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@2:ae74845fa96a, 2016-08-19 (annotated)

Committer:
cparata
Date:
Fri Aug 19 12:23:23 2016 +0000
Revision:
2:ae74845fa96a
Add interfaces to all components

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cparata 2:ae74845fa96a 1 /**
cparata 2:ae74845fa96a 2 ******************************************************************************
cparata 2:ae74845fa96a 3 * @file LSM303AGR_ACC_Sensor.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 LSM303AGR accelerometer sensor.
cparata 2:ae74845fa96a 8 ******************************************************************************
cparata 2:ae74845fa96a 9 * @attention
cparata 2:ae74845fa96a 10 *
cparata 2:ae74845fa96a 11 * <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
cparata 2:ae74845fa96a 12 *
cparata 2:ae74845fa96a 13 * Redistribution and use in source and binary forms, with or without modification,
cparata 2:ae74845fa96a 14 * are permitted provided that the following conditions are met:
cparata 2:ae74845fa96a 15 * 1. Redistributions of source code must retain the above copyright notice,
cparata 2:ae74845fa96a 16 * this list of conditions and the following disclaimer.
cparata 2:ae74845fa96a 17 * 2. Redistributions in binary form must reproduce the above copyright notice,
cparata 2:ae74845fa96a 18 * this list of conditions and the following disclaimer in the documentation
cparata 2:ae74845fa96a 19 * and/or other materials provided with the distribution.
cparata 2:ae74845fa96a 20 * 3. Neither the name of STMicroelectronics nor the names of its contributors
cparata 2:ae74845fa96a 21 * may be used to endorse or promote products derived from this software
cparata 2:ae74845fa96a 22 * without specific prior written permission.
cparata 2:ae74845fa96a 23 *
cparata 2:ae74845fa96a 24 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
cparata 2:ae74845fa96a 25 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
cparata 2:ae74845fa96a 26 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
cparata 2:ae74845fa96a 27 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
cparata 2:ae74845fa96a 28 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
cparata 2:ae74845fa96a 29 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
cparata 2:ae74845fa96a 30 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
cparata 2:ae74845fa96a 31 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
cparata 2:ae74845fa96a 32 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
cparata 2:ae74845fa96a 33 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
cparata 2:ae74845fa96a 34 *
cparata 2:ae74845fa96a 35 ******************************************************************************
cparata 2:ae74845fa96a 36 */
cparata 2:ae74845fa96a 37
cparata 2:ae74845fa96a 38
cparata 2:ae74845fa96a 39 /* Prevent recursive inclusion -----------------------------------------------*/
cparata 2:ae74845fa96a 40
cparata 2:ae74845fa96a 41 #ifndef __LSM303AGR_ACC_Sensor_H__
cparata 2:ae74845fa96a 42 #define __LSM303AGR_ACC_Sensor_H__
cparata 2:ae74845fa96a 43
cparata 2:ae74845fa96a 44
cparata 2:ae74845fa96a 45 /* Includes ------------------------------------------------------------------*/
cparata 2:ae74845fa96a 46
cparata 2:ae74845fa96a 47 #include "DevI2C.h"
cparata 2:ae74845fa96a 48 #include "LSM303AGR_ACC_driver.h"
cparata 2:ae74845fa96a 49 #include "MotionSensor.h"
cparata 2:ae74845fa96a 50
cparata 2:ae74845fa96a 51 /* Defines -------------------------------------------------------------------*/
cparata 2:ae74845fa96a 52 #define LSM303AGR_ACC_SENSITIVITY_FOR_FS_2G_NORMAL_MODE 3.900f /**< Sensitivity value for 2 g full scale and normal mode [mg/LSB] */
cparata 2:ae74845fa96a 53 #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 2:ae74845fa96a 54 #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 2:ae74845fa96a 55 #define LSM303AGR_ACC_SENSITIVITY_FOR_FS_4G_NORMAL_MODE 7.820f /**< Sensitivity value for 4 g full scale and normal mode [mg/LSB] */
cparata 2:ae74845fa96a 56 #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 2:ae74845fa96a 57 #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 2:ae74845fa96a 58 #define LSM303AGR_ACC_SENSITIVITY_FOR_FS_8G_NORMAL_MODE 15.630f /**< Sensitivity value for 8 g full scale and normal mode [mg/LSB] */
cparata 2:ae74845fa96a 59 #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 2:ae74845fa96a 60 #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 2:ae74845fa96a 61 #define LSM303AGR_ACC_SENSITIVITY_FOR_FS_16G_NORMAL_MODE 46.900f /**< Sensitivity value for 16 g full scale and normal mode [mg/LSB] */
cparata 2:ae74845fa96a 62 #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 2:ae74845fa96a 63 #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 2:ae74845fa96a 64
cparata 2:ae74845fa96a 65 /* Class Declaration ---------------------------------------------------------*/
cparata 2:ae74845fa96a 66
cparata 2:ae74845fa96a 67 /**
cparata 2:ae74845fa96a 68 * Abstract class of an LSM303AGR Inertial Measurement Unit (IMU) 6 axes
cparata 2:ae74845fa96a 69 * sensor.
