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/DevSPI/DevSPI.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 DevSPI.h
cparata 0:485458fca2bd 4 * @author AST / Software Platforms and Cloud / EST
cparata 0:485458fca2bd 5 * @version V1.2.1
cparata 0:485458fca2bd 6 * @date 19-February-2016
cparata 0:485458fca2bd 7 * @brief Header file for a special SPI class DevSPI which provides some
cparata 0:485458fca2bd 8 * helper functions 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) 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 /* Define to prevent from recursive inclusion --------------------------------*/
cparata 0:485458fca2bd 40 #ifndef __DEV_SPI_H
cparata 0:485458fca2bd 41 #define __DEV_SPI_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 /* Macros --------------------------------------------------------------------*/
cparata 0:485458fca2bd 47 #if (defined(__BYTE_ORDER__) && (__BYTE_ORDER__ == __ORDER_BIG_ENDIAN__)) /* GCC */ || \
cparata 0:485458fca2bd 48 (defined(G_BYTE_ORDER) && (G_BYTE_ORDER == G_BIG_ENDIAN)) /* IAR */ || \
cparata 0:485458fca2bd 49 (defined(__BIG_ENDIAN)) /* ARM */
cparata 0:485458fca2bd 50 #define __DEV_SPI_BIG_ENDIAN
cparata 0:485458fca2bd 51 #endif
cparata 0:485458fca2bd 52
cparata 0:485458fca2bd 53 /* Classes -------------------------------------------------------------------*/
cparata 0:485458fca2bd 54 /** Helper class DevSPI providing functions for synchronous SPI communication
cparata 0:485458fca2bd 55 * common for a series of SPI devices.
cparata 0:485458fca2bd 56 */
cparata 0:485458fca2bd 57 class DevSPI : public SPI
cparata 0:485458fca2bd 58 {
cparata 0:485458fca2bd 59 public:
cparata 0:485458fca2bd 60 /*
cparata 0:485458fca2bd 61 * Create a DevSPI interface.
cparata 0:485458fca2bd 62 * @param mosi pin name of the MOSI pin of the SPI device to be used for communication.
cparata 0:485458fca2bd 63 * @param miso pin name of the MISO pin of the SPI device to be used for communication.
cparata 0:485458fca2bd 64 * @param sclk pin name of the SCLK pin of the SPI device to be used for communication.
cparata 0:485458fca2bd 65 */
cparata 0:485458fca2bd 66 DevSPI(PinName mosi, PinName miso, PinName sclk) : SPI(mosi, miso, sclk)
cparata 0:485458fca2bd 67 {
cparata 0:485458fca2bd 68 /* Set default configuration. */
cparata 0:485458fca2bd 69 setup(8, 3, 1E6);
cparata 0:485458fca2bd 70 }
cparata 0:485458fca2bd 71
cparata 0:485458fca2bd 72 /*
cparata 0:485458fca2bd 73 * Setup the spi.
cparata 0:485458fca2bd 74 * Typically:
cparata 0:485458fca2bd 75 * + 8 bit data;
cparata 0:485458fca2bd 76 * + high steady state clock;
cparata 0:485458fca2bd 77 * + second edge capture;
cparata 0:485458fca2bd 78 * + 1MHz clock rate.
