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@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 LSM6DSLSensor.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 LSM6DSL Inertial Measurement Unit (IMU) 6 axes
cparata 0:485458fca2bd 8 * sensor.
cparata 0:485458fca2bd 9 ******************************************************************************
cparata 0:485458fca2bd 10 * @attention
cparata 0:485458fca2bd 11 *
cparata 0:485458fca2bd 12 * <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
cparata 0:485458fca2bd 13 *
cparata 0:485458fca2bd 14 * Redistribution and use in source and binary forms, with or without modification,
cparata 0:485458fca2bd 15 * are permitted provided that the following conditions are met:
cparata 0:485458fca2bd 16 * 1. Redistributions of source code must retain the above copyright notice,
cparata 0:485458fca2bd 17 * this list of conditions and the following disclaimer.
cparata 0:485458fca2bd 18 * 2. Redistributions in binary form must reproduce the above copyright notice,
cparata 0:485458fca2bd 19 * this list of conditions and the following disclaimer in the documentation
cparata 0:485458fca2bd 20 * and/or other materials provided with the distribution.
cparata 0:485458fca2bd 21 * 3. Neither the name of STMicroelectronics nor the names of its contributors
cparata 0:485458fca2bd 22 * may be used to endorse or promote products derived from this software
cparata 0:485458fca2bd 23 * without specific prior written permission.
cparata 0:485458fca2bd 24 *
cparata 0:485458fca2bd 25 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
cparata 0:485458fca2bd 26 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
cparata 0:485458fca2bd 27 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
cparata 0:485458fca2bd 28 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
cparata 0:485458fca2bd 29 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
cparata 0:485458fca2bd 30 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
cparata 0:485458fca2bd 31 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
cparata 0:485458fca2bd 32 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
cparata 0:485458fca2bd 33 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
cparata 0:485458fca2bd 34 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
cparata 0:485458fca2bd 35 *
cparata 0:485458fca2bd 36 ******************************************************************************
cparata 0:485458fca2bd 37 */
cparata 0:485458fca2bd 38
cparata 0:485458fca2bd 39
cparata 0:485458fca2bd 40 /* Prevent recursive inclusion -----------------------------------------------*/
cparata 0:485458fca2bd 41
cparata 0:485458fca2bd 42 #ifndef __LSM6DSLSensor_H__
cparata 0:485458fca2bd 43 #define __LSM6DSLSensor_H__
cparata 0:485458fca2bd 44
cparata 0:485458fca2bd 45
cparata 0:485458fca2bd 46 /* Includes ------------------------------------------------------------------*/
cparata 0:485458fca2bd 47
cparata 0:485458fca2bd 48 #include "DevI2C.h"
cparata 0:485458fca2bd 49 #include "LSM6DSL_ACC_GYRO_driver.h"
cparata 0:485458fca2bd 50
cparata 0:485458fca2bd 51 /* Defines -------------------------------------------------------------------*/
cparata 0:485458fca2bd 52
