LSM6DSOSensor.h

00001 /**
00002  ******************************************************************************
00003  * @file    LSM6DSOSensor.h
00004  * @author  SRA
00005  * @version V1.0.0
00006  * @date    February 2019
00007  * @brief   Abstract Class of an LSM6DSO Inertial Measurement Unit (IMU) 6 axes
00008  *          sensor.
00009  ******************************************************************************
00010  * @attention
00011  *
00012  * <h2><center>&copy; COPYRIGHT(c) 2019 STMicroelectronics</center></h2>
00013  *
00014  * Redistribution and use in source and binary forms, with or without modification,
00015  * are permitted provided that the following conditions are met:
00016  *   1. Redistributions of source code must retain the above copyright notice,
00017  *      this list of conditions and the following disclaimer.
00018  *   2. Redistributions in binary form must reproduce the above copyright notice,
00019  *      this list of conditions and the following disclaimer in the documentation
00020  *      and/or other materials provided with the distribution.
00021  *   3. Neither the name of STMicroelectronics nor the names of its contributors
00022  *      may be used to endorse or promote products derived from this software
00023  *      without specific prior written permission.
00024  *
00025  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00026  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00027  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00028  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
00029  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
00030  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
00031  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00032  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
00033  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
00034  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00035  *
00036  ******************************************************************************
00037  */
00038 
00039 
00040 /* Prevent recursive inclusion -----------------------------------------------*/
00041 
00042 #ifndef __LSM6DSOSensor_H__
00043 #define __LSM6DSOSensor_H__
00044 
00045 
00046 /* Includes ------------------------------------------------------------------*/
00047 #include "DevI2C.h"
00048 #include "lsm6dso_reg.h"
00049 #include "MotionSensor.h"
00050 #include "GyroSensor.h"
00051 #include <assert.h>
00052 
00053 /* Defines -------------------------------------------------------------------*/
00054 
00055 #define LSM6DSO_ACC_SENSITIVITY_FS_2G   0.061f
00056 #define LSM6DSO_ACC_SENSITIVITY_FS_4G   0.122f
00057 #define LSM6DSO_ACC_SENSITIVITY_FS_8G   0.244f
00058 #define LSM6DSO_ACC_SENSITIVITY_FS_16G  0.488f
00059 
00060 #define LSM6DSO_GYRO_SENSITIVITY_FS_125DPS    4.375f
00061 #define LSM6DSO_GYRO_SENSITIVITY_FS_250DPS    8.750f
00062 #define LSM6DSO_GYRO_SENSITIVITY_FS_500DPS   17.500f
00063 #define LSM6DSO_GYRO_SENSITIVITY_FS_1000DPS  35.000f
00064 #define LSM6DSO_GYRO_SENSITIVITY_FS_2000DPS  70.000f
00065 
00066 
00067 /* Typedefs ------------------------------------------------------------------*/
00068 
00069 typedef enum {
00070     LSM6DSO_INT1_PIN,
00071     LSM6DSO_INT2_PIN,
00072 } LSM6DSO_Interrupt_Pin_t;
00073 
00074 typedef struct {
00075     unsigned int FreeFallStatus : 1;
00076     unsigned int TapStatus : 1;
00077     unsigned int DoubleTapStatus : 1;
00078     unsigned int WakeUpStatus : 1;
00079     unsigned int StepStatus : 1;
00080     unsigned int TiltStatus : 1;
00081     unsigned int D6DOrientationStatus : 1;
00082     unsigned int SleepStatus : 1;
00083 } LSM6DSO_Event_Status_t;
00084 
00085 
00086 /* Class Declaration ---------------------------------------------------------*/
00087 
00088 /**
00089  * Abstract class of an LSM6DSO Inertial Measurement Unit (IMU) 6 axes
00090  * sensor.