cparata 2:ae74845fa96a 70 */
cparata 2:ae74845fa96a 71 class LSM303AGR_ACC_Sensor : public MotionSensor
cparata 2:ae74845fa96a 72 {
cparata 2:ae74845fa96a 73 public:
cparata 2:ae74845fa96a 74 LSM303AGR_ACC_Sensor(DevI2C &i2c);
cparata 2:ae74845fa96a 75 LSM303AGR_ACC_Sensor(DevI2C &i2c, uint8_t address);
cparata 2:ae74845fa96a 76 virtual int Init(void *init);
cparata 2:ae74845fa96a 77 virtual int ReadID(uint8_t *id);
cparata 2:ae74845fa96a 78 virtual int Get_X_Axes(int32_t *pData);
cparata 2:ae74845fa96a 79 virtual int Get_X_AxesRaw(int16_t *pData);
cparata 2:ae74845fa96a 80 virtual int Get_X_Sensitivity(float *pfData);
cparata 2:ae74845fa96a 81 virtual int Get_X_ODR(float *odr);
cparata 2:ae74845fa96a 82 virtual int Set_X_ODR(float odr);
cparata 2:ae74845fa96a 83 virtual int Get_X_FS(float *fullScale);
cparata 2:ae74845fa96a 84 virtual int Set_X_FS(float fullScale);
cparata 2:ae74845fa96a 85 int Enable(void);
cparata 2:ae74845fa96a 86 int Disable(void);
cparata 2:ae74845fa96a 87 int ReadReg(uint8_t reg, uint8_t *data);
cparata 2:ae74845fa96a 88 int WriteReg(uint8_t reg, uint8_t data);
cparata 2:ae74845fa96a 89
cparata 2:ae74845fa96a 90 /**
cparata 2:ae74845fa96a 91 * @brief Utility function to read data.
cparata 2:ae74845fa96a 92 * @param pBuffer: pointer to data to be read.
cparata 2:ae74845fa96a 93 * @param RegisterAddr: specifies internal address register to be read.
cparata 2:ae74845fa96a 94 * @param NumByteToRead: number of bytes to be read.
cparata 2:ae74845fa96a 95 * @retval 0 if ok, an error code otherwise.
cparata 2:ae74845fa96a 96 */
cparata 2:ae74845fa96a 97 uint8_t IO_Read(uint8_t* pBuffer, uint8_t RegisterAddr, uint16_t NumByteToRead)
cparata 2:ae74845fa96a 98 {
cparata 2:ae74845fa96a 99 return (uint8_t) dev_i2c.i2c_read(pBuffer, address, RegisterAddr, NumByteToRead);
cparata 2:ae74845fa96a 100 }
cparata 2:ae74845fa96a 101
cparata 2:ae74845fa96a 102 /**
cparata 2:ae74845fa96a 103 * @brief Utility function to write data.
cparata 2:ae74845fa96a 104 * @param pBuffer: pointer to data to be written.
cparata 2:ae74845fa96a 105 * @param RegisterAddr: specifies internal address register to be written.
cparata 2:ae74845fa96a 106 * @param NumByteToWrite: number of bytes to write.
cparata 2:ae74845fa96a 107 * @retval 0 if ok, an error code otherwise.
cparata 2:ae74845fa96a 108 */
cparata 2:ae74845fa96a 109 uint8_t IO_Write(uint8_t* pBuffer, uint8_t RegisterAddr, uint16_t NumByteToWrite)
cparata 2:ae74845fa96a 110 {
cparata 2:ae74845fa96a 111 return (uint8_t) dev_i2c.i2c_write(pBuffer, address, RegisterAddr, NumByteToWrite);
cparata 2:ae74845fa96a 112 }
cparata 2:ae74845fa96a 113
cparata 2:ae74845fa96a 114 private:
cparata 2:ae74845fa96a 115 int Set_X_ODR_When_Enabled(float odr);
cparata 2:ae74845fa96a 116 int Set_X_ODR_When_Disabled(float odr);
cparata 2:ae74845fa96a 117 int Get_X_Sensitivity_Normal_Mode(float *sensitivity );
cparata 2:ae74845fa96a 118 int Get_X_Sensitivity_LP_Mode(float *sensitivity );
cparata 2:ae74845fa96a 119 int Get_X_Sensitivity_HR_Mode(float *sensitivity );
cparata 2:ae74845fa96a 120
cparata 2:ae74845fa96a 121 /* Helper classes. */
cparata 2:ae74845fa96a 122 DevI2C &dev_i2c;
cparata 2:ae74845fa96a 123
cparata 2:ae74845fa96a 124 /* Configuration */
cparata 2:ae74845fa96a 125 uint8_t address;
cparata 2:ae74845fa96a 126
cparata 2:ae74845fa96a 127 uint8_t isEnabled;
cparata 2:ae74845fa96a 128 float Last_ODR;
cparata 2:ae74845fa96a 129 };
cparata 2:ae74845fa96a 130
cparata 2:ae74845fa96a 131 #ifdef __cplusplus
cparata 2:ae74845fa96a 132 extern "C" {
cparata 2:ae74845fa96a 133 #endif
cparata 2:ae74845fa96a 134 uint8_t LSM303AGR_ACC_IO_Write( void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite );
cparata 2:ae74845fa96a 135 uint8_t LSM303AGR_ACC_IO_Read( void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead );
cparata 2:ae74845fa96a 136 #ifdef __cplusplus
cparata 2:ae74845fa96a 137 }
cparata 2:ae74845fa96a 138 #endif
cparata 2:ae74845fa96a 139
cparata 2:ae74845fa96a 140 #endif