inactivity_detection(void)
{
int32_t ret = 0;
lis2dw12_ctrl5_int2_pad_ctrl_t val;
/* Output Data Rate and Full scale must be selected externally */
/* SLEEP_DUR setting */
if (lis2dw12_act_sleep_dur_set(&_reg_ctx, 0x01) != 0) {
return 1;
}
/* Set wake up threshold. */
if (lis2dw12_wkup_threshold_set(&_reg_ctx, 0x02) != 0) {
return 1;
}
/* Enable inactivity detection. */
if (lis2dw12_act_mode_set(&_reg_ctx, LIS2DW12_DETECT_ACT_INACT) != 0) {
return 1;
}
if (lis2dw12_pin_int2_route_get(&_reg_ctx, &val) != 0) {
return 1;
}
val.int2_sleep_chg = PROPERTY_ENABLE;
if (lis2dw12_pin_int2_route_set(&_reg_ctx, &val) != 0) {
return 1;
}
return ret;
}
/**
* @brief Disable the inactivity detection for LIS2DW12 accelerometer sensor
* @retval 0 in case of success, an error code otherwise
*/
int LIS2DW12Sensor::disable_inactivity_detection(void)
{
lis2dw12_ctrl4_int1_pad_ctrl_t ctrl4_int1_reg;
lis2dw12_ctrl5_int2_pad_ctrl_t ctrl5_int2_reg;
lis2dw12_ctrl_reg7_t ctrl_reg7;
/* Disable inactivity event on INT2 pin */
if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_CTRL5_INT2_PAD_CTRL, (uint8_t *)&ctrl5_int2_reg, 1) != 0) {
return 1;
}
ctrl5_int2_reg.int2_sleep_chg = PROPERTY_DISABLE;
if (lis2dw12_write_reg(&_reg_ctx, LIS2DW12_CTRL5_INT2_PAD_CTRL, (uint8_t *)&ctrl5_int2_reg, 1) != 0) {
return 1;
}
/* Read INT1 Wake Up event and INT1 6D Orientation event */
if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_CTRL4_INT1_PAD_CTRL, (uint8_t *)&ctrl4_int1_reg, 1) != 0) {
return 1;
}
/*Disable Interrupts bit if none event is still enabled */
if (ctrl5_int2_reg.int2_sleep_chg == 0 && ctrl4_int1_reg.int1_wu == 0 && ctrl4_int1_reg.int1_6d == 0) {
if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_CTRL_REG7, (uint8_t *)&ctrl_reg7, 1) != 0) {
return 1;
}
ctrl_reg7.interrupts_enable = PROPERTY_DISABLE;
if (lis2dw12_write_reg(&_reg_ctx, LIS2DW12_CTRL_REG7, (uint8_t *)&ctrl_reg7, 1) != 0) {
return 1;
}
}
/* Disable inactivity detection. */
if (lis2dw12_act_mode_set(&_reg_ctx, LIS2DW12_NO_DETECTION) != 0) {
return 1;
}
/* Reset wake up threshold. */
if (lis2dw12_wkup_threshold_set(&_reg_ctx, 0x00) != 0) {
return 1;
}
/* SLEEP_DUR setting */
if (lis2dw12_act_sleep_dur_set(&_reg_ctx, 0x00) != 0) {
return 1;
}
return 0;
}
/**
* @brief Set the sleep duration for LIS2DW12 accelerometer sensor
* @param dur the duration to be set
* @retval 0 in case of success, an error code otherwise
*/
int LIS2DW12Sensor::set_sleep_duration(uint8_t dur)
{
/* Set sleep duration. */
if (lis2dw12_act_sleep_dur_set(&_reg_ctx, dur) != 0) {
return 1;
}
return 0;
}
/**
* @brief Enable the 6D orientation detection for LIS2DW12 accelerometer sensor
* @note This function sets the LIS2DW12 accelerometer ODR to 200Hz and the LIS2DW12 accelerometer full scale to 2g
* @retval 0 in case of success, an error code otherwise
*/
int LIS2DW12Sensor::enable_6d_orientation(void)
{
int32_t ret = 0;
lis2dw12_ctrl4_int1_pad_ctrl_t val;
/* Output Data Rate selection */
if (set_x_odr(200.0f) == 1) {
return 1;
}
/* Full scale selection. */
if (set_x_fs(2.0f) == 1) {
return 1;
}
/* 6D orientation threshold. */
if (lis2dw12_6d_threshold_set(&_reg_ctx, 2) != 0) { /* 60 degrees */
return 1;
}
/* Enable 6D orientation event on INT1 pin */
if (lis2dw12_pin_int1_route_get(&_reg_ctx, &val) != 0) {
return 1;
}
val.int1_6d = PROPERTY_ENABLE;
if (lis2dw12_pin_int1_route_set(&_reg_ctx, &val) != 0) {
return 1;
}
return ret;
}
/**
* @brief Disable the 6D orientation detection for LIS2DW12 accelerometer sensor
* @retval 0 in case of success, an error code otherwise
*/
int LIS2DW12Sensor::disable_6d_orientation(void)