cparata 0:485458fca2bd 79 *
cparata 0:485458fca2bd 80 * @param bits Number of bits per SPI frame (4 - 16)
cparata 0:485458fca2bd 81 * @param mode Clock polarity and phase mode (0 - 3)
cparata 0:485458fca2bd 82 * @param frequency_hz SCLK frequency in hz (default = 1MHz)
cparata 0:485458fca2bd 83 *
cparata 0:485458fca2bd 84 * @code
cparata 0:485458fca2bd 85 * mode | POL PHA
cparata 0:485458fca2bd 86 * -----+--------
cparata 0:485458fca2bd 87 * 0 | 0 0
cparata 0:485458fca2bd 88 * 1 | 0 1
cparata 0:485458fca2bd 89 * 2 | 1 0
cparata 0:485458fca2bd 90 * 3 | 1 1
cparata 0:485458fca2bd 91 * @endcode
cparata 0:485458fca2bd 92 */
cparata 0:485458fca2bd 93 void setup(int bits, int mode = 0, int frequency_hz = 1E6)
cparata 0:485458fca2bd 94 {
cparata 0:485458fca2bd 95 /* Set given configuration. */
cparata 0:485458fca2bd 96 format(bits, mode);
cparata 0:485458fca2bd 97 frequency(frequency_hz);
cparata 0:485458fca2bd 98 }
cparata 0:485458fca2bd 99
cparata 0:485458fca2bd 100 /**
cparata 0:485458fca2bd 101 * @brief Writes a buffer to the SPI peripheral device in 8-bit data mode
cparata 0:485458fca2bd 102 * using synchronous SPI communication.
cparata 0:485458fca2bd 103 * @param[in] pBuffer pointer to the buffer of data to send.
cparata 0:485458fca2bd 104 * @param[in] ssel GPIO of the SSEL pin of the SPI device to be used for communication.
cparata 0:485458fca2bd 105 * @param[in] NumBytesToWrite number of bytes to write.
cparata 0:485458fca2bd 106 * @retval 0 if ok.
cparata 0:485458fca2bd 107 * @retval -1 if data format error.
cparata 0:485458fca2bd 108 * @note When using the SPI in Interrupt-mode, remember to disable interrupts
cparata 0:485458fca2bd 109 * before calling this function and to enable them again after.
cparata 0:485458fca2bd 110 */
cparata 0:485458fca2bd 111 int spi_write(uint8_t* pBuffer, DigitalOut &ssel, uint16_t NumBytesToWrite)
cparata 0:485458fca2bd 112 {
cparata 0:485458fca2bd 113 /* Check data format */
cparata 0:485458fca2bd 114 if(_bits != 8) return -1;
cparata 0:485458fca2bd 115
cparata 0:485458fca2bd 116 /* Select the chip. */
cparata 0:485458fca2bd 117 ssel = 0;
cparata 0:485458fca2bd 118
cparata 0:485458fca2bd 119 /* Write data. */
cparata 0:485458fca2bd 120 for (int i = 0; i < NumBytesToWrite; i++) {
cparata 0:485458fca2bd 121 write(pBuffer[i]);
cparata 0:485458fca2bd 122 }
cparata 0:485458fca2bd 123
cparata 0:485458fca2bd 124 /* Unselect the chip. */
cparata 0:485458fca2bd 125 ssel = 1;
cparata 0:485458fca2bd 126
cparata 0:485458fca2bd 127 return 0;
cparata 0:485458fca2bd 128 }
cparata 0:485458fca2bd 129
cparata 0:485458fca2bd 130 /**
cparata 0:485458fca2bd 131 * @brief Reads a buffer from the SPI peripheral device in 8-bit data mode
cparata 0:485458fca2bd 132 * using synchronous SPI communication.
cparata 0:485458fca2bd 133 * @param[out] pBuffer pointer to the buffer to read data into.
cparata 0:485458fca2bd 134 * @param[in] ssel GPIO of the SSEL pin of the SPI device to be used for communication.
cparata 0:485458fca2bd 135 * @param[in] NumBytesToRead number of bytes to read.
cparata 0:485458fca2bd 136 * @retval 0 if ok.
cparata 0:485458fca2bd 137 * @retval -1 if data format error.
cparata 0:485458fca2bd 138 * @note When using the SPI in Interrupt-mode, remember to disable interrupts
cparata 0:485458fca2bd 139 * before calling this function and to enable them again after.