cparata 0:485458fca2bd 53 #define LSM6DSL_ACC_SENSITIVITY_FOR_FS_2G 0.061 /**< Sensitivity value for 2 g full scale [mg/LSB] */
cparata 0:485458fca2bd 54 #define LSM6DSL_ACC_SENSITIVITY_FOR_FS_4G 0.122 /**< Sensitivity value for 4 g full scale [mg/LSB] */
cparata 0:485458fca2bd 55 #define LSM6DSL_ACC_SENSITIVITY_FOR_FS_8G 0.244 /**< Sensitivity value for 8 g full scale [mg/LSB] */
cparata 0:485458fca2bd 56 #define LSM6DSL_ACC_SENSITIVITY_FOR_FS_16G 0.488 /**< Sensitivity value for 16 g full scale [mg/LSB] */
cparata 0:485458fca2bd 57
cparata 0:485458fca2bd 58 #define LSM6DSL_GYRO_SENSITIVITY_FOR_FS_125DPS 04.375 /**< Sensitivity value for 125 dps full scale [mdps/LSB] */
cparata 0:485458fca2bd 59 #define LSM6DSL_GYRO_SENSITIVITY_FOR_FS_245DPS 08.750 /**< Sensitivity value for 245 dps full scale [mdps/LSB] */
cparata 0:485458fca2bd 60 #define LSM6DSL_GYRO_SENSITIVITY_FOR_FS_500DPS 17.500 /**< Sensitivity value for 500 dps full scale [mdps/LSB] */
cparata 0:485458fca2bd 61 #define LSM6DSL_GYRO_SENSITIVITY_FOR_FS_1000DPS 35.000 /**< Sensitivity value for 1000 dps full scale [mdps/LSB] */
cparata 0:485458fca2bd 62 #define LSM6DSL_GYRO_SENSITIVITY_FOR_FS_2000DPS 70.000 /**< Sensitivity value for 2000 dps full scale [mdps/LSB] */
cparata 0:485458fca2bd 63
cparata 0:485458fca2bd 64 #define LSM6DSL_PEDOMETER_THRESHOLD_LOW 0x00 /**< Lowest value of pedometer threshold */
cparata 0:485458fca2bd 65 #define LSM6DSL_PEDOMETER_THRESHOLD_MID_LOW 0x07
cparata 0:485458fca2bd 66 #define LSM6DSL_PEDOMETER_THRESHOLD_MID 0x0F
cparata 0:485458fca2bd 67 #define LSM6DSL_PEDOMETER_THRESHOLD_MID_HIGH 0x17
cparata 0:485458fca2bd 68 #define LSM6DSL_PEDOMETER_THRESHOLD_HIGH 0x1F /**< Highest value of pedometer threshold */
cparata 0:485458fca2bd 69
cparata 0:485458fca2bd 70 #define LSM6DSL_WAKE_UP_THRESHOLD_LOW 0x01 /**< Lowest value of wake up threshold */
cparata 0:485458fca2bd 71 #define LSM6DSL_WAKE_UP_THRESHOLD_MID_LOW 0x0F
cparata 0:485458fca2bd 72 #define LSM6DSL_WAKE_UP_THRESHOLD_MID 0x1F
cparata 0:485458fca2bd 73 #define LSM6DSL_WAKE_UP_THRESHOLD_MID_HIGH 0x2F
cparata 0:485458fca2bd 74 #define LSM6DSL_WAKE_UP_THRESHOLD_HIGH 0x3F /**< Highest value of wake up threshold */
cparata 0:485458fca2bd 75
cparata 0:485458fca2bd 76 #define LSM6DSL_TAP_THRESHOLD_LOW 0x01 /**< Lowest value of wake up threshold */
cparata 0:485458fca2bd 77 #define LSM6DSL_TAP_THRESHOLD_MID_LOW 0x08
cparata 0:485458fca2bd 78 #define LSM6DSL_TAP_THRESHOLD_MID 0x10
cparata 0:485458fca2bd 79 #define LSM6DSL_TAP_THRESHOLD_MID_HIGH 0x18
cparata 0:485458fca2bd 80 #define LSM6DSL_TAP_THRESHOLD_HIGH 0x1F /**< Highest value of wake up threshold */
cparata 0:485458fca2bd 81
cparata 0:485458fca2bd 82 #define LSM6DSL_TAP_SHOCK_TIME_LOW 0x00 /**< Lowest value of wake up threshold */
cparata 0:485458fca2bd 83 #define LSM6DSL_TAP_SHOCK_TIME_MID_LOW 0x01
cparata 0:485458fca2bd 84 #define LSM6DSL_TAP_SHOCK_TIME_MID_HIGH 0x02
cparata 0:485458fca2bd 85 #define LSM6DSL_TAP_SHOCK_TIME_HIGH 0x03 /**< Highest value of wake up threshold */
cparata 0:485458fca2bd 86
cparata 0:485458fca2bd 87 #define LSM6DSL_TAP_QUIET_TIME_LOW 0x00 /**< Lowest value of wake up threshold */
cparata 0:485458fca2bd 88 #define LSM6DSL_TAP_QUIET_TIME_MID_LOW 0x01