{
lis2dw12_ctrl4_int1_pad_ctrl_t ctrl4_int1_reg;
lis2dw12_ctrl5_int2_pad_ctrl_t ctrl5_int2_reg;
lis2dw12_ctrl_reg7_t ctrl_reg7;
/* Disable 6D orientation event on INT1 pin */
if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_CTRL4_INT1_PAD_CTRL, (uint8_t *)&ctrl4_int1_reg, 1) != 0) {
return 1;
}
ctrl4_int1_reg.int1_6d = PROPERTY_DISABLE;
if (lis2dw12_write_reg(&_reg_ctx, LIS2DW12_CTRL4_INT1_PAD_CTRL, (uint8_t *)&ctrl4_int1_reg, 1) != 0) {
return 1;
}
/* Read INT2 Sleep Change */
if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_CTRL5_INT2_PAD_CTRL, (uint8_t *)&ctrl5_int2_reg, 1) != 0) {
return 1;
}
/*Disable Interrupts bit if none event is still enabled */
if (ctrl5_int2_reg.int2_sleep_chg == 0 && ctrl4_int1_reg.int1_wu == 0 && ctrl4_int1_reg.int1_6d == 0) {
if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_CTRL_REG7, (uint8_t *)&ctrl_reg7, 1) != 0) {
return 1;
}
ctrl_reg7.interrupts_enable = PROPERTY_DISABLE;
if (lis2dw12_write_reg(&_reg_ctx, LIS2DW12_CTRL_REG7, (uint8_t *)&ctrl_reg7, 1) != 0) {
return 1;
}
}
/* Reset 6D orientation threshold. */
if (lis2dw12_6d_threshold_set(&_reg_ctx, 0) != 0) {
return 1;
}
return 0;
}
/**
* @brief Set the 6D orientation threshold for LIS2DW12 accelerometer sensor
* @param thr the threshold to be set
* @retval 0 in case of success, an error code otherwise
*/
int LIS2DW12Sensor::set_6d_orientation_threshold(uint8_t thr)
{
if (thr > 3) {
return 1;
}
if (lis2dw12_6d_threshold_set(&_reg_ctx, thr) != 0) {
return 1;
}
return 0;
}
/**
* @brief Get the 6D orientation XL axis for LIS2DW12 accelerometer sensor
* @param xl the pointer to the 6D orientation XL axis
* @retval 0 in case of success, an error code otherwise
*/
int LIS2DW12Sensor::get_6d_orientation_xl(uint8_t *xl)
{
lis2dw12_sixd_src_t data;
if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_SIXD_SRC, (uint8_t *)&data, 1) != 0) {
return 1;
}
*xl = data.xl;
return 0;
}
/**
* @brief Get the 6D orientation XH axis for LIS2DW12 accelerometer sensor
* @param xh the pointer to the 6D orientation XH axis
* @retval 0 in case of success, an error code otherwise
*/
int LIS2DW12Sensor::get_6d_orientation_xh(uint8_t *xh)
{
lis2dw12_sixd_src_t data;
if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_SIXD_SRC, (uint8_t *)&data, 1) != 0) {
return 1;
}
*xh = data.xh;
return 0;
}
/**
* @brief Get the 6D orientation YL axis for LIS2DW12 accelerometer sensor
* @param yl the pointer to the 6D orientation YL axis
* @retval 0 in case of success, an error code otherwise
*/
int LIS2DW12Sensor::get_6d_orientation_yl(uint8_t *yl)
{
lis2dw12_sixd_src_t data;
if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_SIXD_SRC, (uint8_t *)&data, 1) != 0) {
return 1;
}
*yl = data.yl;
return 0;
}
/**
* @brief Get the 6D orientation YH axis for LIS2DW12 accelerometer sensor
* @param yh the pointer to the 6D orientation YH axis
* @retval 0 in case of success, an error code otherwise
*/
int LIS2DW12Sensor::get_6d_orientation_yh(uint8_t *yh)
{
lis2dw12_sixd_src_t data;
if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_SIXD_SRC, (uint8_t *)&data, 1) != 0) {
return 1;
}
*yh = data.yh;
return 0;
}
/**
* @brief Get the 6D orientation ZL axis for LIS2DW12 accelerometer sensor
* @param zl the pointer to the 6D orientation ZL axis
* @retval 0 in case of success, an error code otherwise
*/
int LIS2DW12Sensor::get_6d_orientation_zl(uint8_t *zl)
{
lis2dw12_sixd_src_t data;
if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_SIXD_SRC, (uint8_t *)&data, 1) != 0) {
return 1;
}
*zl = data.zl;
return 0;
}
/**