cparata 0:485458fca2bd 140 */
cparata 0:485458fca2bd 141 int spi_read(uint8_t* pBuffer, DigitalOut &ssel, uint16_t NumBytesToRead)
cparata 0:485458fca2bd 142 {
cparata 0:485458fca2bd 143 /* Check data format */
cparata 0:485458fca2bd 144 if(_bits != 8) return -1;
cparata 0:485458fca2bd 145
cparata 0:485458fca2bd 146 /* Select the chip. */
cparata 0:485458fca2bd 147 ssel = 0;
cparata 0:485458fca2bd 148
cparata 0:485458fca2bd 149 /* Read data. */
cparata 0:485458fca2bd 150 for (int i = 0; i < NumBytesToRead; i++) {
cparata 0:485458fca2bd 151 pBuffer[i] = write(0);
cparata 0:485458fca2bd 152 }
cparata 0:485458fca2bd 153
cparata 0:485458fca2bd 154 /* Unselect the chip. */
cparata 0:485458fca2bd 155 ssel = 1;
cparata 0:485458fca2bd 156
cparata 0:485458fca2bd 157 return 0;
cparata 0:485458fca2bd 158 }
cparata 0:485458fca2bd 159
cparata 0:485458fca2bd 160 /**
cparata 0:485458fca2bd 161 * @brief Reads and write a buffer from/to the SPI peripheral device at the same time
cparata 0:485458fca2bd 162 * in 8-bit data mode using synchronous SPI communication.
cparata 0:485458fca2bd 163 * @param[out] pBufferToRead pointer to the buffer to read data into.
cparata 0:485458fca2bd 164 * @param[in] pBufferToWrite pointer to the buffer of data to send.
cparata 0:485458fca2bd 165 * @param[in] ssel GPIO of the SSEL pin of the SPI device to be used for communication.
cparata 0:485458fca2bd 166 * @param[in] NumBytes number of bytes to read and write.
cparata 0:485458fca2bd 167 * @retval 0 if ok.
cparata 0:485458fca2bd 168 * @retval -1 if data format error.
cparata 0:485458fca2bd 169 * @note When using the SPI in Interrupt-mode, remember to disable interrupts
cparata 0:485458fca2bd 170 * before calling this function and to enable them again after.
cparata 0:485458fca2bd 171 */
cparata 0:485458fca2bd 172 int spi_read_write(uint8_t* pBufferToRead, uint8_t* pBufferToWrite, DigitalOut &ssel, uint16_t NumBytes)
cparata 0:485458fca2bd 173 {
cparata 0:485458fca2bd 174 /* Check data format */
cparata 0:485458fca2bd 175 if(_bits != 8) return -1;
cparata 0:485458fca2bd 176
cparata 0:485458fca2bd 177 /* Select the chip. */
cparata 0:485458fca2bd 178 ssel = 0;
cparata 0:485458fca2bd 179
cparata 0:485458fca2bd 180 /* Read and write data at the same time. */
cparata 0:485458fca2bd 181 for (int i = 0; i < NumBytes; i++) {
cparata 0:485458fca2bd 182 pBufferToRead[i] = write(pBufferToWrite[i]);
cparata 0:485458fca2bd 183 }
cparata 0:485458fca2bd 184
cparata 0:485458fca2bd 185 /* Unselect the chip. */
cparata 0:485458fca2bd 186 ssel = 1;
cparata 0:485458fca2bd 187
cparata 0:485458fca2bd 188 return 0;
cparata 0:485458fca2bd 189 }
cparata 0:485458fca2bd 190
cparata 0:485458fca2bd 191 /**
cparata 0:485458fca2bd 192 * @brief Writes a buffer to the SPI peripheral device in 16-bit data mode
cparata 0:485458fca2bd 193 * using synchronous SPI communication.
cparata 0:485458fca2bd 194 * @param[in] pBuffer pointer to the buffer of data to send.
cparata 0:485458fca2bd 195 * @param[in] ssel GPIO of the SSEL pin of the SPI device to be used for communication.
