ST / LIS2DW12

3-axis MEMS ultra low power accelerometer

Dependencies:   X_NUCLEO_COMMON ST_INTERFACES

Dependents:   X_NUCLEO_IKS01A3 X_NUCLEO_IKS01A3

LIS2DW12Sensor.h@0:dff8803aace7, 2018-11-19 (annotated)

Committer:
cparata
Date:
Mon Nov 19 13:20:07 2018 +0000
Revision:
0:dff8803aace7
Child:
4:94c5d5546161
First release of LIS2DW12 driver

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cparata 0:dff8803aace7 1 /**
cparata 0:dff8803aace7 2 ******************************************************************************
cparata 0:dff8803aace7 3 * @file LIS2DW12Sensor.h
cparata 0:dff8803aace7 4 * @author CLab
cparata 0:dff8803aace7 5 * @version V1.0.0
cparata 0:dff8803aace7 6 * @date 15 November 2018
cparata 0:dff8803aace7 7 * @brief Abstract Class of an LIS2DW12 Inertial Measurement Unit (IMU) 3 axes
cparata 0:dff8803aace7 8 * sensor.
cparata 0:dff8803aace7 9 ******************************************************************************
cparata 0:dff8803aace7 10 * @attention
cparata 0:dff8803aace7 11 *
cparata 0:dff8803aace7 12 * <h2><center>&copy; COPYRIGHT(c) 2018 STMicroelectronics</center></h2>
cparata 0:dff8803aace7 13 *
cparata 0:dff8803aace7 14 * Redistribution and use in source and binary forms, with or without modification,
cparata 0:dff8803aace7 15 * are permitted provided that the following conditions are met:
cparata 0:dff8803aace7 16 * 1. Redistributions of source code must retain the above copyright notice,
cparata 0:dff8803aace7 17 * this list of conditions and the following disclaimer.
cparata 0:dff8803aace7 18 * 2. Redistributions in binary form must reproduce the above copyright notice,
cparata 0:dff8803aace7 19 * this list of conditions and the following disclaimer in the documentation
cparata 0:dff8803aace7 20 * and/or other materials provided with the distribution.
cparata 0:dff8803aace7 21 * 3. Neither the name of STMicroelectronics nor the names of its contributors
cparata 0:dff8803aace7 22 * may be used to endorse or promote products derived from this software
cparata 0:dff8803aace7 23 * without specific prior written permission.
cparata 0:dff8803aace7 24 *
cparata 0:dff8803aace7 25 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
cparata 0:dff8803aace7 26 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
cparata 0:dff8803aace7 27 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
cparata 0:dff8803aace7 28 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
cparata 0:dff8803aace7 29 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
cparata 0:dff8803aace7 30 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
cparata 0:dff8803aace7 31 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
cparata 0:dff8803aace7 32 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
cparata 0:dff8803aace7 33 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
cparata 0:dff8803aace7 34 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
cparata 0:dff8803aace7 35 *
cparata 0:dff8803aace7 36 ******************************************************************************
cparata 0:dff8803aace7 37 */
cparata 0:dff8803aace7 38
cparata 0:dff8803aace7 39
cparata 0:dff8803aace7 40 /* Prevent recursive inclusion -----------------------------------------------*/
cparata 0:dff8803aace7 41
cparata 0:dff8803aace7 42 #ifndef __LIS2DW12Sensor_H__
cparata 0:dff8803aace7 43 #define __LIS2DW12Sensor_H__
