x_nucleo_iks01a1_imu_6axes.c

00001 /**
00002  ******************************************************************************
00003  * @file    x_nucleo_iks01a1_imu_6axes.c
00004  * @author  MEMS Application Team
00005  * @version V1.0.0
00006  * @date    30-July-2014
00007  * @brief   This file provides a set of functions needed to manage the lsm6ds0 sensor.
00008  ******************************************************************************
00009  * @attention
00010  *
00011  * <h2><center>&copy; COPYRIGHT(c) 2014 STMicroelectronics</center></h2>
00012  *
00013  * Redistribution and use in source and binary forms, with or without modification,
00014  * are permitted provided that the following conditions are met:
00015  *   1. Redistributions of source code must retain the above copyright notice,
00016  *      this list of conditions and the following disclaimer.
00017  *   2. Redistributions in binary form must reproduce the above copyright notice,
00018  *      this list of conditions and the following disclaimer in the documentation
00019  *      and/or other materials provided with the distribution.
00020  *   3. Neither the name of STMicroelectronics nor the names of its contributors
00021  *      may be used to endorse or promote products derived from this software
00022  *      without specific prior written permission.
00023  *
00024  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00025  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00026  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00027  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
00028  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
00029  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
00030  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00031  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
00032  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
00033  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00034  *
00035  ******************************************************************************
00036  */
00037 /* Includes ------------------------------------------------------------------*/
00038 #include "x_nucleo_iks01a1_imu_6axes.h"
00039 #include "stdio.h"
00040 
00041 /** @addtogroup BSP
00042  * @{
00043  */
00044 
00045 /** @addtogroup X_NUCLEO_IKS01A1
00046  * @{
00047  */
00048 
00049 /** @addtogroup X_NUCLEO_IKS01A1_IMU_6AXES
00050  * @{
00051  */
00052 
00053 
00054 /** @defgroup X_NUCLEO_IKS01A1_IMU_6AXES_Private_TypesDefinitions
00055  * @{
00056  */
00057 
00058 /**
00059  * @}
00060  */
00061 
00062 /** @defgroup X_NUCLEO_IKS01A1_IMU_6AXES_Private_Defines
00063  * @{
00064  */
00065 
00066 /**
00067  * @}
00068  */
00069 
00070 /** @defgroup X_NUCLEO_IKS01A1_IMU_6AXES_Private_Macros
00071  * @{
00072  */
00073 
00074 /**
00075  * @}
00076  */
00077 
00078 /** @defgroup X_NUCLEO_IKS01A1_IMU_6AXES_Private_Variables
00079  * @{
00080  */
00081 static IMU_6AXES_DrvTypeDef *Imu6AxesDrv;
00082 static uint8_t Imu6AxesInitialized = 0;
00083 
00084 /**
00085  * @}
00086  */
00087 
00088 /** @defgroup X_NUCLEO_IKS01A1_IMU_6AXES_Private_FunctionPrototypes
00089  * @{
00090  */
00091 
00092 /**
00093  * @}
00094  */
00095 
00096 /** @defgroup X_NUCLEO_IKS01A1_IMU_6AXES_Private_Functions
00097  * @{
00098  */
00099 
00100 /**
00101  * @brief  Initialization 6 axes sensor.
