LSM6DSLSensor.h

00001 /**
00002  ******************************************************************************
00003  * @file    LSM6DSLSensor.h
00004  * @author  CLab
00005  * @version V1.0.0
00006  * @date    5 August 2016
00007  * @brief   Abstract Class of an LSM6DSL Inertial Measurement Unit (IMU) 6 axes
00008  *          sensor.
00009  ******************************************************************************
00010  * @attention
00011  *
00012  * <h2><center>&copy; COPYRIGHT(c) 2016 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 __LSM6DSLSensor_H__
00043 #define __LSM6DSLSensor_H__
00044 
00045 
00046 /* Includes ------------------------------------------------------------------*/
00047 #include "SPI3W.h"
00048 #include "DevI2C.h"
00049 #include "LSM6DSL_acc_gyro_driver.h"
00050 #include "MotionSensor.h"
00051 #include "GyroSensor.h"
00052 
00053 /* Defines -------------------------------------------------------------------*/
00054 
00055 #define LSM6DSL_ACC_SENSITIVITY_FOR_FS_2G   0.061  /**< Sensitivity value for 2 g full scale [mg/LSB] */
00056 #define LSM6DSL_ACC_SENSITIVITY_FOR_FS_4G   0.122  /**< Sensitivity value for 4 g full scale [mg/LSB] */
00057 #define LSM6DSL_ACC_SENSITIVITY_FOR_FS_8G   0.244  /**< Sensitivity value for 8 g full scale [mg/LSB] */
00058 #define LSM6DSL_ACC_SENSITIVITY_FOR_FS_16G  0.488  /**< Sensitivity value for 16 g full scale [mg/LSB] */
00059 
00060 #define LSM6DSL_GYRO_SENSITIVITY_FOR_FS_125DPS   04.375  /**< Sensitivity value for 125 dps full scale [mdps/LSB] */
00061 #define LSM6DSL_GYRO_SENSITIVITY_FOR_FS_245DPS   08.750  /**< Sensitivity value for 245 dps full scale [mdps/LSB] */
00062 #define LSM6DSL_GYRO_SENSITIVITY_FOR_FS_500DPS   17.500  /**< Sensitivity value for 500 dps full scale [mdps/LSB] */
00063 #define LSM6DSL_GYRO_SENSITIVITY_FOR_FS_1000DPS  35.000  /**< Sensitivity value for 1000 dps full scale [mdps/LSB] */
00064 #define LSM6DSL_GYRO_SENSITIVITY_FOR_FS_2000DPS  70.000  /**< Sensitivity value for 2000 dps full scale [mdps/LSB] */
00065 
00066 #define LSM6DSL_PEDOMETER_THRESHOLD_LOW       0x00  /**< Lowest  value of pedometer threshold */
00067 #define LSM6DSL_PEDOMETER_THRESHOLD_MID_LOW   0x07
00068 #define LSM6DSL_PEDOMETER_THRESHOLD_MID       0x0F
00069 #define LSM6DSL_PEDOMETER_THRESHOLD_MID_HIGH  0x17
00070 #define LSM6DSL_PEDOMETER_THRESHOLD_HIGH      0x1F  /**< Highest value of pedometer threshold */
00071 
00072 #define LSM6DSL_WAKE_UP_THRESHOLD_LOW       0x01  /**< Lowest  value of wake up threshold */
00073 #define LSM6DSL_WAKE_UP_THRESHOLD_MID_LOW   0x0F
00074 #define LSM6DSL_WAKE_UP_THRESHOLD_MID       0x1F
00075 #define LSM6DSL_WAKE_UP_THRESHOLD_MID_HIGH  0x2F
00076 #define LSM6DSL_WAKE_UP_THRESHOLD_HIGH      0x3F  /**< Highest value of wake up threshold */
00077 
00078 #define LSM6DSL_TAP_THRESHOLD_LOW       0x01  /**< Lowest  value of wake up threshold */
00079 #define LSM6DSL_TAP_THRESHOLD_MID_LOW   0x08
00080 #define LSM6DSL_TAP_THRESHOLD_MID       0x10
00081 #define LSM6DSL_TAP_THRESHOLD_MID_HIGH  0x18
00082 #define LSM6DSL_TAP_THRESHOLD_HIGH      0x1F  /**< Highest value of wake up threshold */
00083 
