LIS2DW12 accelerometer sensor library
Dependencies: X_NUCLEO_COMMON ST_INTERFACES
LIS2DW12Sensor.h
- Committer:
- martlefebvre94
- Date:
- 2019-09-17
- Revision:
- 5:b6ce53be44c2
- Parent:
- 4:94c5d5546161
File content as of revision 5:b6ce53be44c2:
/** ****************************************************************************** * @file LIS2DW12Sensor.h * @author CLab * @version V1.0.0 * @date 15 November 2018 * @brief Abstract Class 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. * ****************************************************************************** */ /* Prevent recursive inclusion -----------------------------------------------*/ #ifndef __LIS2DW12Sensor_H__ #define __LIS2DW12Sensor_H__ /* Includes ------------------------------------------------------------------*/ #include "DevI2C.h" #include "lis2dw12_reg.h" #include "MotionSensor.h" #include <assert.h> /* Defines -------------------------------------------------------------------*/ #define LIS2DW12_ACC_SENSITIVITY_FOR_FS_2G_LOPOW1_MODE 0.976f /**< Sensitivity value for 2g full scale, Low-power1 mode [mg/LSB] */ #define LIS2DW12_ACC_SENSITIVITY_FOR_FS_2G_OTHER_MODES 0.244f /**< Sensitivity value for 2g full scale, all other modes except Low-power1 [mg/LSB] */ #define LIS2DW12_ACC_SENSITIVITY_FOR_FS_4G_LOPOW1_MODE 1.952f /**< Sensitivity value for 4g full scale, Low-power1 mode [mg/LSB] */ #define LIS2DW12_ACC_SENSITIVITY_FOR_FS_4G_OTHER_MODES 0.488f /**< Sensitivity value for 4g full scale, all other modes except Low-power1 [mg/LSB] */ #define LIS2DW12_ACC_SENSITIVITY_FOR_FS_8G_LOPOW1_MODE 3.904f /**< Sensitivity value for 8g full scale, Low-power1 mode [mg/LSB] */ #define LIS2DW12_ACC_SENSITIVITY_FOR_FS_8G_OTHER_MODES 0.976f /**< Sensitivity value for 8g full scale, all other modes except Low-power1 [mg/LSB] */ #define LIS2DW12_ACC_SENSITIVITY_FOR_FS_16G_LOPOW1_MODE 7.808f /**< Sensitivity value for 16g full scale, Low-power1 mode [mg/LSB] */ #define LIS2DW12_ACC_SENSITIVITY_FOR_FS_16G_OTHER_MODES 1.952f /**< Sensitivity value for 16g full scale, all other modes except Low-power1 [mg/LSB] */ /* Typedefs ------------------------------------------------------------------*/ typedef struct { unsigned int WakeUpStatus : 1; unsigned int D6DOrientationStatus : 1; unsigned int SleepStatus : 1; } LIS2DW12_Event_Status_t; typedef enum { LIS2DW12_HIGH_PERFORMANCE_MODE, LIS2DW12_LOW_POWER_MODE4, LIS2DW12_LOW_POWER_MODE3, LIS2DW12_LOW_POWER_MODE2, LIS2DW12_LOW_POWER_MODE1 } LIS2DW12_Operating_Mode_t; typedef enum { LIS2DW12_LOW_NOISE_DISABLE, LIS2DW12_LOW_NOISE_ENABLE } LIS2DW12_Low_Noise_t; /* Class Declaration ---------------------------------------------------------*/ /** * Abstract class of an LIS2DW12 Inertial Measurement Unit (IMU) 3 axes * sensor. */ class LIS2DW12Sensor : public MotionSensor { public: enum SPI_type_t {SPI3W, SPI4W}; LIS2DW12Sensor(DevI2C *i2c, uint8_t address = LIS2DW12_I2C_ADD_H, PinName int1_pin = NC, PinName int2_pin = NC); LIS2DW12Sensor(SPI *spi, PinName cs_pin, PinName int1_pin = NC, PinName int2_pin = NC, SPI_type_t spi_type = SPI4W); virtual int init(void *init); virtual int read_id(uint8_t *id); virtual int get_x_axes(int32_t *pData); virtual int get_x_sensitivity(float *pfData); virtual int get_x_axes_raw(int16_t *pData); virtual int get_x_odr(float *odr); virtual int set_x_odr(float odr); virtual int get_x_fs(float *fullScale); virtual int set_x_fs(float fullScale); virtual int get_x_bw_filt(uint8_t* bw_filt); virtual int set_x_bw_filt(uint8_t bw_filt); virtual int get_x_power_mode(uint8_t* lp_mode, uint8_t* mode, uint8_t* low_noise); virtual int set_x_power_mode(uint8_t power_mode); int set_x_odr_with_mode(float odr, LIS2DW12_Operating_Mode_t mode = LIS2DW12_HIGH_PERFORMANCE_MODE, LIS2DW12_Low_Noise_t noise = LIS2DW12_LOW_NOISE_DISABLE); int enable_x(void); int disable_x(void); int enable_wake_up_detection(void); int disable_wake_up_detection(void); int set_wake_up_threshold(uint8_t thr); int set_wake_up_duration(uint8_t