00102  * @param  None
00103  * @retval IMU_6AXES_OK if no problem during initialization
00104  */
00105 IMU_6AXES_StatusTypeDef BSP_IMU_6AXES_Init(void)
00106 {
00107     IMU_6AXES_StatusTypeDef ret = IMU_6AXES_ERROR;
00108     IMU_6AXES_InitTypeDef LSM6DS0_InitStructure;
00109 
00110     /* Initialize the six axes driver structure */
00111     Imu6AxesDrv = &LSM6DS0Drv;
00112 
00113     /* Configure sensor */
00114     LSM6DS0_InitStructure.G_FullScale = LSM6DS0_G_FS_2000;
00115     LSM6DS0_InitStructure.G_OutputDataRate = LSM6DS0_G_ODR_119HZ;
00116     LSM6DS0_InitStructure.G_X_Axis = LSM6DS0_G_XEN_ENABLE;
00117     LSM6DS0_InitStructure.G_Y_Axis = LSM6DS0_G_YEN_ENABLE;
00118     LSM6DS0_InitStructure.G_Z_Axis = LSM6DS0_G_ZEN_ENABLE;
00119 
00120     LSM6DS0_InitStructure.X_FullScale = LSM6DS0_XL_FS_2G;
00121     LSM6DS0_InitStructure.X_OutputDataRate = LSM6DS0_XL_ODR_119HZ;
00122     LSM6DS0_InitStructure.X_X_Axis = LSM6DS0_XL_XEN_ENABLE;
00123     LSM6DS0_InitStructure.X_Y_Axis = LSM6DS0_XL_YEN_ENABLE;
00124     LSM6DS0_InitStructure.X_Z_Axis = LSM6DS0_XL_ZEN_ENABLE;
00125 
00126     /* six axes sensor init */
00127     Imu6AxesDrv->Init(&LSM6DS0_InitStructure);
00128 
00129     if(Imu6AxesDrv->Read_XG_ID() == I_AM_LSM6DS0_XG)
00130     {
00131         Imu6AxesInitialized = 1;
00132         ret = IMU_6AXES_OK;
00133     }
00134 
00135     return ret;
00136 }
00137 
00138 
00139 uint8_t BSP_IMU_6AXES_isInitialized(void)
00140 {
00141     return Imu6AxesInitialized;
00142 }
00143 
00144 
00145 /**
00146  * @brief  Read ID of LSM6DS0 Accelerometer and Gyroscope
00147  * @param  None
00148  * @retval ID
00149  */
00150 uint8_t BSP_IMU_6AXES_Read_XG_ID(void)
00151 {
00152     uint8_t id = 0x00;
00153 
00154     if(Imu6AxesDrv->Read_XG_ID != NULL)
00155     {
00156         id = Imu6AxesDrv->Read_XG_ID();
00157     }
00158     return id;
00159 }
00160 
00161 
00162 /**
00163  * @brief  Check ID of LSM6DS0 Accelerometer and Gyroscope sensor
00164  * @param  None
00165  * @retval Test status
00166  */
00167 IMU_6AXES_StatusTypeDef BSP_IMU_6AXES_Check_XG_ID(void) {
00168     if (BSP_IMU_6AXES_Read_XG_ID() == I_AM_LSM6DS0_XG) {
00169         return IMU_6AXES_OK;
00170     } else {
00171         return IMU_6AXES_ERROR;
00172     }
00173 }
00174 
00175 
00176 /**
00177  * @brief  Get Accelerometer raw axes
00178  * @param pData: pointer on AxesRaw_TypeDef data
00179  * @retval None
00180  */
00181 void BSP_IMU_6AXES_X_GetAxesRaw(AxesRaw_TypeDef *pData)
00182 {
00183     if(Imu6AxesDrv->Get_X_Axes!= NULL)
00184     {
00185       Imu6AxesDrv->Get_X_Axes((int32_t *)pData);
00186     }
00187 }
00188 
00189 
00190 /**
00191  * @brief  Get Gyroscope raw axes
00192  * @param pData: pointer on AxesRaw_TypeDef data
00193  * @retval None
00194  */
00195 void BSP_IMU_6AXES_G_GetAxesRaw(AxesRaw_TypeDef *pData)
00196 {
00197     if(Imu6AxesDrv->Get_G_Axes!= NULL)
00198     {
00199       Imu6AxesDrv->Get_G_Axes((int32_t *)pData);
00200     }
00201 }
00202 
00203 /**
00204  * @}
00205  */
00206 
00207 /**
00208  * @}
00209  */
00210 
00211 /**
00212  * @}
00213  */
00214 
00215 /**
00216  * @}
00217  */
00218 
00219 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
00220