00084 #define LSM6DSL_TAP_SHOCK_TIME_LOW       0x00  /**< Lowest  value of wake up threshold */
00085 #define LSM6DSL_TAP_SHOCK_TIME_MID_LOW   0x01
00086 #define LSM6DSL_TAP_SHOCK_TIME_MID_HIGH  0x02
00087 #define LSM6DSL_TAP_SHOCK_TIME_HIGH      0x03  /**< Highest value of wake up threshold */
00088 
00089 #define LSM6DSL_TAP_QUIET_TIME_LOW       0x00  /**< Lowest  value of wake up threshold */
00090 #define LSM6DSL_TAP_QUIET_TIME_MID_LOW   0x01
00091 #define LSM6DSL_TAP_QUIET_TIME_MID_HIGH  0x02
00092 #define LSM6DSL_TAP_QUIET_TIME_HIGH      0x03  /**< Highest value of wake up threshold */
00093 
00094 #define LSM6DSL_TAP_DURATION_TIME_LOW       0x00  /**< Lowest  value of wake up threshold */
00095 #define LSM6DSL_TAP_DURATION_TIME_MID_LOW   0x04
00096 #define LSM6DSL_TAP_DURATION_TIME_MID       0x08
00097 #define LSM6DSL_TAP_DURATION_TIME_MID_HIGH  0x0C
00098 #define LSM6DSL_TAP_DURATION_TIME_HIGH      0x0F  /**< Highest value of wake up threshold */
00099 
00100 /* Typedefs ------------------------------------------------------------------*/
00101 
00102 typedef enum
00103 {
00104   LSM6DSL_INT1_PIN,
00105   LSM6DSL_INT2_PIN
00106 } LSM6DSL_Interrupt_Pin_t;
00107 
00108 typedef struct
00109 {
00110   unsigned int FreeFallStatus : 1;
00111   unsigned int TapStatus : 1;
00112   unsigned int DoubleTapStatus : 1;
00113   unsigned int WakeUpStatus : 1;
00114   unsigned int StepStatus : 1;
00115   unsigned int TiltStatus : 1;
00116   unsigned int D6DOrientationStatus : 1;
00117 } LSM6DSL_Event_Status_t;
00118 
00119 /* Class Declaration ---------------------------------------------------------*/
00120 
00121 /**
00122  * Abstract class of an LSM6DSL Inertial Measurement Unit (IMU) 6 axes
00123  * sensor.
00124  */
00125 class LSM6DSLSensor : public MotionSensor, public GyroSensor
00126 {
00127   public:
00128     LSM6DSLSensor(SPI3W *spi3w, PinName cs_pin, PinName INT1_pin=NC, PinName INT2_pin=NC);
00129     LSM6DSLSensor(SPI *spi, PinName cs_pin, PinName INT1_pin=NC, PinName INT2_pin=NC);  
00130     LSM6DSLSensor(DevI2C *i2c, uint8_t address=LSM6DSL_ACC_GYRO_I2C_ADDRESS_HIGH, PinName INT1_pin=NC, PinName INT2_pin=NC);
00131     virtual int init(void *init);
00132     virtual int read_id(uint8_t *id);
00133     virtual int get_x_axes(int32_t *pData);
00134     virtual int get_g_axes(int32_t *pData);
00135     virtual int get_x_sensitivity(float *pfData);
00136     virtual int get_g_sensitivity(float *pfData);
00137     virtual int get_x_axes_raw(int16_t *pData);
00138     virtual int get_g_axes_raw(int16_t *pData);
00139     virtual int get_x_odr(float *odr);
00140     virtual int get_g_odr(float *odr);
00141     virtual int set_x_odr(float odr);
00142     virtual int set_g_odr(float odr);
00143     virtual int get_x_fs(float *fullScale);
00144     virtual int get_g_fs(float *fullScale);
00145     virtual int set_x_fs(float fullScale);
00146     virtual int set_g_fs(float fullScale);
00147     int enable_x(void);
00148     int enable_g(void);
00149     int disable_x(void);
00150     int disable_g(void);
00151     int enable_free_fall_detection(LSM6DSL_Interrupt_Pin_t pin = LSM6DSL_INT1_PIN);
