ST
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.
Diff: X_NUCLEO_IKS01A2/Components/LSM6DSLSensor/LSM6DSLSensor.h
- Revision:
- 1:2a3747a5d936
- Parent:
- 0:485458fca2bd
- Child:
- 2:ae74845fa96a
--- a/X_NUCLEO_IKS01A2/Components/LSM6DSLSensor/LSM6DSLSensor.h Fri Aug 12 13:37:49 2016 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,228 +0,0 @@
-/**
- ******************************************************************************
- * @file LSM6DSLSensor.h
- * @author AST
- * @version V1.0.0
- * @date 5 August 2016
- * @brief Abstract Class of an LSM6DSL Inertial Measurement Unit (IMU) 6 axes
- * sensor.
- ******************************************************************************
- * @attention
- *
- * <h2><center>© COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
- *
- * Redistribution and use in source and binary forms, with or without modification,
- * are permitted provided that the following conditions are met:
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- * 3. Neither the name of STMicroelectronics nor the names of its contributors
- * may be used to endorse or promote products derived from this software
- * without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
- * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
- * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
- * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- *
- ******************************************************************************
- */
-
-
-/* Prevent recursive inclusion -----------------------------------------------*/
-
-#ifndef __LSM6DSLSensor_H__
-#define __LSM6DSLSensor_H__
-
-
-/* Includes ------------------------------------------------------------------*/
-
-#include "DevI2C.h"
-#include "LSM6DSL_ACC_GYRO_driver.h"
-
-/* Defines -------------------------------------------------------------------*/
-
-#define LSM6DSL_ACC_SENSITIVITY_FOR_FS_2G 0.061 /**< Sensitivity value for 2 g full scale [mg/LSB] */
-#define LSM6DSL_ACC_SENSITIVITY_FOR_FS_4G 0.122 /**< Sensitivity value for 4 g full scale [mg/LSB] */
-#define LSM6DSL_ACC_SENSITIVITY_FOR_FS_8G 0.244 /**< Sensitivity value for 8 g full scale [mg/LSB] */
-#define LSM6DSL_ACC_SENSITIVITY_FOR_FS_16G 0.488 /**< Sensitivity value for 16 g full scale [mg/LSB] */
-
-#define LSM6DSL_GYRO_SENSITIVITY_FOR_FS_125DPS 04.375 /**< Sensitivity value for 125 dps full scale [mdps/LSB] */
-#define LSM6DSL_GYRO_SENSITIVITY_FOR_FS_245DPS 08.750 /**< Sensitivity value for 245 dps full scale [mdps/LSB] */
-#define LSM6DSL_GYRO_SENSITIVITY_FOR_FS_500DPS 17.500 /**< Sensitivity value for 500 dps full scale [mdps/LSB] */
-#define LSM6DSL_GYRO_SENSITIVITY_FOR_FS_1000DPS 35.000 /**< Sensitivity value for 1000 dps full scale [mdps/LSB] */
-#define LSM6DSL_GYRO_SENSITIVITY_FOR_FS_2000DPS 70.000 /**< Sensitivity value for 2000 dps full scale [mdps/LSB] */
-
-#define LSM6DSL_PEDOMETER_THRESHOLD_LOW 0x00 /**< Lowest value of pedometer threshold */
-#define LSM6DSL_PEDOMETER_THRESHOLD_MID_LOW 0x07
-#define LSM6DSL_PEDOMETER_THRESHOLD_MID 0x0F
-#define LSM6DSL_PEDOMETER_THRESHOLD_MID_HIGH 0x17
-#define LSM6DSL_PEDOMETER_THRESHOLD_HIGH 0x1F /**< Highest value of pedometer threshold */
-
-#define LSM6DSL_WAKE_UP_THRESHOLD_LOW 0x01 /**< Lowest value of wake up threshold */
-#define LSM6DSL_WAKE_UP_THRESHOLD_MID_LOW 0x0F