cparata 0:485458fca2bd 196 * @param[in] NumValuesToWrite number of 16-bit values to write.
cparata 0:485458fca2bd 197 * @retval 0 if ok.
cparata 0:485458fca2bd 198 * @retval -1 if data format error.
cparata 0:485458fca2bd 199 * @note When using the SPI in Interrupt-mode, remember to disable interrupts
cparata 0:485458fca2bd 200 * before calling this function and to enable them again after.
cparata 0:485458fca2bd 201 * @note In order to guarantee this method to work correctly you have to
cparata 0:485458fca2bd 202 * pass buffers which are correctly aligned.
cparata 0:485458fca2bd 203 */
cparata 0:485458fca2bd 204 int spi_write(uint16_t* pBuffer, DigitalOut &ssel, uint16_t NumValuesToWrite)
cparata 0:485458fca2bd 205 {
cparata 0:485458fca2bd 206 /* Check data format */
cparata 0:485458fca2bd 207 if(_bits != 16) return -1;
cparata 0:485458fca2bd 208
cparata 0:485458fca2bd 209 /* Select the chip. */
cparata 0:485458fca2bd 210 ssel = 0;
cparata 0:485458fca2bd 211
cparata 0:485458fca2bd 212 /* Write data. */
cparata 0:485458fca2bd 213 for (int i = 0; i < NumValuesToWrite; i++) {
cparata 0:485458fca2bd 214 write(htons(pBuffer[i]));
cparata 0:485458fca2bd 215 }
cparata 0:485458fca2bd 216
cparata 0:485458fca2bd 217 /* Unselect the chip. */
cparata 0:485458fca2bd 218 ssel = 1;
cparata 0:485458fca2bd 219
cparata 0:485458fca2bd 220 return 0;
cparata 0:485458fca2bd 221 }
cparata 0:485458fca2bd 222
cparata 0:485458fca2bd 223 /**
cparata 0:485458fca2bd 224 * @brief Reads a buffer from the SPI peripheral device in 16-bit data mode
cparata 0:485458fca2bd 225 * using synchronous SPI communication.
cparata 0:485458fca2bd 226 * @param[out] pBuffer pointer to the buffer to read data into.
cparata 0:485458fca2bd 227 * @param[in] ssel GPIO of the SSEL pin of the SPI device to be used for communication.
cparata 0:485458fca2bd 228 * @param[in] NumValuesToRead number of 16-bit values to read.
cparata 0:485458fca2bd 229 * @retval 0 if ok.
cparata 0:485458fca2bd 230 * @retval -1 if data format error.
cparata 0:485458fca2bd 231 * @note When using the SPI in Interrupt-mode, remember to disable interrupts
cparata 0:485458fca2bd 232 * before calling this function and to enable them again after.
cparata 0:485458fca2bd 233 * @note In order to guarantee this method to work correctly you have to
cparata 0:485458fca2bd 234 * pass buffers which are correctly aligned.
cparata 0:485458fca2bd 235 */
cparata 0:485458fca2bd 236 int spi_read(uint16_t* pBuffer, DigitalOut &ssel, uint16_t NumValuesToRead)
cparata 0:485458fca2bd 237 {
cparata 0:485458fca2bd 238 /* Check data format */
cparata 0:485458fca2bd 239 if(_bits != 16) return -1;
cparata 0:485458fca2bd 240
cparata 0:485458fca2bd 241 /* Select the chip. */
cparata 0:485458fca2bd 242 ssel = 0;
cparata 0:485458fca2bd 243
cparata 0:485458fca2bd 244 /* Read data. */
cparata 0:485458fca2bd 245 for (int i = 0; i < NumValuesToRead; i++) {
cparata 0:485458fca2bd 246 pBuffer[i] = ntohs((uint16_t)write(0));
cparata 0:485458fca2bd 247 }
cparata 0:485458fca2bd 248
cparata 0:485458fca2bd 249 /* Unselect the chip. */
cparata 0:485458fca2bd 250 ssel = 1;
cparata 0:485458fca2bd 251
cparata 0:485458fca2bd 252 return 0;
cparata 0:485458fca2bd 253 }
cparata 0:485458fca2bd 254
cparata 0:485458fca2bd 255 /**
cparata 0:485458fca2bd 256 * @brief Reads and write a buffer from/to the SPI peripheral device at the same time
cparata 0:485458fca2bd 257 * in 16-bit data mode using synchronous SPI communication.