00152     int disable_free_fall_detection(void);
00153     int set_free_fall_threshold(uint8_t thr);
00154     int enable_pedometer(void);
00155     int disable_pedometer(void);
00156     int get_step_counter(uint16_t *step_count);
00157     int reset_step_counter(void);
00158     int set_pedometer_threshold(uint8_t thr);
00159     int enable_tilt_detection(LSM6DSL_Interrupt_Pin_t pin = LSM6DSL_INT1_PIN);
00160     int disable_tilt_detection(void);
00161     int enable_wake_up_detection(LSM6DSL_Interrupt_Pin_t pin = LSM6DSL_INT2_PIN);
00162     int disable_wake_up_detection(void);
00163     int set_wake_up_threshold(uint8_t thr);
00164     int enable_single_tap_detection(LSM6DSL_Interrupt_Pin_t pin = LSM6DSL_INT1_PIN);
00165     int disable_single_tap_detection(void);
00166     int enable_double_tap_detection(LSM6DSL_Interrupt_Pin_t pin = LSM6DSL_INT1_PIN);
00167     int disable_double_tap_detection(void);
00168     int set_tap_threshold(uint8_t thr);
00169     int set_tap_shock_time(uint8_t time);
00170     int set_tap_quiet_time(uint8_t time);
00171     int set_tap_duration_time(uint8_t time);
00172     int enable_6d_orientation(LSM6DSL_Interrupt_Pin_t pin = LSM6DSL_INT1_PIN);
00173     int disable_6d_orientation(void);
00174     int get_6d_orientation_xl(uint8_t *xl);
00175     int get_6d_orientation_xh(uint8_t *xh);
00176     int get_6d_orientation_yl(uint8_t *yl);
00177     int get_6d_orientation_yh(uint8_t *yh);
00178     int get_6d_orientation_zl(uint8_t *zl);
00179     int get_6d_orientation_zh(uint8_t *zh);
00180     int get_event_status(LSM6DSL_Event_Status_t *status);
00181     int read_reg(uint8_t reg, uint8_t *data);
00182     int write_reg(uint8_t reg, uint8_t data);
00183     
00184     /**
00185      * @brief  Attaching an interrupt handler to the INT1 interrupt.
00186      * @param  fptr An interrupt handler.
00187      * @retval None.
00188      */
00189     void attach_int1_irq(void (*fptr)(void))
00190     {
00191         _int1_irq.rise(fptr);
00192     }
00193 
00194     /**
00195      * @brief  Enabling the INT1 interrupt handling.
00196      * @param  None.
00197      * @retval None.
00198      */
00199     void enable_int1_irq(void)
00200     {
00201         _int1_irq.enable_irq();
00202     }
00203     
00204     /**
00205      * @brief  Disabling the INT1 interrupt handling.
00206      * @param  None.
00207      * @retval None.
00208      */
00209     void disable_int1_irq(void)
00210     {
00211         _int1_irq.disable_irq();
00212     }
00213     
00214     /**
00215      * @brief  Attaching an interrupt handler to the INT2 interrupt.
00216      * @param  fptr An interrupt handler.
00217      * @retval None.
00218      */
00219     void attach_int2_irq(void (*fptr)(void))
00220     {
00221         _int2_irq.rise(fptr);
00222     }
00223 
00224     /**
00225      * @brief  Enabling the INT2 interrupt handling.
00226      * @param  None.
00227      * @retval None.
00228      */
00229     void enable_int2_irq(void)
00230     {
00231         _int2_irq.enable_irq();
00232     }
00233     
00234     /**
00235      * @brief  Disabling the INT2 interrupt handling.