-#define LSM6DSL_WAKE_UP_THRESHOLD_MID 0x1F
-#define LSM6DSL_WAKE_UP_THRESHOLD_MID_HIGH 0x2F
-#define LSM6DSL_WAKE_UP_THRESHOLD_HIGH 0x3F /**< Highest value of wake up threshold */
-
-#define LSM6DSL_TAP_THRESHOLD_LOW 0x01 /**< Lowest value of wake up threshold */
-#define LSM6DSL_TAP_THRESHOLD_MID_LOW 0x08
-#define LSM6DSL_TAP_THRESHOLD_MID 0x10
-#define LSM6DSL_TAP_THRESHOLD_MID_HIGH 0x18
-#define LSM6DSL_TAP_THRESHOLD_HIGH 0x1F /**< Highest value of wake up threshold */
-
-#define LSM6DSL_TAP_SHOCK_TIME_LOW 0x00 /**< Lowest value of wake up threshold */
-#define LSM6DSL_TAP_SHOCK_TIME_MID_LOW 0x01
-#define LSM6DSL_TAP_SHOCK_TIME_MID_HIGH 0x02
-#define LSM6DSL_TAP_SHOCK_TIME_HIGH 0x03 /**< Highest value of wake up threshold */
-
-#define LSM6DSL_TAP_QUIET_TIME_LOW 0x00 /**< Lowest value of wake up threshold */
-#define LSM6DSL_TAP_QUIET_TIME_MID_LOW 0x01
-#define LSM6DSL_TAP_QUIET_TIME_MID_HIGH 0x02
-#define LSM6DSL_TAP_QUIET_TIME_HIGH 0x03 /**< Highest value of wake up threshold */
-
-#define LSM6DSL_TAP_DURATION_TIME_LOW 0x00 /**< Lowest value of wake up threshold */
-#define LSM6DSL_TAP_DURATION_TIME_MID_LOW 0x04
-#define LSM6DSL_TAP_DURATION_TIME_MID 0x08
-#define LSM6DSL_TAP_DURATION_TIME_MID_HIGH 0x0C
-#define LSM6DSL_TAP_DURATION_TIME_HIGH 0x0F /**< Highest value of wake up threshold */
-
-/* Typedefs ------------------------------------------------------------------*/
-typedef enum
-{
- LSM6DSL_STATUS_OK = 0,
- LSM6DSL_STATUS_ERROR,
- LSM6DSL_STATUS_TIMEOUT,
- LSM6DSL_STATUS_NOT_IMPLEMENTED
-} LSM6DSLStatusTypeDef;
-
-
-/* Class Declaration ---------------------------------------------------------*/
-
-/**
- * Abstract class of an LSM6DSL Inertial Measurement Unit (IMU) 6 axes
- * sensor.
- */
-class LSM6DSLSensor
-{
- public:
- LSM6DSLSensor (DevI2C &i2c);
- LSM6DSLSensor (DevI2C &i2c, uint8_t address);
- LSM6DSLStatusTypeDef Enable_X (void);
- LSM6DSLStatusTypeDef Enable_G (void);
- LSM6DSLStatusTypeDef Disable_X (void);
- LSM6DSLStatusTypeDef Disable_G (void);
- LSM6DSLStatusTypeDef ReadID (uint8_t *p_id);
- LSM6DSLStatusTypeDef Get_X_Axes (int32_t *pData);
- LSM6DSLStatusTypeDef Get_G_Axes (int32_t *pData);
- LSM6DSLStatusTypeDef Get_X_Sensitivity (float *pfData);
- LSM6DSLStatusTypeDef Get_G_Sensitivity (float *pfData);
- LSM6DSLStatusTypeDef Get_X_AxesRaw (int16_t *pData);
- LSM6DSLStatusTypeDef Get_G_AxesRaw (int16_t *pData);
- LSM6DSLStatusTypeDef Get_X_ODR (float *odr);
- LSM6DSLStatusTypeDef Get_G_ODR (float *odr);
- LSM6DSLStatusTypeDef Set_X_ODR (float odr);
- LSM6DSLStatusTypeDef Set_G_ODR (float odr);
- LSM6DSLStatusTypeDef Get_X_FS (float *fullScale);
- LSM6DSLStatusTypeDef Get_G_FS (float *fullScale);
- LSM6DSLStatusTypeDef Set_X_FS (float fullScale);
- LSM6DSLStatusTypeDef Set_G_FS (float fullScale);
- LSM6DSLStatusTypeDef Enable_Free_Fall_Detection (void);
- LSM6DSLStatusTypeDef Disable_Free_Fall_Detection (void);
- LSM6DSLStatusTypeDef Get_Status_Free_Fall_Detection (uint8_t *status);
- LSM6DSLStatusTypeDef Set_Free_Fall_Threshold (uint8_t thr);
- LSM6DSLStatusTypeDef Enable_Pedometer (void);
- LSM6DSLStatusTypeDef Disable_Pedometer (void);
- LSM6DSLStatusTypeDef Get_Status_Pedometer (uint8_t *status);
- LSM6DSLStatusTypeDef Get_Step_Counter (uint16_t *step_count);
- LSM6DSLStatusTypeDef Reset_Step_Counter (void);
- LSM6DSLStatusTypeDef Set_Pedometer_Threshold (uint8_t thr);