cparata 0:485458fca2bd 89 #define LSM6DSL_TAP_QUIET_TIME_MID_HIGH 0x02
cparata 0:485458fca2bd 90 #define LSM6DSL_TAP_QUIET_TIME_HIGH 0x03 /**< Highest value of wake up threshold */
cparata 0:485458fca2bd 91
cparata 0:485458fca2bd 92 #define LSM6DSL_TAP_DURATION_TIME_LOW 0x00 /**< Lowest value of wake up threshold */
cparata 0:485458fca2bd 93 #define LSM6DSL_TAP_DURATION_TIME_MID_LOW 0x04
cparata 0:485458fca2bd 94 #define LSM6DSL_TAP_DURATION_TIME_MID 0x08
cparata 0:485458fca2bd 95 #define LSM6DSL_TAP_DURATION_TIME_MID_HIGH 0x0C
cparata 0:485458fca2bd 96 #define LSM6DSL_TAP_DURATION_TIME_HIGH 0x0F /**< Highest value of wake up threshold */
cparata 0:485458fca2bd 97
cparata 0:485458fca2bd 98 /* Typedefs ------------------------------------------------------------------*/
cparata 0:485458fca2bd 99 typedef enum
cparata 0:485458fca2bd 100 {
cparata 0:485458fca2bd 101 LSM6DSL_STATUS_OK = 0,
cparata 0:485458fca2bd 102 LSM6DSL_STATUS_ERROR,
cparata 0:485458fca2bd 103 LSM6DSL_STATUS_TIMEOUT,
cparata 0:485458fca2bd 104 LSM6DSL_STATUS_NOT_IMPLEMENTED
cparata 0:485458fca2bd 105 } LSM6DSLStatusTypeDef;
cparata 0:485458fca2bd 106
cparata 0:485458fca2bd 107
cparata 0:485458fca2bd 108 /* Class Declaration ---------------------------------------------------------*/
cparata 0:485458fca2bd 109
cparata 0:485458fca2bd 110 /**
cparata 0:485458fca2bd 111 * Abstract class of an LSM6DSL Inertial Measurement Unit (IMU) 6 axes
cparata 0:485458fca2bd 112 * sensor.
cparata 0:485458fca2bd 113 */
cparata 0:485458fca2bd 114 class LSM6DSLSensor
cparata 0:485458fca2bd 115 {
cparata 0:485458fca2bd 116 public:
cparata 0:485458fca2bd 117 LSM6DSLSensor (DevI2C &i2c);
cparata 0:485458fca2bd 118 LSM6DSLSensor (DevI2C &i2c, uint8_t address);
cparata 0:485458fca2bd 119 LSM6DSLStatusTypeDef Enable_X (void);
cparata 0:485458fca2bd 120 LSM6DSLStatusTypeDef Enable_G (void);
cparata 0:485458fca2bd 121 LSM6DSLStatusTypeDef Disable_X (void);
cparata 0:485458fca2bd 122 LSM6DSLStatusTypeDef Disable_G (void);
cparata 0:485458fca2bd 123 LSM6DSLStatusTypeDef ReadID (uint8_t *p_id);
cparata 0:485458fca2bd 124 LSM6DSLStatusTypeDef Get_X_Axes (int32_t *pData);
cparata 0:485458fca2bd 125 LSM6DSLStatusTypeDef Get_G_Axes (int32_t *pData);
cparata 0:485458fca2bd 126 LSM6DSLStatusTypeDef Get_X_Sensitivity (float *pfData);
cparata 0:485458fca2bd 127 LSM6DSLStatusTypeDef Get_G_Sensitivity (float *pfData);
cparata 0:485458fca2bd 128 LSM6DSLStatusTypeDef Get_X_AxesRaw (int16_t *pData);
cparata 0:485458fca2bd 129 LSM6DSLStatusTypeDef Get_G_AxesRaw (int16_t *pData);
cparata 0:485458fca2bd 130 LSM6DSLStatusTypeDef Get_X_ODR (float *odr);
cparata 0:485458fca2bd 131 LSM6DSLStatusTypeDef Get_G_ODR (float *odr);
cparata 0:485458fca2bd 132 LSM6DSLStatusTypeDef Set_X_ODR (float odr);
cparata 0:485458fca2bd 133 LSM6DSLStatusTypeDef Set_G_ODR (float odr);
cparata 0:485458fca2bd 134 LSM6DSLStatusTypeDef Get_X_FS (float *fullScale);
cparata 0:485458fca2bd 135 LSM6DSLStatusTypeDef Get_G_FS (float *fullScale);
cparata 0:485458fca2bd 136 LSM6DSLStatusTypeDef Set_X_FS (float fullScale);
cparata 0:485458fca2bd 137 LSM6DSLStatusTypeDef Set_G_FS (float fullScale);
cparata 0:485458fca2bd 138 LSM6DSLStatusTypeDef Enable_Free_Fall_Detection (void);