00236      * @param  None.
00237      * @retval None.
00238      */
00239     void disable_int2_irq(void)
00240     {
00241         _int2_irq.disable_irq();
00242     }
00243     
00244     /**
00245      * @brief Utility function to read data.
00246      * @param  pBuffer: pointer to data to be read.
00247      * @param  RegisterAddr: specifies internal address register to be read.
00248      * @param  NumByteToRead: number of bytes to be read.
00249      * @retval 0 if ok, an error code otherwise.
00250      */
00251     uint8_t io_read(uint8_t* pBuffer, uint8_t RegisterAddr, uint16_t NumByteToRead)
00252     {
00253         if (_dev_spi) {
00254         /* Write Reg Address */
00255             _dev_spi->lock();
00256             _cs_pin = 0;                        
00257             _dev_spi->write(RegisterAddr | 0x80);
00258 
00259             for (int i=0; i<NumByteToRead; i++) {
00260                 *(pBuffer+i) = _dev_spi->write(0x00);
00261             }
00262                         
00263             _cs_pin = 1;
00264             _dev_spi->unlock(); 
00265             return 0;
00266         }
00267             
00268         if (_dev_spi3w) return _dev_spi3w->spi3w_read(pBuffer, &_cs_pin, RegisterAddr, NumByteToRead);                      
00269         if (_dev_i2c)   return (uint8_t) _dev_i2c->i2c_read(pBuffer, _address, RegisterAddr, NumByteToRead);
00270         return 1;
00271     }
00272     
00273     /**
00274      * @brief Utility function to write data.
00275      * @param  pBuffer: pointer to data to be written.
00276      * @param  RegisterAddr: specifies internal address register to be written.
00277      * @param  NumByteToWrite: number of bytes to write.
00278      * @retval 0 if ok, an error code otherwise.
00279      */
00280     uint8_t io_write(uint8_t* pBuffer, uint8_t RegisterAddr, uint16_t NumByteToWrite)
00281     {
00282         int data;   
00283         if (_dev_spi) { 
00284             _dev_spi->lock();
00285             _cs_pin = 0;
00286             data = _dev_spi->write(RegisterAddr);
00287                     
00288             for (int i=0; i<NumByteToWrite; i++) {
00289                 data = _dev_spi->write(*(pBuffer+i));
00290             }
00291                     
00292             _cs_pin = 1;                    
00293             _dev_spi->unlock();
00294             return data;                    
00295         }
00296             
00297         if (_dev_spi3w) return _dev_spi3w->spi3w_write(pBuffer, &_cs_pin, RegisterAddr, NumByteToWrite);        
00298         if (_dev_i2c)   return (uint8_t) _dev_i2c->i2c_write(pBuffer, _address, RegisterAddr, NumByteToWrite);
00299         return 1;
00300     }
00301 
00302   private:
00303     int set_x_odr_when_enabled(float odr);
00304     int set_g_odr_when_enabled(float odr);
00305     int set_x_odr_when_disabled(float odr);
00306     int set_g_odr_when_disabled(float odr);
00307 
00308     /* Helper classes. */
00309     SPI3W  *_dev_spi3w; 
00310     SPI    *_dev_spi; 
00311     DevI2C *_dev_i2c;
00312     
00313     /* Configuration */
00314     uint8_t _address;      
00315     DigitalOut  _cs_pin;        
00316     InterruptIn _int1_irq;
00317     InterruptIn _int2_irq;
00318     
00319     uint8_t _x_is_enabled;
00320     float _x_last_odr;
00321     uint8_t _g_is_enabled;
00322     float _g_last_odr;
00323 };
00324 
00325 #ifdef __cplusplus
00326  extern "C" {
00327 #endif
00328 uint8_t LSM6DSL_io_write( void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite );
00329 uint8_t LSM6DSL_io_read( void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead );
00330 #ifdef __cplusplus
00331   }
00332 #endif
00333 
00334 #endif