ST / Mbed 2 deprecated 6DOrientation_IKS01A2

Example of 6D orientation recognition for LSM6DSL in X-NUCLEO-IKS01A2

Dependencies:   X_NUCLEO_IKS01A2 mbed

Fork of 6DOrientation_IKS01A2 by ST Expansion SW Team

6D Orientation Demo Application based on sensor expansion board X-NUCLEO-IKS01A2

Main function is to show how to use sensor expansion board to find out the 6D orientation and send data using UART to a connected PC or Desktop and display it on terminal applications like TeraTerm.
After connection has been established:
- the user can rotate the board to change the 6D orientation and then view the data using an hyper terminal.
- the user button can be used to display the current 6D orientation.

X_NUCLEO_IKS01A2/Components/LSM6DSLSensor/LSM6DSLSensor.h@4:1adb1ce17b05, 2016-11-21 (annotated)

Committer:
cparata
Date:
Mon Nov 21 14:57:06 2016 +0000
Revision:
4:1adb1ce17b05
Parent:
2:ae74845fa96a
Child:
6:f215defe10e4
Add muti-event support

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cparata 2:ae74845fa96a 1 /**
cparata 2:ae74845fa96a 2 ******************************************************************************
cparata 2:ae74845fa96a 3 * @file LSM6DSLSensor.h
cparata 2:ae74845fa96a 4 * @author AST
cparata 2:ae74845fa96a 5 * @version V1.0.0
cparata 2:ae74845fa96a 6 * @date 5 August 2016
cparata 2:ae74845fa96a 7 * @brief Abstract Class of an LSM6DSL Inertial Measurement Unit (IMU) 6 axes
cparata 2:ae74845fa96a 8 * sensor.
cparata 2:ae74845fa96a 9 ******************************************************************************
cparata 2:ae74845fa96a 10 * @attention
cparata 2:ae74845fa96a 11 *
cparata 2:ae74845fa96a 12 * <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
cparata 2:ae74845fa96a 13 *
cparata 2:ae74845fa96a 14 * Redistribution and use in source and binary forms, with or without modification,
cparata 2:ae74845fa96a 15 * are permitted provided that the following conditions are met:
cparata 2:ae74845fa96a 16 * 1. Redistributions of source code must retain the above copyright notice,
cparata 2:ae74845fa96a 17 * this list of conditions and the following disclaimer.
cparata 2:ae74845fa96a 18 * 2. Redistributions in binary form must reproduce the above copyright notice,
cparata 2:ae74845fa96a 19 * this list of conditions and the following disclaimer in the documentation
cparata 2:ae74845fa96a 20 * and/or other materials provided with the distribution.
cparata 2:ae74845fa96a 21 * 3. Neither the name of STMicroelectronics nor the names of its contributors
cparata 2:ae74845fa96a 22 * may be used to endorse or promote products derived from this software
cparata 2:ae74845fa96a 23 * without specific prior written permission.
cparata 2:ae74845fa96a 24 *
cparata 2:ae74845fa96a 25 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
cparata 2:ae74845fa96a 26 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
cparata 2:ae74845fa96a 27 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
cparata 2:ae74845fa96a 28 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
cparata 2:ae74845fa96a 29 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