cparata 0:dff8803aace7 44
cparata 0:dff8803aace7 45
cparata 0:dff8803aace7 46 /* Includes ------------------------------------------------------------------*/
cparata 0:dff8803aace7 47
cparata 0:dff8803aace7 48 #include "DevI2C.h"
cparata 0:dff8803aace7 49 #include "lis2dw12_reg.h"
cparata 0:dff8803aace7 50 #include "MotionSensor.h"
cparata 0:dff8803aace7 51 #include <assert.h>
cparata 0:dff8803aace7 52
cparata 0:dff8803aace7 53 /* Defines -------------------------------------------------------------------*/
cparata 0:dff8803aace7 54
cparata 0:dff8803aace7 55 #define LIS2DW12_ACC_SENSITIVITY_FOR_FS_2G_LOPOW1_MODE 0.976f /**< Sensitivity value for 2g full scale, Low-power1 mode [mg/LSB] */
cparata 0:dff8803aace7 56 #define LIS2DW12_ACC_SENSITIVITY_FOR_FS_2G_OTHER_MODES 0.244f /**< Sensitivity value for 2g full scale, all other modes except Low-power1 [mg/LSB] */
cparata 0:dff8803aace7 57
cparata 0:dff8803aace7 58 #define LIS2DW12_ACC_SENSITIVITY_FOR_FS_4G_LOPOW1_MODE 1.952f /**< Sensitivity value for 4g full scale, Low-power1 mode [mg/LSB] */
cparata 0:dff8803aace7 59 #define LIS2DW12_ACC_SENSITIVITY_FOR_FS_4G_OTHER_MODES 0.488f /**< Sensitivity value for 4g full scale, all other modes except Low-power1 [mg/LSB] */
cparata 0:dff8803aace7 60
cparata 0:dff8803aace7 61 #define LIS2DW12_ACC_SENSITIVITY_FOR_FS_8G_LOPOW1_MODE 3.904f /**< Sensitivity value for 8g full scale, Low-power1 mode [mg/LSB] */
cparata 0:dff8803aace7 62 #define LIS2DW12_ACC_SENSITIVITY_FOR_FS_8G_OTHER_MODES 0.976f /**< Sensitivity value for 8g full scale, all other modes except Low-power1 [mg/LSB] */
cparata 0:dff8803aace7 63
cparata 0:dff8803aace7 64 #define LIS2DW12_ACC_SENSITIVITY_FOR_FS_16G_LOPOW1_MODE 7.808f /**< Sensitivity value for 16g full scale, Low-power1 mode [mg/LSB] */
cparata 0:dff8803aace7 65 #define LIS2DW12_ACC_SENSITIVITY_FOR_FS_16G_OTHER_MODES 1.952f /**< Sensitivity value for 16g full scale, all other modes except Low-power1 [mg/LSB] */
cparata 0:dff8803aace7 66
cparata 0:dff8803aace7 67 /* Typedefs ------------------------------------------------------------------*/
cparata 0:dff8803aace7 68
cparata 0:dff8803aace7 69 typedef struct
cparata 0:dff8803aace7 70 {
cparata 0:dff8803aace7 71 unsigned int WakeUpStatus : 1;
cparata 0:dff8803aace7 72 unsigned int D6DOrientationStatus : 1;
cparata 0:dff8803aace7 73 unsigned int SleepStatus : 1;
cparata 0:dff8803aace7 74 } LIS2DW12_Event_Status_t;
cparata 0:dff8803aace7 75
cparata 0:dff8803aace7 76 typedef enum
cparata 0:dff8803aace7 77 {
cparata 0:dff8803aace7 78 LIS2DW12_HIGH_PERFORMANCE_MODE,
cparata 0:dff8803aace7 79 LIS2DW12_LOW_POWER_MODE4,
cparata 0:dff8803aace7 80 LIS2DW12_LOW_POWER_MODE3,
cparata 0:dff8803aace7 81 LIS2DW12_LOW_POWER_MODE2,
cparata 0:dff8803aace7 82 LIS2DW12_LOW_POWER_MODE1
cparata 0:dff8803aace7 83 } LIS2DW12_Operating_Mode_t;
cparata 0:dff8803aace7 84
cparata 0:dff8803aace7 85 typedef enum
cparata 0:dff8803aace7 86 {
cparata 0:dff8803aace7 87 LIS2DW12_LOW_NOISE_DISABLE,
cparata 0:dff8803aace7 88 LIS2DW12_LOW_NOISE_ENABLE
cparata 0:dff8803aace7 89 } LIS2DW12_Low_Noise_t;
cparata 0:dff8803aace7 90
cparata 0:dff8803aace7 91 /* Class Declaration ---------------------------------------------------------*/
cparata 0:dff8803aace7 92
cparata 0:dff8803aace7 93 /**
cparata 0:dff8803aace7 94 * Abstract class of an LIS2DW12 Inertial Measurement Unit (IMU) 3 axes
cparata 0:dff8803aace7 95 * sensor.