* @brief Get the 6D orientation ZH axis for LIS2DW12 accelerometer sensor
* @param zh the pointer to the 6D orientation ZH axis
* @retval 0 in case of success, an error code otherwise
*/
int LIS2DW12Sensor::get_6d_orientation_zh(uint8_t *zh)
{
lis2dw12_sixd_src_t data;
if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_SIXD_SRC, (uint8_t *)&data, 1) != 0) {
return 1;
}
*zh = data.zh;
return 0;
}
/**
* @brief Get the status of all hardware events for LIS2DW12 accelerometer sensor
* @param status the pointer to the status of all hardware events
* @retval 0 in case of success, an error code otherwise
*/
int LIS2DW12Sensor::get_event_status(LIS2DW12_Event_Status_t *status)
{
lis2dw12_status_t status_reg;
lis2dw12_ctrl4_int1_pad_ctrl_t ctrl4_int1_reg;
lis2dw12_ctrl5_int2_pad_ctrl_t ctrl5_int2_reg;
(void)memset((void *)status, 0x0, sizeof(LIS2DW12_Event_Status_t));
if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_STATUS, (uint8_t *)&status_reg, 1) != 0) {
return 1;
}
if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_CTRL4_INT1_PAD_CTRL, (uint8_t *)&ctrl4_int1_reg, 1) != 0) {
return 1;
}
if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_CTRL5_INT2_PAD_CTRL, (uint8_t *)&ctrl5_int2_reg, 1) != 0) {
return 1;
}
if (ctrl4_int1_reg.int1_wu == 1U) {
if (status_reg.wu_ia == 1U) {
status->WakeUpStatus = 1;
}
}
if (ctrl4_int1_reg.int1_6d == 1U) {
if (status_reg._6d_ia == 1U) {
status->D6DOrientationStatus = 1;
}
}
if (ctrl5_int2_reg.int2_sleep_chg == 1U) {
if (status_reg.sleep_state == 1U) {
status->SleepStatus = 1;
}
}
return 0;
}
/**
* @brief Get the number of samples contained into the FIFO
* @param num_samples the number of samples contained into the FIFO
* @retval 0 in case of success, an error code otherwise
*/
int LIS2DW12Sensor::get_fifo_num_samples(uint16_t *num_samples)
{
lis2dw12_fifo_samples_t fifo_samples;
if (lis2dw12_read_reg(&_reg_ctx, LIS2DW12_FIFO_SAMPLES, (uint8_t *)&fifo_samples, 1) != 0) {
return 1;
}
if (fifo_samples.diff == 0x20) {
*num_samples = 32;
} else {
*num_samples = fifo_samples.diff;
}
return 0;
}
/**
* @brief Set the FIFO mode
* @param mode FIFO mode
* @retval 0 in case of success, an error code otherwise
*/
int LIS2DW12Sensor::set_fifo_mode(uint8_t mode)
{
int32_t ret = 0;
/* Verify that the passed parameter contains one of the valid values. */
switch ((lis2dw12_fmode_t)mode) {
case LIS2DW12_BYPASS_MODE:
case LIS2DW12_FIFO_MODE:
case LIS2DW12_STREAM_TO_FIFO_MODE:
case LIS2DW12_BYPASS_TO_STREAM_MODE:
case LIS2DW12_STREAM_MODE:
break;
default:
ret = 1;
break;
}
if (ret == 1) {
return ret;
}
if (lis2dw12_fifo_mode_set(&_reg_ctx, (lis2dw12_fmode_t)mode) != 0) {
return 1;
}
return ret;
}
/**
* @brief Read the data from register
* @param reg register address
* @param data register data
* @retval 0 in case of success, an error code otherwise
*/
int LIS2DW12Sensor::read_reg(uint8_t reg, uint8_t *data)
{
if (lis2dw12_read_reg(&_reg_ctx, reg, data, 1) != 0) {
return 1;
}
return 0;
}
/**
* @brief Write the data to register
* @param reg register address
* @param data register data
* @retval 0 in case of success, an error code otherwise
*/
int LIS2DW12Sensor::write_reg(uint8_t reg, uint8_t data)
{
if (lis2dw12_write_reg(&_reg_ctx, reg, &data, 1) != 0) {
return 1;
}
return 0;
}
int32_t LIS2DW12_io_write(void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite)
{
return ((LIS2DW12Sensor *)handle)->io_write(pBuffer, WriteAddr, nBytesToWrite);
}
int32_t LIS2DW12_io_read(void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead)
{
return ((LIS2DW12Sensor *)handle)->io_read(pBuffer, ReadAddr, nBytesToRead);
}