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/LSM303AGRSensor/LSM303AGR_ACC_Sensor.h@0:485458fca2bd, 2016-08-12 (annotated)

Committer:
cparata
Date:
Fri Aug 12 13:37:49 2016 +0000
Revision:
0:485458fca2bd
First release of 6D orientation for LSM6DSL in IKS01A2

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cparata 0:485458fca2bd 1 /**
cparata 0:485458fca2bd 2 ******************************************************************************
cparata 0:485458fca2bd 3 * @file LSM303AGR_ACC_Sensor.h
cparata 0:485458fca2bd 4 * @author AST
cparata 0:485458fca2bd 5 * @version V1.0.0
cparata 0:485458fca2bd 6 * @date 5 August 2016
cparata 0:485458fca2bd 7 * @brief Abstract Class of an LSM303AGR accelerometer sensor.
cparata 0:485458fca2bd 8 ******************************************************************************
cparata 0:485458fca2bd 9 * @attention
cparata 0:485458fca2bd 10 *
cparata 0:485458fca2bd 11 * <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
cparata 0:485458fca2bd 12 *
cparata 0:485458fca2bd 13 * Redistribution and use in source and binary forms, with or without modification,
cparata 0:485458fca2bd 14 * are permitted provided that the following conditions are met:
cparata 0:485458fca2bd 15 * 1. Redistributions of source code must retain the above copyright notice,
cparata 0:485458fca2bd 16 * this list of conditions and the following disclaimer.
cparata 0:485458fca2bd 17 * 2. Redistributions in binary form must reproduce the above copyright notice,
cparata 0:485458fca2bd 18 * this list of conditions and the following disclaimer in the documentation
cparata 0:485458fca2bd 19 * and/or other materials provided with the distribution.
cparata 0:485458fca2bd 20 * 3. Neither the name of STMicroelectronics nor the names of its contributors
cparata 0:485458fca2bd 21 * may be used to endorse or promote products derived from this software
cparata 0:485458fca2bd 22 * without specific prior written permission.
cparata 0:485458fca2bd 23 *
cparata 0:485458fca2bd 24 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
cparata 0:485458fca2bd 25 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
cparata 0:485458fca2bd 26 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
cparata 0:485458fca2bd 27 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
cparata 0:485458fca2bd 28 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
cparata 0:485458fca2bd 29 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
cparata 0:485458fca2bd 30 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
cparata 0:485458fca2bd 31 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
cparata 0:485458fca2bd 32 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
cparata 0:485458fca2bd 33 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
cparata 0:485458fca2bd 34 *
cparata 0:485458fca2bd 35 ******************************************************************************
cparata 0:485458fca2bd 36 */
cparata 0:485458fca2bd 37
cparata 0:485458fca2bd 38
cparata 0:485458fca2bd 39 /* Prevent recursive inclusion -----------------------------------------------*/
cparata 0:485458fca2bd 40
cparata 0:485458fca2bd 41 #ifndef __LSM303AGR_ACC_Sensor_H__
cparata 0:485458fca2bd 42 #define __LSM303AGR_ACC_Sensor_H__
cparata 0:485458fca2bd 43
cparata 0:485458fca2bd 44
cparata 0:485458fca2bd 45 /* Includes ------------------------------------------------------------------*/
cparata 0:485458fca2bd 46
cparata 0:485458fca2bd 47 #include "DevI2C.h"
cparata 0:485458fca2bd 48 #include "LSM303AGR_ACC_driver.h"
cparata 0:485458fca2bd 49
cparata 0:485458fca2bd 50 /* Defines -------------------------------------------------------------------*/
cparata 0:485458fca2bd 51 #define LSM303AGR_ACC_SENSITIVITY_FOR_FS_2G_NORMAL_MODE 3.900f /**< Sensitivity value for 2 g full scale and normal mode [mg/LSB] */
cparata 0:485458fca2bd 52 #define LSM303AGR_ACC_SENSITIVITY_FOR_FS_2G_HIGH_RESOLUTION_MODE 0.980f /**< Sensitivity value for 2 g full scale and high resolution mode [mg/LSB] */
