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/X_NUCLEO_COMMON/DevI2C/DevI2C.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 DevI2C.h
cparata 0:485458fca2bd 4 * @author AST / EST
cparata 0:485458fca2bd 5 * @version V0.0.1
cparata 0:485458fca2bd 6 * @date 21-January-2015
cparata 0:485458fca2bd 7 * @brief Header file for a special I2C class DevI2C which provides some
cparata 0:485458fca2bd 8 * helper function for on-board communication
cparata 0:485458fca2bd 9 ******************************************************************************
cparata 0:485458fca2bd 10 * @attention
cparata 0:485458fca2bd 11 *
cparata 0:485458fca2bd 12 * <h2><center>&copy; COPYRIGHT(c) 2014 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 /* Define to prevent from recursive inclusion --------------------------------*/
cparata 0:485458fca2bd 40 #ifndef __DEV_I2C_H
cparata 0:485458fca2bd 41 #define __DEV_I2C_H
cparata 0:485458fca2bd 42
cparata 0:485458fca2bd 43 /* Includes ------------------------------------------------------------------*/
cparata 0:485458fca2bd 44 #include "mbed.h"
cparata 0:485458fca2bd 45
cparata 0:485458fca2bd 46 /* Classes -------------------------------------------------------------------*/
cparata 0:485458fca2bd 47 /** Helper class DevI2C providing functions for multi-register I2C communication
cparata 0:485458fca2bd 48 * common for a series of I2C devices
cparata 0:485458fca2bd 49 */
cparata 0:485458fca2bd 50 class DevI2C : public I2C
cparata 0:485458fca2bd 51 {
cparata 0:485458fca2bd 52 public:
cparata 0:485458fca2bd 53 /** Create a DevI2C Master interface, connected to the specified pins
cparata 0:485458fca2bd 54 *
cparata 0:485458fca2bd 55 * @param sda I2C data line pin
cparata 0:485458fca2bd 56 * @param scl I2C clock line pin
cparata 0:485458fca2bd 57 */
cparata 0:485458fca2bd 58 DevI2C(PinName sda, PinName scl) : I2C(sda, scl) {}
cparata 0:485458fca2bd 59
cparata 0:485458fca2bd 60 /**
cparata 0:485458fca2bd 61 * @brief Writes a buffer towards the I2C peripheral device.
cparata 0:485458fca2bd 62 * @param pBuffer pointer to the byte-array data to send
cparata 0:485458fca2bd 63 * @param DeviceAddr specifies the peripheral device slave address.
cparata 0:485458fca2bd 64 * @param RegisterAddr specifies the internal address register
cparata 0:485458fca2bd 65 * where to start writing to (must be correctly masked).
cparata 0:485458fca2bd 66 * @param NumByteToWrite number of bytes to be written.
cparata 0:485458fca2bd 67 * @retval 0 if ok,
cparata 0:485458fca2bd 68 * @retval -1 if an I2C error has occured, or
cparata 0:485458fca2bd 69 * @retval -2 on temporary buffer overflow (i.e. NumByteToWrite was too high)
cparata 0:485458fca2bd 70 * @note On some devices if NumByteToWrite is greater
cparata 0:485458fca2bd 71 * than one, the RegisterAddr must be masked correctly!
cparata 0:485458fca2bd 72 */
cparata 0:485458fca2bd 73 int i2c_write(uint8_t* pBuffer, uint8_t DeviceAddr, uint8_t RegisterAddr,
cparata 0:485458fca2bd 74 uint16_t NumByteToWrite)
cparata 0:485458fca2bd 75 {
cparata 0:485458fca2bd 76 int ret;
cparata 0:485458fca2bd 77 uint8_t tmp[TEMP_BUF_SIZE];
cparata 0:485458fca2bd 78
cparata 0:485458fca2bd 79 if(NumByteToWrite >= TEMP_BUF_SIZE) return -2;
cparata 0:485458fca2bd 80
cparata 0:485458fca2bd 81 /* First, send device address. Then, send data and STOP condition */
cparata 0:485458fca2bd 82 tmp[0] = RegisterAddr;
cparata 0:485458fca2bd 83 memcpy(tmp+1, pBuffer, NumByteToWrite);
cparata 0:485458fca2bd 84
cparata 0:485458fca2bd 85 ret = write(DeviceAddr, (const char*)tmp, NumByteToWrite+1, false);
cparata 0:485458fca2bd 86
cparata 0:485458fca2bd 87 if(ret) return -1;
cparata 0:485458fca2bd 88 return 0;
cparata 0:485458fca2bd 89 }
cparata 0:485458fca2bd 90
cparata 0:485458fca2bd 91 /**
cparata 0:485458fca2bd 92 * @brief Reads a buffer from the I2C peripheral device.
cparata 0:485458fca2bd 93 * @param pBuffer pointer to the byte-array to read data in to
cparata 0:485458fca2bd 94 * @param DaviceAddr specifies the peripheral device slave address.
cparata 0:485458fca2bd 95 * @param RegisterAddr specifies the internal address register
cparata 0:485458fca2bd 96 * where to start reading from (must be correctly masked).
cparata 0:485458fca2bd 97 * @param NumByteToRead number of bytes to be read.
cparata 0:485458fca2bd 98 * @retval 0 if ok,
cparata 0:485458fca2bd 99 * @retval -1 if an I2C error has occured
cparata 0:485458fca2bd 100 * @note On some devices if NumByteToWrite is greater
cparata 0:485458fca2bd 101 * than one, the RegisterAddr must be masked correctly!
cparata 0:485458fca2bd 102 */
cparata 0:485458fca2bd 103 int i2c_read(uint8_t* pBuffer, uint8_t DeviceAddr, uint8_t RegisterAddr,
cparata 0:485458fca2bd 104 uint16_t NumByteToRead)
cparata 0:485458fca2bd 105 {
cparata 0:485458fca2bd 106 int ret;
cparata 0:485458fca2bd 107
cparata 0:485458fca2bd 108 /* Send device address, with no STOP condition */
cparata 0:485458fca2bd 109 ret = write(DeviceAddr, (const char*)&RegisterAddr, 1, true);
cparata 0:485458fca2bd 110 if(!ret) {
cparata 0:485458fca2bd 111 /* Read data, with STOP condition */
cparata 0:485458fca2bd 112 ret = read(DeviceAddr, (char*)pBuffer, NumByteToRead, false);
cparata 0:485458fca2bd 113 }
cparata 0:485458fca2bd 114
cparata 0:485458fca2bd 115 if(ret) return -1;
cparata 0:485458fca2bd 116 return 0;
cparata 0:485458fca2bd 117 }
cparata 0:485458fca2bd 118
cparata 0:485458fca2bd 119 private:
cparata 0:485458fca2bd 120 static const unsigned int TEMP_BUF_SIZE = 32;
cparata 0:485458fca2bd 121 };
cparata 0:485458fca2bd 122
cparata 0:485458fca2bd 123 #endif /* __DEV_I2C_H */