cparata 2:ae74845fa96a 30 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
cparata 2:ae74845fa96a 31 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
cparata 2:ae74845fa96a 32 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
cparata 2:ae74845fa96a 33 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
cparata 2:ae74845fa96a 34 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
cparata 2:ae74845fa96a 35 *
cparata 2:ae74845fa96a 36 ******************************************************************************
cparata 2:ae74845fa96a 37 */
cparata 2:ae74845fa96a 38
cparata 2:ae74845fa96a 39
cparata 2:ae74845fa96a 40 /* Prevent recursive inclusion -----------------------------------------------*/
cparata 2:ae74845fa96a 41
cparata 2:ae74845fa96a 42 #ifndef __LSM6DSLSensor_H__
cparata 2:ae74845fa96a 43 #define __LSM6DSLSensor_H__
cparata 2:ae74845fa96a 44
cparata 2:ae74845fa96a 45
cparata 2:ae74845fa96a 46 /* Includes ------------------------------------------------------------------*/
cparata 2:ae74845fa96a 47
cparata 2:ae74845fa96a 48 #include "DevI2C.h"
cparata 2:ae74845fa96a 49 #include "LSM6DSL_ACC_GYRO_driver.h"
cparata 2:ae74845fa96a 50 #include "MotionSensor.h"
cparata 2:ae74845fa96a 51 #include "GyroSensor.h"
cparata 2:ae74845fa96a 52
cparata 2:ae74845fa96a 53 /* Defines -------------------------------------------------------------------*/
cparata 2:ae74845fa96a 54
cparata 2:ae74845fa96a 55 #define LSM6DSL_ACC_SENSITIVITY_FOR_FS_2G 0.061 /**< Sensitivity value for 2 g full scale [mg/LSB] */
cparata 2:ae74845fa96a 56 #define LSM6DSL_ACC_SENSITIVITY_FOR_FS_4G 0.122 /**< Sensitivity value for 4 g full scale [mg/LSB] */
cparata 2:ae74845fa96a 57 #define LSM6DSL_ACC_SENSITIVITY_FOR_FS_8G 0.244 /**< Sensitivity value for 8 g full scale [mg/LSB] */
cparata 2:ae74845fa96a 58 #define LSM6DSL_ACC_SENSITIVITY_FOR_FS_16G 0.488 /**< Sensitivity value for 16 g full scale [mg/LSB] */
cparata 2:ae74845fa96a 59
cparata 2:ae74845fa96a 60 #define LSM6DSL_GYRO_SENSITIVITY_FOR_FS_125DPS 04.375 /**< Sensitivity value for 125 dps full scale [mdps/LSB] */
cparata 2:ae74845fa96a 61 #define LSM6DSL_GYRO_SENSITIVITY_FOR_FS_245DPS 08.750 /**< Sensitivity value for 245 dps full scale [mdps/LSB] */
cparata 2:ae74845fa96a 62 #define LSM6DSL_GYRO_SENSITIVITY_FOR_FS_500DPS 17.500 /**< Sensitivity value for 500 dps full scale [mdps/LSB] */
cparata 2:ae74845fa96a 63 #define LSM6DSL_GYRO_SENSITIVITY_FOR_FS_1000DPS 35.000 /**< Sensitivity value for 1000 dps full scale [mdps/LSB] */
cparata 2:ae74845fa96a 64 #define LSM6DSL_GYRO_SENSITIVITY_FOR_FS_2000DPS 70.000 /**< Sensitivity value for 2000 dps full scale [mdps/LSB] */
cparata 2:ae74845fa96a 65
cparata 2:ae74845fa96a 66 #define LSM6DSL_PEDOMETER_THRESHOLD_LOW 0x00 /**< Lowest value of pedometer threshold */
cparata 2:ae74845fa96a 67 #define LSM6DSL_PEDOMETER_THRESHOLD_MID_LOW 0x07
cparata 2:ae74845fa96a 68 #define LSM6DSL_PEDOMETER_THRESHOLD_MID 0x0F
cparata 2:ae74845fa96a 69 #define LSM6DSL_PEDOMETER_THRESHOLD_MID_HIGH 0x17
cparata 2:ae74845fa96a 70 #define LSM6DSL_PEDOMETER_THRESHOLD_HIGH 0x1F /**< Highest value of pedometer threshold */
cparata 2:ae74845fa96a 71