00091  */
00092 class LSM6DSOSensor : public MotionSensor, public GyroSensor {
00093 public:
00094     enum SPI_type_t {SPI3W, SPI4W};
00095     LSM6DSOSensor(SPI *spi, PinName cs_pin, PinName int1_pin = NC, PinName int2_pin = NC, SPI_type_t spi_type = SPI4W);
00096     LSM6DSOSensor(DevI2C *i2c, uint8_t address = LSM6DSO_I2C_ADD_H, PinName int1_pin = NC, PinName int2_pin = NC);
00097     virtual int init(void *init);
00098     virtual int read_id(uint8_t *id);
00099     virtual int get_x_axes(int32_t *acceleration);
00100     virtual int get_g_axes(int32_t *angular_rate);
00101     virtual int get_x_sensitivity(float *sensitivity);
00102     virtual int get_g_sensitivity(float *sensitivity);
00103     virtual int get_x_axes_raw(int16_t *value);
00104     virtual int get_g_axes_raw(int16_t *value);
00105     virtual int get_x_odr(float *odr);
00106     virtual int get_g_odr(float *odr);
00107     virtual int set_x_odr(float odr);
00108     virtual int set_g_odr(float odr);
00109     virtual int get_x_fs(float *full_scale);
00110     virtual int get_g_fs(float *full_scale);
00111     virtual int set_x_fs(float full_scale);
00112     virtual int set_g_fs(float full_scale);
00113     virtual int get_x_power_mode(uint8_t *xl_hm_mode, uint8_t *xl_ulp_en);
00114     virtual int set_x_power_mode(uint8_t xl_hm_mode, uint8_t xl_ulp_en);
00115     virtual int get_x_lpf2_en(uint8_t *lpf2_en);
00116     virtual int set_x_lpf2_en(uint8_t lpf2_en);
00117     virtual int get_x_filter_config(uint8_t *hp_slope_xl_en, uint8_t *hpcf_xl);
00118     virtual int set_x_filter_config(uint8_t hp_slope_xl_en, uint8_t hpcf_xl);
00119     virtual int get_g_power_mode(uint8_t *g_hm_mode);
00120     virtual int set_g_power_mode(uint8_t g_hm_mode);
00121     virtual int get_g_lpf_config(uint8_t *lpf1_sel_g, uint8_t *ftype);
00122     virtual int set_g_lpf_config(uint8_t lpf1_sel_g, uint8_t ftype);
00123     virtual int get_g_hpf_config(uint8_t *hp_en_g, uint8_t *hpm_g);
00124     virtual int set_g_hpf_config(uint8_t hp_en_g, uint8_t hpm_g);
00125     int enable_x(void);
00126     int enable_g(void);
00127     int disable_x(void);
00128     int disable_g(void);
00129     int enable_free_fall_detection(LSM6DSO_Interrupt_Pin_t pin = LSM6DSO_INT1_PIN);
00130     int disable_free_fall_detection(void);
00131     int set_free_fall_threshold(uint8_t thr);
00132     int set_free_fall_duration(uint8_t dur);
00133     int enable_pedometer(void);
00134     int disable_pedometer(void);
00135     int get_step_counter(uint16_t *step_count);
00136     int reset_step_counter(void);
00137     int enable_tilt_detection(LSM6DSO_Interrupt_Pin_t pin = LSM6DSO_INT1_PIN);
00138     int disable_tilt_detection(void);
00139     int enable_wake_up_detection(LSM6DSO_Interrupt_Pin_t pin = LSM6DSO_INT1_PIN);
00140     int disable_wake_up_detection(void);
00141     int set_wake_up_threshold(uint8_t thr);
00142     int set_wake_up_duration(uint8_t dur);
00143     int enable_single_tap_detection(LSM6DSO_Interrupt_Pin_t pin = LSM6DSO_INT1_PIN);
00144     int disable_single_tap_detection(void);
00145     int enable_double_tap_detection(LSM6DSO_Interrupt_Pin_t pin = LSM6DSO_INT1_PIN);
00146     int disable_double_tap_detection(void);
00147     int set_tap_threshold(uint8_t thr);
00148     int set_tap_shock_time(uint8_t time);
00149     int set_tap_quiet_time(uint8_t time);
00150     int set_tap_duration_time(uint8_t time);
00151     int enable_6d_orientation(LSM6DSO_Interrupt_Pin_t pin = LSM6DSO_INT1_PIN);
00152     int disable_6d_orientation(void);
00153     int set_6d_orientation_threshold(uint8_t thr);
00154     int get_6d_orientation_xl(uint8_t *xl);
00155     int get_6d_orientation_xh(uint8_t *xh);
00156     int get_6d_orientation_yl(uint8_t *yl);
00157     int get_6d_orientation_yh(uint8_t *yh);
00158     int get_6d_orientation_zl(uint8_t *zl);
00159     int get_6d_orientation_zh(uint8_t *zh);
00160     int get_event_status(LSM6DSO_Event_Status_t *status);
00161     int read_reg(uint8_t reg, uint8_t *data);
00162     int write_reg(uint8_t reg, uint8_t data);
00163     int set_interrupt_latch(uint8_t status);
00164     int get_x_drdy_status(uint8_t *status);
00165     int set_x_self_test(uint8_t status);
00166     int get_g_drdy_status(uint8_t *status);
00167     int set_g_self_test(uint8_t status);
00168     int get_fifo_num_samples(uint16_t *num_samples);
00169     int get_fifo_full_status(uint8_t *status);
00170     int set_fifo_int1_fifo_full(uint8_t status);
00171     int set_fifo_watermark_level(uint16_t watermark);
00172     int set_fifo_stop_on_fth(uint8_t status);
00173     int set_fifo_mode(uint8_t mode);
00174     int get_fifo_tag(uint8_t *tag);
00175     int get_fifo_data(uint8_t *data);
00176     int get_fifo_x_axes(int32_t *acceleration);
00177     int set_fifo_x_bdr(float bdr);
00178     int get_fifo_g_axes(int32_t *angular_velocity);
00179     int set_fifo_g_bdr(float bdr);
00180 
00181     /**
00182      * @brief  Attaching an interrupt handler to the INT1 interrupt.
00183      * @param  fptr An interrupt handler.
00184      * @retval None.
00185      */
00186     void attach_int1_irq(void (*fptr)(void))
00187     {
00188         _int1_irq.rise(fptr);
00189     }
00190 
00191     /**
00192      * @brief  Enabling the INT1 interrupt handling.