- LSM6DSLStatusTypeDef Enable_Tilt_Detection (void);
- LSM6DSLStatusTypeDef Disable_Tilt_Detection (void);
- LSM6DSLStatusTypeDef Get_Status_Tilt_Detection (uint8_t *status);
- LSM6DSLStatusTypeDef Enable_Wake_Up_Detection (void);
- LSM6DSLStatusTypeDef Disable_Wake_Up_Detection (void);
- LSM6DSLStatusTypeDef Get_Status_Wake_Up_Detection (uint8_t *status);
- LSM6DSLStatusTypeDef Set_Wake_Up_Threshold (uint8_t thr);
- LSM6DSLStatusTypeDef Enable_Single_Tap_Detection (void);
- LSM6DSLStatusTypeDef Disable_Single_Tap_Detection (void);
- LSM6DSLStatusTypeDef Get_Status_Single_Tap_Detection (uint8_t *status);
- LSM6DSLStatusTypeDef Enable_Double_Tap_Detection (void);
- LSM6DSLStatusTypeDef Disable_Double_Tap_Detection (void);
- LSM6DSLStatusTypeDef Get_Status_Double_Tap_Detection (uint8_t *status);
- LSM6DSLStatusTypeDef Set_Tap_Threshold (uint8_t thr);
- LSM6DSLStatusTypeDef Set_Tap_Shock_Time (uint8_t time);
- LSM6DSLStatusTypeDef Set_Tap_Quiet_Time (uint8_t time);
- LSM6DSLStatusTypeDef Set_Tap_Duration_Time (uint8_t time);
- LSM6DSLStatusTypeDef Enable_6D_Orientation (void);
- LSM6DSLStatusTypeDef Disable_6D_Orientation (void);
- LSM6DSLStatusTypeDef Get_Status_6D_Orientation (uint8_t *status);
- LSM6DSLStatusTypeDef Get_6D_Orientation_XL (uint8_t *xl);
- LSM6DSLStatusTypeDef Get_6D_Orientation_XH (uint8_t *xh);
- LSM6DSLStatusTypeDef Get_6D_Orientation_YL (uint8_t *yl);
- LSM6DSLStatusTypeDef Get_6D_Orientation_YH (uint8_t *yh);
- LSM6DSLStatusTypeDef Get_6D_Orientation_ZL (uint8_t *zl);
- LSM6DSLStatusTypeDef Get_6D_Orientation_ZH (uint8_t *zh);
- LSM6DSLStatusTypeDef ReadReg (uint8_t reg, uint8_t *data);
- LSM6DSLStatusTypeDef WriteReg (uint8_t reg, uint8_t data);
-
- /**
- * @brief Utility function to read data.
- * @param pBuffer: pointer to data to be read.
- * @param RegisterAddr: specifies internal address register to be read.
- * @param NumByteToRead: number of bytes to be read.
- * @retval 0 if ok, an error code otherwise.
- */
- uint8_t IO_Read(uint8_t* pBuffer, uint8_t RegisterAddr, uint16_t NumByteToRead)
- {
- return (uint8_t) dev_i2c.i2c_read(pBuffer, address, RegisterAddr, NumByteToRead);
- }
-
- /**
- * @brief Utility function to write data.
- * @param pBuffer: pointer to data to be written.
- * @param RegisterAddr: specifies internal address register to be written.
- * @param NumByteToWrite: number of bytes to write.
- * @retval 0 if ok, an error code otherwise.
- */
- uint8_t IO_Write(uint8_t* pBuffer, uint8_t RegisterAddr, uint16_t NumByteToWrite)
- {
- return (uint8_t) dev_i2c.i2c_write(pBuffer, address, RegisterAddr, NumByteToWrite);
- }
-
- private:
- LSM6DSLStatusTypeDef Set_X_ODR_When_Enabled(float odr);
- LSM6DSLStatusTypeDef Set_G_ODR_When_Enabled(float odr);
- LSM6DSLStatusTypeDef Set_X_ODR_When_Disabled(float odr);
- LSM6DSLStatusTypeDef Set_G_ODR_When_Disabled(float odr);
-
- /* Helper classes. */
- DevI2C &dev_i2c;
-
- /* Configuration */
- uint8_t address;
-
- uint8_t X_isEnabled;
- float X_Last_ODR;
- uint8_t G_isEnabled;
- float G_Last_ODR;
-};
-
-#ifdef __cplusplus
- extern "C" {
-#endif
-uint8_t LSM6DSL_IO_Write( void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite );
-uint8_t LSM6DSL_IO_Read( void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead );
-#ifdef __cplusplus
- }
-#endif
-
-#endif