cparata 2:ae74845fa96a 72 #define LSM6DSL_WAKE_UP_THRESHOLD_LOW 0x01 /**< Lowest value of wake up threshold */
cparata 2:ae74845fa96a 73 #define LSM6DSL_WAKE_UP_THRESHOLD_MID_LOW 0x0F
cparata 2:ae74845fa96a 74 #define LSM6DSL_WAKE_UP_THRESHOLD_MID 0x1F
cparata 2:ae74845fa96a 75 #define LSM6DSL_WAKE_UP_THRESHOLD_MID_HIGH 0x2F
cparata 2:ae74845fa96a 76 #define LSM6DSL_WAKE_UP_THRESHOLD_HIGH 0x3F /**< Highest value of wake up threshold */
cparata 2:ae74845fa96a 77
cparata 2:ae74845fa96a 78 #define LSM6DSL_TAP_THRESHOLD_LOW 0x01 /**< Lowest value of wake up threshold */
cparata 2:ae74845fa96a 79 #define LSM6DSL_TAP_THRESHOLD_MID_LOW 0x08
cparata 2:ae74845fa96a 80 #define LSM6DSL_TAP_THRESHOLD_MID 0x10
cparata 2:ae74845fa96a 81 #define LSM6DSL_TAP_THRESHOLD_MID_HIGH 0x18
cparata 2:ae74845fa96a 82 #define LSM6DSL_TAP_THRESHOLD_HIGH 0x1F /**< Highest value of wake up threshold */
cparata 2:ae74845fa96a 83
cparata 2:ae74845fa96a 84 #define LSM6DSL_TAP_SHOCK_TIME_LOW 0x00 /**< Lowest value of wake up threshold */
cparata 2:ae74845fa96a 85 #define LSM6DSL_TAP_SHOCK_TIME_MID_LOW 0x01
cparata 2:ae74845fa96a 86 #define LSM6DSL_TAP_SHOCK_TIME_MID_HIGH 0x02
cparata 2:ae74845fa96a 87 #define LSM6DSL_TAP_SHOCK_TIME_HIGH 0x03 /**< Highest value of wake up threshold */
cparata 2:ae74845fa96a 88
cparata 2:ae74845fa96a 89 #define LSM6DSL_TAP_QUIET_TIME_LOW 0x00 /**< Lowest value of wake up threshold */
cparata 2:ae74845fa96a 90 #define LSM6DSL_TAP_QUIET_TIME_MID_LOW 0x01
cparata 2:ae74845fa96a 91 #define LSM6DSL_TAP_QUIET_TIME_MID_HIGH 0x02
cparata 2:ae74845fa96a 92 #define LSM6DSL_TAP_QUIET_TIME_HIGH 0x03 /**< Highest value of wake up threshold */
cparata 2:ae74845fa96a 93
cparata 2:ae74845fa96a 94 #define LSM6DSL_TAP_DURATION_TIME_LOW 0x00 /**< Lowest value of wake up threshold */
cparata 2:ae74845fa96a 95 #define LSM6DSL_TAP_DURATION_TIME_MID_LOW 0x04
cparata 2:ae74845fa96a 96 #define LSM6DSL_TAP_DURATION_TIME_MID 0x08
cparata 2:ae74845fa96a 97 #define LSM6DSL_TAP_DURATION_TIME_MID_HIGH 0x0C
cparata 2:ae74845fa96a 98 #define LSM6DSL_TAP_DURATION_TIME_HIGH 0x0F /**< Highest value of wake up threshold */
cparata 2:ae74845fa96a 99
cparata 4:1adb1ce17b05 100 /* Typedefs ------------------------------------------------------------------*/
cparata 4:1adb1ce17b05 101
cparata 4:1adb1ce17b05 102 typedef struct
cparata 4:1adb1ce17b05 103 {
cparata 4:1adb1ce17b05 104 unsigned int FreeFallStatus : 1;
cparata 4:1adb1ce17b05 105 unsigned int TapStatus : 1;
cparata 4:1adb1ce17b05 106 unsigned int DoubleTapStatus : 1;
cparata 4:1adb1ce17b05 107 unsigned int WakeUpStatus : 1;
cparata 4:1adb1ce17b05 108 unsigned int StepStatus : 1;
cparata 4:1adb1ce17b05 109 unsigned int TiltStatus : 1;
cparata 4:1adb1ce17b05 110 unsigned int D6DOrientationStatus : 1;
cparata 4:1adb1ce17b05 111 } LSM6DSL_Event_Status_t;
cparata 4:1adb1ce17b05 112
cparata 2:ae74845fa96a 113 /* Class Declaration ---------------------------------------------------------*/
cparata 2:ae74845fa96a 114
cparata 2:ae74845fa96a 115 /**
cparata 2:ae74845fa96a 116 * Abstract class of an LSM6DSL Inertial Measurement Unit (IMU) 6 axes
cparata 2:ae74845fa96a 117 * sensor.