cparata 0:dff8803aace7 96 */
cparata 0:dff8803aace7 97 class LIS2DW12Sensor : public MotionSensor
cparata 0:dff8803aace7 98 {
cparata 0:dff8803aace7 99 public:
cparata 0:dff8803aace7 100 enum SPI_type_t {SPI3W, SPI4W};
cparata 0:dff8803aace7 101 LIS2DW12Sensor(DevI2C *i2c, uint8_t address=LIS2DW12_I2C_ADD_H, PinName int1_pin=NC, PinName int2_pin=NC);
cparata 0:dff8803aace7 102 LIS2DW12Sensor(SPI *spi, PinName cs_pin, PinName int1_pin=NC, PinName int2_pin=NC, SPI_type_t spi_type=SPI4W);
cparata 0:dff8803aace7 103 virtual int init(void *init);
cparata 0:dff8803aace7 104 virtual int read_id(uint8_t *id);
cparata 0:dff8803aace7 105 virtual int get_x_axes(int32_t *pData);
cparata 0:dff8803aace7 106 virtual int get_x_sensitivity(float *pfData);
cparata 0:dff8803aace7 107 virtual int get_x_axes_raw(int16_t *pData);
cparata 0:dff8803aace7 108 virtual int get_x_odr(float *odr);
cparata 0:dff8803aace7 109 virtual int set_x_odr(float odr);
cparata 0:dff8803aace7 110 virtual int get_x_fs(float *fullScale);
cparata 0:dff8803aace7 111 virtual int set_x_fs(float fullScale);
cparata 0:dff8803aace7 112 int set_x_odr_with_mode(float odr, LIS2DW12_Operating_Mode_t mode=LIS2DW12_HIGH_PERFORMANCE_MODE, LIS2DW12_Low_Noise_t noise=LIS2DW12_LOW_NOISE_DISABLE);
cparata 0:dff8803aace7 113 int enable_x(void);
cparata 0:dff8803aace7 114 int disable_x(void);
cparata 0:dff8803aace7 115 int enable_wake_up_detection(void);
cparata 0:dff8803aace7 116 int disable_wake_up_detection(void);
cparata 0:dff8803aace7 117 int set_wake_up_threshold(uint8_t thr);
cparata 0:dff8803aace7 118 int set_wake_up_duration(uint8_t dur);
cparata 0:dff8803aace7 119 int enable_inactivity_detection(void);
cparata 0:dff8803aace7 120 int disable_inactivity_detection(void);
cparata 0:dff8803aace7 121 int set_sleep_duration(uint8_t dur);
cparata 0:dff8803aace7 122 int enable_6d_orientation(void);
cparata 0:dff8803aace7 123 int disable_6d_orientation(void);
cparata 0:dff8803aace7 124 int set_6d_orientation_threshold(uint8_t thr);
cparata 0:dff8803aace7 125 int get_6d_orientation_xl(uint8_t *xl);
cparata 0:dff8803aace7 126 int get_6d_orientation_xh(uint8_t *xh);
cparata 0:dff8803aace7 127 int get_6d_orientation_yl(uint8_t *yl);
cparata 0:dff8803aace7 128 int get_6d_orientation_yh(uint8_t *yh);
cparata 0:dff8803aace7 129 int get_6d_orientation_zl(uint8_t *zl);
cparata 0:dff8803aace7 130 int get_6d_orientation_zh(uint8_t *zh);
cparata 0:dff8803aace7 131 int get_event_status(LIS2DW12_Event_Status_t *status);
cparata 0:dff8803aace7 132 int get_fifo_num_samples(uint16_t *num_samples);
cparata 0:dff8803aace7 133 int set_fifo_mode(uint8_t mode);
cparata 0:dff8803aace7 134 int read_reg(uint8_t reg, uint8_t *data);
cparata 0:dff8803aace7 135 int write_reg(uint8_t reg, uint8_t data);
cparata 0:dff8803aace7 136
cparata 0:dff8803aace7 137 /**
cparata 0:dff8803aace7 138 * @brief Attaching an interrupt handler to the INT1 interrupt.
cparata 0:dff8803aace7 139 * @param fptr An interrupt handler.
cparata 0:dff8803aace7 140 * @retval None.
cparata 0:dff8803aace7 141 */
cparata 0:dff8803aace7 142 void attach_int1_irq(void (*fptr)(void))
cparata 0:dff8803aace7 143 {
cparata 0:dff8803aace7 144 _int1_irq.rise(fptr);
cparata 0:dff8803aace7 145 }
cparata 0:dff8803aace7 146
cparata 0:dff8803aace7 147 /**
cparata 0:dff8803aace7 148 * @brief Enabling the INT1 interrupt handling.
cparata 0:dff8803aace7 149 * @param None.
cparata 0:dff8803aace7 150 * @retval None.
cparata 0:dff8803aace7 151 */
cparata 0:dff8803aace7 152 void enable_int1_irq(void)
cparata 0:dff8803aace7 153 {
cparata 0:dff8803aace7 154 _int1_irq.enable_irq();
cparata 0:dff8803aace7 155 }
cparata 0:dff8803aace7 156
cparata 0:dff8803aace7 157 /**
cparata 0:dff8803aace7 158 * @brief Disabling the INT1 interrupt handling.