cparata 0:485458fca2bd 53 #define LSM303AGR_ACC_SENSITIVITY_FOR_FS_2G_LOW_POWER_MODE 15.630f /**< Sensitivity value for 2 g full scale and low power mode [mg/LSB] */
cparata 0:485458fca2bd 54 #define LSM303AGR_ACC_SENSITIVITY_FOR_FS_4G_NORMAL_MODE 7.820f /**< Sensitivity value for 4 g full scale and normal mode [mg/LSB] */
cparata 0:485458fca2bd 55 #define LSM303AGR_ACC_SENSITIVITY_FOR_FS_4G_HIGH_RESOLUTION_MODE 1.950f /**< Sensitivity value for 4 g full scale and high resolution mode [mg/LSB] */
cparata 0:485458fca2bd 56 #define LSM303AGR_ACC_SENSITIVITY_FOR_FS_4G_LOW_POWER_MODE 31.260f /**< Sensitivity value for 4 g full scale and low power mode [mg/LSB] */
cparata 0:485458fca2bd 57 #define LSM303AGR_ACC_SENSITIVITY_FOR_FS_8G_NORMAL_MODE 15.630f /**< Sensitivity value for 8 g full scale and normal mode [mg/LSB] */
cparata 0:485458fca2bd 58 #define LSM303AGR_ACC_SENSITIVITY_FOR_FS_8G_HIGH_RESOLUTION_MODE 3.900f /**< Sensitivity value for 8 g full scale and high resolution mode [mg/LSB] */
cparata 0:485458fca2bd 59 #define LSM303AGR_ACC_SENSITIVITY_FOR_FS_8G_LOW_POWER_MODE 62.520f /**< Sensitivity value for 8 g full scale and low power mode [mg/LSB] */
cparata 0:485458fca2bd 60 #define LSM303AGR_ACC_SENSITIVITY_FOR_FS_16G_NORMAL_MODE 46.900f /**< Sensitivity value for 16 g full scale and normal mode [mg/LSB] */
cparata 0:485458fca2bd 61 #define LSM303AGR_ACC_SENSITIVITY_FOR_FS_16G_HIGH_RESOLUTION_MODE 11.720f /**< Sensitivity value for 16 g full scale and high resolution mode [mg/LSB] */
cparata 0:485458fca2bd 62 #define LSM303AGR_ACC_SENSITIVITY_FOR_FS_16G_LOW_POWER_MODE 187.580f /**< Sensitivity value for 16 g full scale and low power mode [mg/LSB] */
cparata 0:485458fca2bd 63
cparata 0:485458fca2bd 64
cparata 0:485458fca2bd 65 /* Typedefs ------------------------------------------------------------------*/
cparata 0:485458fca2bd 66 typedef enum
cparata 0:485458fca2bd 67 {
cparata 0:485458fca2bd 68 LSM303AGR_ACC_STATUS_OK = 0,
cparata 0:485458fca2bd 69 LSM303AGR_ACC_STATUS_ERROR,
cparata 0:485458fca2bd 70 LSM303AGR_ACC_STATUS_TIMEOUT,
cparata 0:485458fca2bd 71 LSM303AGR_ACC_STATUS_NOT_IMPLEMENTED
cparata 0:485458fca2bd 72 } LSM303AGR_ACC_StatusTypeDef;
cparata 0:485458fca2bd 73
cparata 0:485458fca2bd 74
cparata 0:485458fca2bd 75 /* Class Declaration ---------------------------------------------------------*/
cparata 0:485458fca2bd 76
cparata 0:485458fca2bd 77 /**
cparata 0:485458fca2bd 78 * Abstract class of an LSM303AGR Inertial Measurement Unit (IMU) 6 axes
cparata 0:485458fca2bd 79 * sensor.
cparata 0:485458fca2bd 80 */
cparata 0:485458fca2bd 81 class LSM303AGR_ACC_Sensor
cparata 0:485458fca2bd 82 {
cparata 0:485458fca2bd 83 public:
cparata 0:485458fca2bd 84 LSM303AGR_ACC_Sensor (DevI2C &i2c);
cparata 0:485458fca2bd 85 LSM303AGR_ACC_Sensor (DevI2C &i2c, uint8_t address);
cparata 0:485458fca2bd 86 LSM303AGR_ACC_StatusTypeDef Enable (void);
cparata 0:485458fca2bd 87 LSM303AGR_ACC_StatusTypeDef Disable (void);
cparata 0:485458fca2bd 88 LSM303AGR_ACC_StatusTypeDef ReadID (uint8_t *p_id);
cparata 0:485458fca2bd 89 LSM303AGR_ACC_StatusTypeDef GetAxes (int32_t *pData);
cparata 0:485458fca2bd 90 LSM303AGR_ACC_StatusTypeDef GetSensitivity (float *pfData);
cparata 0:485458fca2bd 91 LSM303AGR_ACC_StatusTypeDef GetAxesRaw (int16_t *pData);
cparata 0:485458fca2bd 92 LSM303AGR_ACC_StatusTypeDef GetODR (float *odr);
cparata 0:485458fca2bd 93 LSM303AGR_ACC_StatusTypeDef SetODR (float odr);
cparata 0:485458fca2bd 94 LSM303AGR_ACC_StatusTypeDef GetFS (float *fullScale);
cparata 0:485458fca2bd 95 LSM303AGR_ACC_StatusTypeDef SetFS (float fullScale);
cparata 0:485458fca2bd 96 LSM303AGR_ACC_StatusTypeDef ReadReg (uint8_t reg, uint8_t *data);
cparata 0:485458fca2bd 97 LSM303AGR_ACC_StatusTypeDef WriteReg (uint8_t reg, uint8_t data);
cparata 0:485458fca2bd 98
cparata 0:485458fca2bd 99 /**
cparata 0:485458fca2bd 100 * @brief Utility function to read data.