00193      * @param  None.
00194      * @retval None.
00195      */
00196     void enable_int1_irq(void)
00197     {
00198         _int1_irq.enable_irq();
00199     }
00200 
00201     /**
00202      * @brief  Disabling the INT1 interrupt handling.
00203      * @param  None.
00204      * @retval None.
00205      */
00206     void disable_int1_irq(void)
00207     {
00208         _int1_irq.disable_irq();
00209     }
00210 
00211     /**
00212      * @brief  Attaching an interrupt handler to the INT2 interrupt.
00213      * @param  fptr An interrupt handler.
00214      * @retval None.
00215      */
00216     void attach_int2_irq(void (*fptr)(void))
00217     {
00218         _int2_irq.rise(fptr);
00219     }
00220 
00221     /**
00222      * @brief  Enabling the INT2 interrupt handling.
00223      * @param  None.
00224      * @retval None.
00225      */
00226     void enable_int2_irq(void)
00227     {
00228         _int2_irq.enable_irq();
00229     }
00230 
00231     /**
00232      * @brief  Disabling the INT2 interrupt handling.
00233      * @param  None.
00234      * @retval None.
00235      */
00236     void disable_int2_irq(void)
00237     {
00238         _int2_irq.disable_irq();
00239     }
00240 
00241     /**
00242      * @brief Utility function to read data.
00243      * @param  pBuffer: pointer to data to be read.
00244      * @param  RegisterAddr: specifies internal address register to be read.
00245      * @param  NumByteToRead: number of bytes to be read.
00246      * @retval 0 if ok, an error code otherwise.
00247      */
00248     uint8_t io_read(uint8_t *pBuffer, uint8_t RegisterAddr, uint16_t NumByteToRead)
00249     {
00250         if (_dev_spi) {
00251             /* Write Reg Address */
00252             _dev_spi->lock();
00253             _cs_pin = 0;
00254             if (_spi_type == SPI4W) {
00255                 _dev_spi->write(RegisterAddr | 0x80);
00256                 for (int i = 0; i < NumByteToRead; i++) {
00257                     *(pBuffer + i) = _dev_spi->write(0x00);
00258                 }
00259             } else if (_spi_type == SPI3W) {
00260                 /* Write RD Reg Address with RD bit*/
00261                 uint8_t TxByte = RegisterAddr | 0x80;
00262                 _dev_spi->write((char *)&TxByte, 1, (char *)pBuffer, (int) NumByteToRead);
00263             }
00264             _cs_pin = 1;
00265             _dev_spi->unlock();
00266             return 0;
00267         }
00268         if (_dev_i2c) {
00269             return (uint8_t) _dev_i2c->i2c_read(pBuffer, _address, RegisterAddr, NumByteToRead);
00270         }
00271         return 1;
00272     }
00273 
00274     /**
00275      * @brief Utility function to write data.
00276      * @param  pBuffer: pointer to data to be written.
00277      * @param  RegisterAddr: specifies internal address register to be written.
00278      * @param  NumByteToWrite: number of bytes to write.
00279      * @retval 0 if ok, an error code otherwise.
00280      */
00281     uint8_t io_write(uint8_t *pBuffer, uint8_t RegisterAddr, uint16_t NumByteToWrite)
00282     {
00283         if (_dev_spi) {
00284             _dev_spi->lock();
00285             _cs_pin = 0;
00286             _dev_spi->write(RegisterAddr);
00287             _dev_spi->write((char *)pBuffer, (int) NumByteToWrite, NULL, 0);
00288             _cs_pin = 1;
00289             _dev_spi->unlock();
00290             return 0;
00291         }
00292         if (_dev_i2c) {
00293             return (uint8_t) _dev_i2c->i2c_write(pBuffer, _address, RegisterAddr, NumByteToWrite);
00294         }
00295         return 1;
00296     }
00297 
00298 private:
00299     int set_x_odr_when_enabled(float odr);
00300     int set_g_odr_when_enabled(float odr);
00301     int set_x_odr_when_disabled(float odr);
00302     int set_g_odr_when_disabled(float odr);
00303 
00304     /* Helper classes. */
00305     DevI2C *_dev_i2c;
00306     SPI    *_dev_spi;
00307 
00308     /* Configuration */
00309     uint8_t _address;
00310     DigitalOut  _cs_pin;
00311     InterruptIn _int1_irq;
00312     InterruptIn _int2_irq;
00313     SPI_type_t _spi_type;
00314 
00315     uint8_t _x_is_enabled;
00316     lsm6dso_odr_xl_t _x_last_odr;
00317     uint8_t _g_is_enabled;
00318     lsm6dso_odr_g_t _g_last_odr;
00319 
00320     lsm6dso_ctx_t _reg_ctx;
00321 };
00322 
00323 #ifdef __cplusplus
00324 extern "C" {
00325 #endif
00326 int32_t LSM6DSO_io_write(void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite);
00327 int32_t LSM6DSO_io_read(void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead);
00328 #ifdef __cplusplus
00329 }
00330 #endif
00331 
00332 #endif