cparata 2:ae74845fa96a 118 */
cparata 2:ae74845fa96a 119 class LSM6DSLSensor : public MotionSensor, public GyroSensor
cparata 2:ae74845fa96a 120 {
cparata 2:ae74845fa96a 121 public:
cparata 2:ae74845fa96a 122 LSM6DSLSensor(DevI2C &i2c);
cparata 2:ae74845fa96a 123 LSM6DSLSensor(DevI2C &i2c, uint8_t address);
cparata 2:ae74845fa96a 124 virtual int Init(void *init);
cparata 2:ae74845fa96a 125 virtual int ReadID(uint8_t *id);
cparata 2:ae74845fa96a 126 virtual int Get_X_Axes(int32_t *pData);
cparata 2:ae74845fa96a 127 virtual int Get_G_Axes(int32_t *pData);
cparata 2:ae74845fa96a 128 virtual int Get_X_Sensitivity(float *pfData);
cparata 2:ae74845fa96a 129 virtual int Get_G_Sensitivity(float *pfData);
cparata 2:ae74845fa96a 130 virtual int Get_X_AxesRaw(int16_t *pData);
cparata 2:ae74845fa96a 131 virtual int Get_G_AxesRaw(int16_t *pData);
cparata 2:ae74845fa96a 132 virtual int Get_X_ODR(float *odr);
cparata 2:ae74845fa96a 133 virtual int Get_G_ODR(float *odr);
cparata 2:ae74845fa96a 134 virtual int Set_X_ODR(float odr);
cparata 2:ae74845fa96a 135 virtual int Set_G_ODR(float odr);
cparata 2:ae74845fa96a 136 virtual int Get_X_FS(float *fullScale);
cparata 2:ae74845fa96a 137 virtual int Get_G_FS(float *fullScale);
cparata 2:ae74845fa96a 138 virtual int Set_X_FS(float fullScale);
cparata 2:ae74845fa96a 139 virtual int Set_G_FS(float fullScale);
cparata 2:ae74845fa96a 140 int Enable_X(void);
cparata 2:ae74845fa96a 141 int Enable_G(void);
cparata 2:ae74845fa96a 142 int Disable_X(void);
cparata 2:ae74845fa96a 143 int Disable_G(void);
cparata 2:ae74845fa96a 144 int Enable_Free_Fall_Detection(void);
cparata 2:ae74845fa96a 145 int Disable_Free_Fall_Detection(void);
cparata 2:ae74845fa96a 146 int Set_Free_Fall_Threshold(uint8_t thr);
cparata 2:ae74845fa96a 147 int Enable_Pedometer(void);
cparata 2:ae74845fa96a 148 int Disable_Pedometer(void);
cparata 2:ae74845fa96a 149 int Get_Step_Counter(uint16_t *step_count);
cparata 2:ae74845fa96a 150 int Reset_Step_Counter(void);
cparata 2:ae74845fa96a 151 int Set_Pedometer_Threshold(uint8_t thr);
cparata 2:ae74845fa96a 152 int Enable_Tilt_Detection(void);
cparata 2:ae74845fa96a 153 int Disable_Tilt_Detection(void);
cparata 2:ae74845fa96a 154 int Enable_Wake_Up_Detection(void);
cparata 2:ae74845fa96a 155 int Disable_Wake_Up_Detection(void);
cparata 2:ae74845fa96a 156 int Set_Wake_Up_Threshold(uint8_t thr);
cparata 2:ae74845fa96a 157 int Enable_Single_Tap_Detection(void);
cparata 2:ae74845fa96a 158 int Disable_Single_Tap_Detection(void);
cparata 2:ae74845fa96a 159 int Enable_Double_Tap_Detection(void);
cparata 2:ae74845fa96a 160 int Disable_Double_Tap_Detection(void);
cparata 2:ae74845fa96a 161 int Set_Tap_Threshold(uint8_t thr);
cparata 2:ae74845fa96a 162 int Set_Tap_Shock_Time(uint8_t time);
cparata 2:ae74845fa96a 163 int Set_Tap_Quiet_Time(uint8_t time);
cparata 2:ae74845fa96a 164 int Set_Tap_Duration_Time(uint8_t time);
cparata 2:ae74845fa96a 165 int Enable_6D_Orientation(void);
cparata 2:ae74845fa96a 166 int Disable_6D_Orientation(void);
cparata 2:ae74845fa96a 167 int Get_6D_Orientation_XL(uint8_t *xl);
cparata 2:ae74845fa96a 168 int Get_6D_Orientation_XH(uint8_t *xh);
cparata 2:ae74845fa96a 169 int Get_6D_Orientation_YL(uint8_t *yl);
cparata 2:ae74845fa96a 170 int Get_6D_Orientation_YH(uint8_t *yh);
cparata 2:ae74845fa96a 171 int Get_6D_Orientation_ZL(uint8_t *zl);
cparata 2:ae74845fa96a 172 int Get_6D_Orientation_ZH(uint8_t *zh);
cparata 4:1adb1ce17b05 173 int Get_Event_Status(LSM6DSL_Event_Status_t *status);
cparata 2:ae74845fa96a 174 int ReadReg(uint8_t reg, uint8_t *data);
cparata 2:ae74845fa96a 175 int WriteReg(uint8_t reg, uint8_t data);
cparata 2:ae74845fa96a 176
cparata 2:ae74845fa96a 177 /**
cparata 2:ae74845fa96a 178 * @brief Utility function to read data.