dur); int enable_inactivity_detection(void); int disable_inactivity_detection(void); int set_sleep_duration(uint8_t dur); int enable_6d_orientation(void); int disable_6d_orientation(void); int set_6d_orientation_threshold(uint8_t thr); int get_6d_orientation_xl(uint8_t *xl); int get_6d_orientation_xh(uint8_t *xh); int get_6d_orientation_yl(uint8_t *yl); int get_6d_orientation_yh(uint8_t *yh); int get_6d_orientation_zl(uint8_t *zl); int get_6d_orientation_zh(uint8_t *zh); int get_event_status(LIS2DW12_Event_Status_t *status); int get_fifo_num_samples(uint16_t *num_samples); int set_fifo_mode(uint8_t mode); int read_reg(uint8_t reg, uint8_t *data); int write_reg(uint8_t reg, uint8_t data); /** * @brief Attaching an interrupt handler to the INT1 interrupt. * @param fptr An interrupt handler. * @retval None. */ void attach_int1_irq(void (*fptr)(void)) { _int1_irq.rise(fptr); } /** * @brief Enabling the INT1 interrupt handling. * @param None. * @retval None. */ void enable_int1_irq(void) { _int1_irq.enable_irq(); } /** * @brief Disabling the INT1 interrupt handling. * @param None. * @retval None. */ void disable_int1_irq(void) { _int1_irq.disable_irq(); } /** * @brief Attaching an interrupt handler to the INT2 interrupt. * @param fptr An interrupt handler. * @retval None. */ void attach_int2_irq(void (*fptr)(void)) { _int2_irq.rise(fptr); } /** * @brief Enabling the INT2 interrupt handling. * @param None. * @retval None. */ void enable_int2_irq(void) { _int2_irq.enable_irq(); } /** * @brief Disabling the INT2 interrupt handling. * @param None. * @retval None. */ void disable_int2_irq(void) { _int2_irq.disable_irq(); } /** * @brief Utility function to read data. * @param pBuffer: pointer to data to be read. * @param RegisterAddr: specifies internal address register to be read. * @param NumByteToRead: number of bytes to be read. * @retval 0 if ok, an error code otherwise. */ uint8_t io_read(uint8_t *pBuffer, uint8_t RegisterAddr, uint16_t NumByteToRead) { if (_dev_spi) { /* Write Reg Address */ _dev_spi->lock(); _cs_pin = 0; if (_spi_type == SPI4W) { _dev_spi->write(RegisterAddr | 0x80); for (int i = 0; i < NumByteToRead; i++) { *(pBuffer + i) = _dev_spi->write(0x00); } } else if (_spi_type == SPI3W) { /* Write RD Reg Address with RD bit*/ uint8_t TxByte = RegisterAddr | 0x80; _dev_spi->write((char *)&TxByte, 1, (char *)pBuffer, (int) NumByteToRead); } _cs_pin = 1; _dev_spi->unlock(); return 0; } if (_dev_i2c) { return (uint8_t) _dev_i2c->i2c_read(pBuffer, _address, RegisterAddr, NumByteToRead); } return 1; } /** * @brief Utility function to write data. * @param pBuffer: pointer to data to be written. * @param RegisterAddr: specifies internal address register to be written. * @param NumByteToWrite: number of bytes to write. * @retval 0 if ok, an error code otherwise. */ uint8_t io_write(uint8_t *pBuffer, uint8_t RegisterAddr, uint16_t NumByteToWrite) { if (_dev_spi) { _dev_spi->lock(); _cs_pin = 0; _dev_spi->write(RegisterAddr); _dev_spi->write((char *)pBuffer, (int) NumByteToWrite, NULL, 0); _cs_pin = 1; _dev_spi->unlock(); return 0; } if (_dev_i2c) { return (uint8_t) _dev_i2c->i2c_write(pBuffer, _address, RegisterAddr, NumByteToWrite); } return 1; } private: int set_x_odr_when_enabled(float odr, LIS2DW12_Operating_Mode_t mode, LIS2DW12_Low_Noise_t noise); int set_x_odr_when_disabled(float odr, LIS2DW12_Operating_Mode_t mode, LIS2DW12_Low_Noise_t noise); /* Helper classes. */ DevI2C *_dev_i2c; SPI *_dev_spi; /* Configuration */ uint8_t _address; DigitalOut _cs_pin; InterruptIn _int1_irq; InterruptIn _int2_irq; SPI_type_t _spi_type; uint8_t _x_is_enabled; float _x_last_odr; LIS2DW12_Operating_Mode_t _x_last_operating_mode; LIS2DW12_Low_Noise_t _x_last_noise; lis2dw12_ctx_t _reg_ctx; }; #ifdef __cplusplus extern "C" { #endif int32_t LIS2DW12_io_write(void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite); int32_t LIS2DW12_io_read(void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead); #ifdef __cplusplus } #endif #endif