cparata 0:dff8803aace7 159 * @param None.
cparata 0:dff8803aace7 160 * @retval None.
cparata 0:dff8803aace7 161 */
cparata 0:dff8803aace7 162 void disable_int1_irq(void)
cparata 0:dff8803aace7 163 {
cparata 0:dff8803aace7 164 _int1_irq.disable_irq();
cparata 0:dff8803aace7 165 }
cparata 0:dff8803aace7 166
cparata 0:dff8803aace7 167 /**
cparata 0:dff8803aace7 168 * @brief Attaching an interrupt handler to the INT2 interrupt.
cparata 0:dff8803aace7 169 * @param fptr An interrupt handler.
cparata 0:dff8803aace7 170 * @retval None.
cparata 0:dff8803aace7 171 */
cparata 0:dff8803aace7 172 void attach_int2_irq(void (*fptr)(void))
cparata 0:dff8803aace7 173 {
cparata 0:dff8803aace7 174 _int2_irq.rise(fptr);
cparata 0:dff8803aace7 175 }
cparata 0:dff8803aace7 176
cparata 0:dff8803aace7 177 /**
cparata 0:dff8803aace7 178 * @brief Enabling the INT2 interrupt handling.
cparata 0:dff8803aace7 179 * @param None.
cparata 0:dff8803aace7 180 * @retval None.
cparata 0:dff8803aace7 181 */
cparata 0:dff8803aace7 182 void enable_int2_irq(void)
cparata 0:dff8803aace7 183 {
cparata 0:dff8803aace7 184 _int2_irq.enable_irq();
cparata 0:dff8803aace7 185 }
cparata 0:dff8803aace7 186
cparata 0:dff8803aace7 187 /**
cparata 0:dff8803aace7 188 * @brief Disabling the INT2 interrupt handling.
cparata 0:dff8803aace7 189 * @param None.
cparata 0:dff8803aace7 190 * @retval None.
cparata 0:dff8803aace7 191 */
cparata 0:dff8803aace7 192 void disable_int2_irq(void)
cparata 0:dff8803aace7 193 {
cparata 0:dff8803aace7 194 _int2_irq.disable_irq();
cparata 0:dff8803aace7 195 }
cparata 0:dff8803aace7 196
cparata 0:dff8803aace7 197 /**
cparata 0:dff8803aace7 198 * @brief Utility function to read data.
cparata 0:dff8803aace7 199 * @param pBuffer: pointer to data to be read.
cparata 0:dff8803aace7 200 * @param RegisterAddr: specifies internal address register to be read.
cparata 0:dff8803aace7 201 * @param NumByteToRead: number of bytes to be read.
cparata 0:dff8803aace7 202 * @retval 0 if ok, an error code otherwise.
cparata 0:dff8803aace7 203 */
cparata 0:dff8803aace7 204 uint8_t io_read(uint8_t* pBuffer, uint8_t RegisterAddr, uint16_t NumByteToRead)
cparata 0:dff8803aace7 205 {
cparata 0:dff8803aace7 206 if (_dev_spi) {
cparata 0:dff8803aace7 207 /* Write Reg Address */
cparata 0:dff8803aace7 208 _dev_spi->lock();
cparata 0:dff8803aace7 209 _cs_pin = 0;
cparata 0:dff8803aace7 210 if (_spi_type == SPI4W) {
cparata 0:dff8803aace7 211 _dev_spi->write(RegisterAddr | 0x80);
cparata 0:dff8803aace7 212 for (int i=0; i<NumByteToRead; i++) {
cparata 0:dff8803aace7 213 *(pBuffer+i) = _dev_spi->write(0x00);
cparata 0:dff8803aace7 214 }
cparata 0:dff8803aace7 215 } else if (_spi_type == SPI3W){
cparata 0:dff8803aace7 216 /* Write RD Reg Address with RD bit*/
cparata 0:dff8803aace7 217 uint8_t TxByte = RegisterAddr | 0x80;
cparata 0:dff8803aace7 218 _dev_spi->write((char *)&TxByte, 1, (char *)pBuffer, (int) NumByteToRead);
cparata 0:dff8803aace7 219 }
cparata 0:dff8803aace7 220 _cs_pin = 1;
cparata 0:dff8803aace7 221 _dev_spi->unlock();
cparata 0:dff8803aace7 222 return 0;
cparata 0:dff8803aace7 223 }
cparata 0:dff8803aace7 224 if (_dev_i2c) return (uint8_t) _dev_i2c->i2c_read(pBuffer, _address, RegisterAddr, NumByteToRead);
cparata 0:dff8803aace7 225 return 1;
cparata 0:dff8803aace7 226 }
cparata 0:dff8803aace7 227
cparata 0:dff8803aace7 228 /**
cparata 0:dff8803aace7 229 * @brief Utility function to write data.