cparata 0:485458fca2bd 101 * @param pBuffer: pointer to data to be read.
cparata 0:485458fca2bd 102 * @param RegisterAddr: specifies internal address register to be read.
cparata 0:485458fca2bd 103 * @param NumByteToRead: number of bytes to be read.
cparata 0:485458fca2bd 104 * @retval 0 if ok, an error code otherwise.
cparata 0:485458fca2bd 105 */
cparata 0:485458fca2bd 106 uint8_t IO_Read(uint8_t* pBuffer, uint8_t RegisterAddr, uint16_t NumByteToRead)
cparata 0:485458fca2bd 107 {
cparata 0:485458fca2bd 108 return (uint8_t) dev_i2c.i2c_read(pBuffer, address, RegisterAddr, NumByteToRead);
cparata 0:485458fca2bd 109 }
cparata 0:485458fca2bd 110
cparata 0:485458fca2bd 111 /**
cparata 0:485458fca2bd 112 * @brief Utility function to write data.
cparata 0:485458fca2bd 113 * @param pBuffer: pointer to data to be written.
cparata 0:485458fca2bd 114 * @param RegisterAddr: specifies internal address register to be written.
cparata 0:485458fca2bd 115 * @param NumByteToWrite: number of bytes to write.
cparata 0:485458fca2bd 116 * @retval 0 if ok, an error code otherwise.
cparata 0:485458fca2bd 117 */
cparata 0:485458fca2bd 118 uint8_t IO_Write(uint8_t* pBuffer, uint8_t RegisterAddr, uint16_t NumByteToWrite)
cparata 0:485458fca2bd 119 {
cparata 0:485458fca2bd 120 return (uint8_t) dev_i2c.i2c_write(pBuffer, address, RegisterAddr, NumByteToWrite);
cparata 0:485458fca2bd 121 }
cparata 0:485458fca2bd 122
cparata 0:485458fca2bd 123 private:
cparata 0:485458fca2bd 124 LSM303AGR_ACC_StatusTypeDef SetODR_When_Enabled(float odr);
cparata 0:485458fca2bd 125 LSM303AGR_ACC_StatusTypeDef SetODR_When_Disabled(float odr);
cparata 0:485458fca2bd 126 LSM303AGR_ACC_StatusTypeDef GetSensitivity_Normal_Mode( float *sensitivity );
cparata 0:485458fca2bd 127 LSM303AGR_ACC_StatusTypeDef GetSensitivity_LP_Mode( float *sensitivity );
cparata 0:485458fca2bd 128 LSM303AGR_ACC_StatusTypeDef GetSensitivity_HR_Mode( float *sensitivity );
cparata 0:485458fca2bd 129
cparata 0:485458fca2bd 130 /* Helper classes. */
cparata 0:485458fca2bd 131 DevI2C &dev_i2c;
cparata 0:485458fca2bd 132
cparata 0:485458fca2bd 133 /* Configuration */
cparata 0:485458fca2bd 134 uint8_t address;
cparata 0:485458fca2bd 135
cparata 0:485458fca2bd 136 uint8_t isEnabled;
cparata 0:485458fca2bd 137 float Last_ODR;
cparata 0:485458fca2bd 138 };
cparata 0:485458fca2bd 139
cparata 0:485458fca2bd 140 #ifdef __cplusplus
cparata 0:485458fca2bd 141 extern "C" {
cparata 0:485458fca2bd 142 #endif
cparata 0:485458fca2bd 143 uint8_t LSM303AGR_ACC_IO_Write( void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite );
cparata 0:485458fca2bd 144 uint8_t LSM303AGR_ACC_IO_Read( void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead );
cparata 0:485458fca2bd 145 #ifdef __cplusplus
cparata 0:485458fca2bd 146 }
cparata 0:485458fca2bd 147 #endif
cparata 0:485458fca2bd 148
cparata 0:485458fca2bd 149 #endif