cparata 0:485458fca2bd 139 LSM6DSLStatusTypeDef Disable_Free_Fall_Detection (void);
cparata 0:485458fca2bd 140 LSM6DSLStatusTypeDef Get_Status_Free_Fall_Detection (uint8_t *status);
cparata 0:485458fca2bd 141 LSM6DSLStatusTypeDef Set_Free_Fall_Threshold (uint8_t thr);
cparata 0:485458fca2bd 142 LSM6DSLStatusTypeDef Enable_Pedometer (void);
cparata 0:485458fca2bd 143 LSM6DSLStatusTypeDef Disable_Pedometer (void);
cparata 0:485458fca2bd 144 LSM6DSLStatusTypeDef Get_Status_Pedometer (uint8_t *status);
cparata 0:485458fca2bd 145 LSM6DSLStatusTypeDef Get_Step_Counter (uint16_t *step_count);
cparata 0:485458fca2bd 146 LSM6DSLStatusTypeDef Reset_Step_Counter (void);
cparata 0:485458fca2bd 147 LSM6DSLStatusTypeDef Set_Pedometer_Threshold (uint8_t thr);
cparata 0:485458fca2bd 148 LSM6DSLStatusTypeDef Enable_Tilt_Detection (void);
cparata 0:485458fca2bd 149 LSM6DSLStatusTypeDef Disable_Tilt_Detection (void);
cparata 0:485458fca2bd 150 LSM6DSLStatusTypeDef Get_Status_Tilt_Detection (uint8_t *status);
cparata 0:485458fca2bd 151 LSM6DSLStatusTypeDef Enable_Wake_Up_Detection (void);
cparata 0:485458fca2bd 152 LSM6DSLStatusTypeDef Disable_Wake_Up_Detection (void);
cparata 0:485458fca2bd 153 LSM6DSLStatusTypeDef Get_Status_Wake_Up_Detection (uint8_t *status);
cparata 0:485458fca2bd 154 LSM6DSLStatusTypeDef Set_Wake_Up_Threshold (uint8_t thr);
cparata 0:485458fca2bd 155 LSM6DSLStatusTypeDef Enable_Single_Tap_Detection (void);
cparata 0:485458fca2bd 156 LSM6DSLStatusTypeDef Disable_Single_Tap_Detection (void);
cparata 0:485458fca2bd 157 LSM6DSLStatusTypeDef Get_Status_Single_Tap_Detection (uint8_t *status);
cparata 0:485458fca2bd 158 LSM6DSLStatusTypeDef Enable_Double_Tap_Detection (void);
cparata 0:485458fca2bd 159 LSM6DSLStatusTypeDef Disable_Double_Tap_Detection (void);
cparata 0:485458fca2bd 160 LSM6DSLStatusTypeDef Get_Status_Double_Tap_Detection (uint8_t *status);
cparata 0:485458fca2bd 161 LSM6DSLStatusTypeDef Set_Tap_Threshold (uint8_t thr);
cparata 0:485458fca2bd 162 LSM6DSLStatusTypeDef Set_Tap_Shock_Time (uint8_t time);
cparata 0:485458fca2bd 163 LSM6DSLStatusTypeDef Set_Tap_Quiet_Time (uint8_t time);
cparata 0:485458fca2bd 164 LSM6DSLStatusTypeDef Set_Tap_Duration_Time (uint8_t time);
cparata 0:485458fca2bd 165 LSM6DSLStatusTypeDef Enable_6D_Orientation (void);
cparata 0:485458fca2bd 166 LSM6DSLStatusTypeDef Disable_6D_Orientation (void);
cparata 0:485458fca2bd 167 LSM6DSLStatusTypeDef Get_Status_6D_Orientation (uint8_t *status);
cparata 0:485458fca2bd 168 LSM6DSLStatusTypeDef Get_6D_Orientation_XL (uint8_t *xl);
cparata 0:485458fca2bd 169 LSM6DSLStatusTypeDef Get_6D_Orientation_XH (uint8_t *xh);
cparata 0:485458fca2bd 170 LSM6DSLStatusTypeDef Get_6D_Orientation_YL (uint8_t *yl);
cparata 0:485458fca2bd 171 LSM6DSLStatusTypeDef Get_6D_Orientation_YH (uint8_t *yh);
cparata 0:485458fca2bd 172 LSM6DSLStatusTypeDef Get_6D_Orientation_ZL (uint8_t *zl);
cparata 0:485458fca2bd 173 LSM6DSLStatusTypeDef Get_6D_Orientation_ZH (uint8_t *zh);
cparata 0:485458fca2bd 174 LSM6DSLStatusTypeDef ReadReg (uint8_t reg, uint8_t *data);
cparata 0:485458fca2bd 175 LSM6DSLStatusTypeDef WriteReg (uint8_t reg, uint8_t data);
cparata 0:485458fca2bd 176
cparata 0:485458fca2bd 177 /**
cparata 0:485458fca2bd 178 * @brief Utility function to read data.