cparata 0:485458fca2bd 258 * @param[out] pBufferToRead pointer to the buffer to read data into.
cparata 0:485458fca2bd 259 * @param[in] pBufferToWrite pointer to the buffer of data to send.
cparata 0:485458fca2bd 260 * @param[in] ssel GPIO of the SSEL pin of the SPI device to be used for communication.
cparata 0:485458fca2bd 261 * @param[in] NumValues number of 16-bit values to read and write.
cparata 0:485458fca2bd 262 * @retval 0 if ok.
cparata 0:485458fca2bd 263 * @retval -1 if data format error.
cparata 0:485458fca2bd 264 * @note When using the SPI in Interrupt-mode, remember to disable interrupts
cparata 0:485458fca2bd 265 * before calling this function and to enable them again after.
cparata 0:485458fca2bd 266 * @note In order to guarantee this method to work correctly you have to
cparata 0:485458fca2bd 267 * pass buffers which are correctly aligned.
cparata 0:485458fca2bd 268 */
cparata 0:485458fca2bd 269 int spi_read_write(uint16_t* pBufferToRead, uint16_t* pBufferToWrite, DigitalOut &ssel, uint16_t NumValues)
cparata 0:485458fca2bd 270 {
cparata 0:485458fca2bd 271 /* Check data format */
cparata 0:485458fca2bd 272 if(_bits != 16) return -1;
cparata 0:485458fca2bd 273
cparata 0:485458fca2bd 274 /* Select the chip. */
cparata 0:485458fca2bd 275 ssel = 0;
cparata 0:485458fca2bd 276
cparata 0:485458fca2bd 277 /* Read and write data at the same time. */
cparata 0:485458fca2bd 278 for (int i = 0; i < NumValues; i++) {
cparata 0:485458fca2bd 279 pBufferToRead[i] = ntohs((uint16_t)write(htons(pBufferToWrite[i])));
cparata 0:485458fca2bd 280 }
cparata 0:485458fca2bd 281
cparata 0:485458fca2bd 282 /* Unselect the chip. */
cparata 0:485458fca2bd 283 ssel = 1;
cparata 0:485458fca2bd 284
cparata 0:485458fca2bd 285 return 0;
cparata 0:485458fca2bd 286 }
cparata 0:485458fca2bd 287
cparata 0:485458fca2bd 288 protected:
cparata 0:485458fca2bd 289 inline uint16_t htons(uint16_t x) {
cparata 0:485458fca2bd 290 #ifndef __DEV_SPI_BIG_ENDIAN
cparata 0:485458fca2bd 291 return (((x)<<8)|((x)>>8));
cparata 0:485458fca2bd 292 #else // __DEV_SPI_BIG_ENDIAN
cparata 0:485458fca2bd 293 return (x);
cparata 0:485458fca2bd 294 #endif // __DEV_SPI_BIG_ENDIAN
cparata 0:485458fca2bd 295 }
cparata 0:485458fca2bd 296
cparata 0:485458fca2bd 297 inline uint16_t ntohs(uint16_t x) {
cparata 0:485458fca2bd 298 return htons(x);
cparata 0:485458fca2bd 299 }
cparata 0:485458fca2bd 300 };
cparata 0:485458fca2bd 301
cparata 0:485458fca2bd 302 #endif /* __DEV_SPI_H */