cparata 0:dff8803aace7 230 * @param pBuffer: pointer to data to be written.
cparata 0:dff8803aace7 231 * @param RegisterAddr: specifies internal address register to be written.
cparata 0:dff8803aace7 232 * @param NumByteToWrite: number of bytes to write.
cparata 0:dff8803aace7 233 * @retval 0 if ok, an error code otherwise.
cparata 0:dff8803aace7 234 */
cparata 0:dff8803aace7 235 uint8_t io_write(uint8_t* pBuffer, uint8_t RegisterAddr, uint16_t NumByteToWrite)
cparata 0:dff8803aace7 236 {
cparata 0:dff8803aace7 237 if (_dev_spi) {
cparata 0:dff8803aace7 238 _dev_spi->lock();
cparata 0:dff8803aace7 239 _cs_pin = 0;
cparata 0:dff8803aace7 240 _dev_spi->write(RegisterAddr);
cparata 0:dff8803aace7 241 _dev_spi->write((char *)pBuffer, (int) NumByteToWrite, NULL, 0);
cparata 0:dff8803aace7 242 _cs_pin = 1;
cparata 0:dff8803aace7 243 _dev_spi->unlock();
cparata 0:dff8803aace7 244 return 0;
cparata 0:dff8803aace7 245 }
cparata 0:dff8803aace7 246 if (_dev_i2c) return (uint8_t) _dev_i2c->i2c_write(pBuffer, _address, RegisterAddr, NumByteToWrite);
cparata 0:dff8803aace7 247 return 1;
cparata 0:dff8803aace7 248 }
cparata 0:dff8803aace7 249
cparata 0:dff8803aace7 250 private:
cparata 0:dff8803aace7 251 int set_x_odr_when_enabled(float odr, LIS2DW12_Operating_Mode_t mode, LIS2DW12_Low_Noise_t noise);
cparata 0:dff8803aace7 252 int set_x_odr_when_disabled(float odr, LIS2DW12_Operating_Mode_t mode, LIS2DW12_Low_Noise_t noise);
cparata 0:dff8803aace7 253
cparata 0:dff8803aace7 254 /* Helper classes. */
cparata 0:dff8803aace7 255 DevI2C *_dev_i2c;
cparata 0:dff8803aace7 256 SPI *_dev_spi;
cparata 0:dff8803aace7 257
cparata 0:dff8803aace7 258 /* Configuration */
cparata 0:dff8803aace7 259 uint8_t _address;
cparata 0:dff8803aace7 260 DigitalOut _cs_pin;
cparata 0:dff8803aace7 261 InterruptIn _int1_irq;
cparata 0:dff8803aace7 262 InterruptIn _int2_irq;
cparata 0:dff8803aace7 263 SPI_type_t _spi_type;
cparata 0:dff8803aace7 264
cparata 0:dff8803aace7 265 uint8_t _x_is_enabled;
cparata 0:dff8803aace7 266 float _x_last_odr;
cparata 0:dff8803aace7 267 LIS2DW12_Operating_Mode_t _x_last_operating_mode;
cparata 0:dff8803aace7 268 LIS2DW12_Low_Noise_t _x_last_noise;
cparata 0:dff8803aace7 269
cparata 0:dff8803aace7 270 lis2dw12_ctx_t _reg_ctx;
cparata 0:dff8803aace7 271 };
cparata 0:dff8803aace7 272
cparata 0:dff8803aace7 273 #ifdef __cplusplus
cparata 0:dff8803aace7 274 extern "C" {
cparata 0:dff8803aace7 275 #endif
cparata 0:dff8803aace7 276 int32_t LIS2DW12_io_write( void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite );
cparata 0:dff8803aace7 277 int32_t LIS2DW12_io_read( void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead );
cparata 0:dff8803aace7 278 #ifdef __cplusplus
cparata 0:dff8803aace7 279 }
cparata 0:dff8803aace7 280 #endif
cparata 0:dff8803aace7 281
cparata 0:dff8803aace7 282 #endif