cparata 2:ae74845fa96a 179 * @param pBuffer: pointer to data to be read.
cparata 2:ae74845fa96a 180 * @param RegisterAddr: specifies internal address register to be read.
cparata 2:ae74845fa96a 181 * @param NumByteToRead: number of bytes to be read.
cparata 2:ae74845fa96a 182 * @retval 0 if ok, an error code otherwise.
cparata 2:ae74845fa96a 183 */
cparata 2:ae74845fa96a 184 uint8_t IO_Read(uint8_t* pBuffer, uint8_t RegisterAddr, uint16_t NumByteToRead)
cparata 2:ae74845fa96a 185 {
cparata 2:ae74845fa96a 186 return (uint8_t) dev_i2c.i2c_read(pBuffer, address, RegisterAddr, NumByteToRead);
cparata 2:ae74845fa96a 187 }
cparata 2:ae74845fa96a 188
cparata 2:ae74845fa96a 189 /**
cparata 2:ae74845fa96a 190 * @brief Utility function to write data.
cparata 2:ae74845fa96a 191 * @param pBuffer: pointer to data to be written.
cparata 2:ae74845fa96a 192 * @param RegisterAddr: specifies internal address register to be written.
cparata 2:ae74845fa96a 193 * @param NumByteToWrite: number of bytes to write.
cparata 2:ae74845fa96a 194 * @retval 0 if ok, an error code otherwise.
cparata 2:ae74845fa96a 195 */
cparata 2:ae74845fa96a 196 uint8_t IO_Write(uint8_t* pBuffer, uint8_t RegisterAddr, uint16_t NumByteToWrite)
cparata 2:ae74845fa96a 197 {
cparata 2:ae74845fa96a 198 return (uint8_t) dev_i2c.i2c_write(pBuffer, address, RegisterAddr, NumByteToWrite);
cparata 2:ae74845fa96a 199 }
cparata 2:ae74845fa96a 200
cparata 2:ae74845fa96a 201 private:
cparata 2:ae74845fa96a 202 int Set_X_ODR_When_Enabled(float odr);
cparata 2:ae74845fa96a 203 int Set_G_ODR_When_Enabled(float odr);
cparata 2:ae74845fa96a 204 int Set_X_ODR_When_Disabled(float odr);
cparata 2:ae74845fa96a 205 int Set_G_ODR_When_Disabled(float odr);
cparata 2:ae74845fa96a 206
cparata 2:ae74845fa96a 207 /* Helper classes. */
cparata 2:ae74845fa96a 208 DevI2C &dev_i2c;
cparata 2:ae74845fa96a 209
cparata 2:ae74845fa96a 210 /* Configuration */
cparata 2:ae74845fa96a 211 uint8_t address;
cparata 2:ae74845fa96a 212
cparata 2:ae74845fa96a 213 uint8_t X_isEnabled;
cparata 2:ae74845fa96a 214 float X_Last_ODR;
cparata 2:ae74845fa96a 215 uint8_t G_isEnabled;
cparata 2:ae74845fa96a 216 float G_Last_ODR;
cparata 2:ae74845fa96a 217 };
cparata 2:ae74845fa96a 218
cparata 2:ae74845fa96a 219 #ifdef __cplusplus
cparata 2:ae74845fa96a 220 extern "C" {
cparata 2:ae74845fa96a 221 #endif
cparata 2:ae74845fa96a 222 uint8_t LSM6DSL_IO_Write( void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite );
cparata 2:ae74845fa96a 223 uint8_t LSM6DSL_IO_Read( void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead );
cparata 2:ae74845fa96a 224 #ifdef __cplusplus
cparata 2:ae74845fa96a 225 }
cparata 2:ae74845fa96a 226 #endif
cparata 2:ae74845fa96a 227
cparata 2:ae74845fa96a 228 #endif