cparata 0:485458fca2bd 179 * @param pBuffer: pointer to data to be read.
cparata 0:485458fca2bd 180 * @param RegisterAddr: specifies internal address register to be read.
cparata 0:485458fca2bd 181 * @param NumByteToRead: number of bytes to be read.
cparata 0:485458fca2bd 182 * @retval 0 if ok, an error code otherwise.
cparata 0:485458fca2bd 183 */
cparata 0:485458fca2bd 184 uint8_t IO_Read(uint8_t* pBuffer, uint8_t RegisterAddr, uint16_t NumByteToRead)
cparata 0:485458fca2bd 185 {
cparata 0:485458fca2bd 186 return (uint8_t) dev_i2c.i2c_read(pBuffer, address, RegisterAddr, NumByteToRead);
cparata 0:485458fca2bd 187 }
cparata 0:485458fca2bd 188
cparata 0:485458fca2bd 189 /**
cparata 0:485458fca2bd 190 * @brief Utility function to write data.
cparata 0:485458fca2bd 191 * @param pBuffer: pointer to data to be written.
cparata 0:485458fca2bd 192 * @param RegisterAddr: specifies internal address register to be written.
cparata 0:485458fca2bd 193 * @param NumByteToWrite: number of bytes to write.
cparata 0:485458fca2bd 194 * @retval 0 if ok, an error code otherwise.
cparata 0:485458fca2bd 195 */
cparata 0:485458fca2bd 196 uint8_t IO_Write(uint8_t* pBuffer, uint8_t RegisterAddr, uint16_t NumByteToWrite)
cparata 0:485458fca2bd 197 {
cparata 0:485458fca2bd 198 return (uint8_t) dev_i2c.i2c_write(pBuffer, address, RegisterAddr, NumByteToWrite);
cparata 0:485458fca2bd 199 }
cparata 0:485458fca2bd 200
cparata 0:485458fca2bd 201 private:
cparata 0:485458fca2bd 202 LSM6DSLStatusTypeDef Set_X_ODR_When_Enabled(float odr);
cparata 0:485458fca2bd 203 LSM6DSLStatusTypeDef Set_G_ODR_When_Enabled(float odr);
cparata 0:485458fca2bd 204 LSM6DSLStatusTypeDef Set_X_ODR_When_Disabled(float odr);
cparata 0:485458fca2bd 205 LSM6DSLStatusTypeDef Set_G_ODR_When_Disabled(float odr);
cparata 0:485458fca2bd 206
cparata 0:485458fca2bd 207 /* Helper classes. */
cparata 0:485458fca2bd 208 DevI2C &dev_i2c;
cparata 0:485458fca2bd 209
cparata 0:485458fca2bd 210 /* Configuration */
cparata 0:485458fca2bd 211 uint8_t address;
cparata 0:485458fca2bd 212
cparata 0:485458fca2bd 213 uint8_t X_isEnabled;
cparata 0:485458fca2bd 214 float X_Last_ODR;
cparata 0:485458fca2bd 215 uint8_t G_isEnabled;
cparata 0:485458fca2bd 216 float G_Last_ODR;
cparata 0:485458fca2bd 217 };
cparata 0:485458fca2bd 218
cparata 0:485458fca2bd 219 #ifdef __cplusplus
cparata 0:485458fca2bd 220 extern "C" {
cparata 0:485458fca2bd 221 #endif
cparata 0:485458fca2bd 222 uint8_t LSM6DSL_IO_Write( void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite );
cparata 0:485458fca2bd 223 uint8_t LSM6DSL_IO_Read( void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead );
cparata 0:485458fca2bd 224 #ifdef __cplusplus
cparata 0:485458fca2bd 225 }
cparata 0:485458fca2bd 226 #endif
cparata 0:485458fca2bd 227
cparata 0:485458fca2bd 228 #endif