3-axis MEMS ultra low power accelerometer
Dependencies: X_NUCLEO_COMMON ST_INTERFACES
Dependents: X_NUCLEO_IKS01A3 X_NUCLEO_IKS01A3
Diff: LIS2DW12Sensor.h
- Revision:
- 0:dff8803aace7
- Child:
- 4:94c5d5546161
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/LIS2DW12Sensor.h Mon Nov 19 13:20:07 2018 +0000 @@ -0,0 +1,282 @@ +/** + ****************************************************************************** + * @file LIS2DW12Sensor.h + * @author CLab + * @version V1.0.0 + * @date 15 November 2018 + * @brief Abstract Class of an LIS2DW12 Inertial Measurement Unit (IMU) 3 axes + * sensor. + ****************************************************************************** + * @attention + * + * <h2><center>© COPYRIGHT(c) 2018 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 __LIS2DW12Sensor_H__ +#define __LIS2DW12Sensor_H__ + + +/* Includes ------------------------------------------------------------------*/ + +#include "DevI2C.h" +#include "lis2dw12_reg.h" +#include "MotionSensor.h" +#include <assert.h> + +/* Defines -------------------------------------------------------------------*/ + +#define LIS2DW12_ACC_SENSITIVITY_FOR_FS_2G_LOPOW1_MODE 0.976f /**< Sensitivity value for 2g full scale, Low-power1 mode [mg/LSB] */ +#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] */ + +#define LIS2DW12_ACC_SENSITIVITY_FOR_FS_4G_LOPOW1_MODE 1.952f /**< Sensitivity value for 4g full scale, Low-power1 mode [mg/LSB] */ +#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] */ + +#define LIS2DW12_ACC_SENSITIVITY_FOR_FS_8G_LOPOW1_MODE 3.904f /**< Sensitivity value for 8g full scale, Low-power1 mode [mg/LSB] */ +#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] */ + +#define LIS2DW12_ACC_SENSITIVITY_FOR_FS_16G_LOPOW1_MODE 7.808f /**< Sensitivity value for 16g full scale, Low-power1 mode [mg/LSB] */ +#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] */ + +/* Typedefs ------------------------------------------------------------------*/ + +typedef struct +{ + unsigned int WakeUpStatus : 1; + unsigned int D6DOrientationStatus : 1; + unsigned int SleepStatus : 1; +} LIS2DW12_Event_Status_t; + +typedef enum +{ + LIS2DW12_HIGH_PERFORMANCE_MODE, + LIS2DW12_LOW_POWER_MODE4, + LIS2DW12_LOW_POWER_MODE3, + LIS2DW12_LOW_POWER_MODE2, + LIS2DW12_LOW_POWER_MODE1 +} LIS2DW12_Operating_Mode_t; + +typedef enum +{ + LIS2DW12_LOW_NOISE_DISABLE, + LIS2DW12_LOW_NOISE_ENABLE +} LIS2DW12_Low_Noise_t; + +/* Class Declaration ---------------------------------------------------------*/ + +/** + * Abstract class of an LIS2DW12 Inertial Measurement Unit (IMU) 3 axes + * sensor. + */ +class LIS2DW12Sensor : public MotionSensor +{ + public: + enum SPI_type_t {SPI3W, SPI4W}; + LIS2DW12Sensor(DevI2C *i2c, uint8_t address=LIS2DW12_I2C_ADD_H, PinName int1_pin=NC, PinName int2_pin=NC); + LIS2DW12Sensor(SPI *spi, PinName cs_pin, PinName int1_pin=NC, PinName int2_pin=NC, SPI_type_t spi_type=SPI4W); + virtual int init(void *init); + virtual int read_id(uint8_t *id); + virtual int get_x_axes(int32_t *pData); + virtual int get_x_sensitivity(float *pfData); + virtual int get_x_axes_raw(int16_t *pData); + virtual int get_x_odr(float *odr); + virtual int set_x_odr(float odr); + virtual int get_x_fs(float *fullScale); + virtual int set_x_fs(float fullScale); + 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); + int enable_x(void); + int disable_x(void); + int enable_wake_up_detection(void); + int disable_wake_up_detection(void); + int set_wake_up_threshold(uint8_t thr); + int set_wake_up_duration(uint8_t dur); + int enable_inactivity_detection(void); + int disable_inactivity_detection(void); + int set_sleep_duration(uint8_t dur); + int enable_6d_orientation(void); + int disable_6d_orientation(void); + int set_6d_orientation_threshold(uint8_t thr); + int get_6d_orientation_xl(uint8_t *xl); + int get_6d_orientation_xh(uint8_t *xh); + int get_6d_orientation_yl(uint8_t *yl); + int get_6d_orientation_yh(uint8_t *yh); + int get_6d_orientation_zl(uint8_t *zl); + int get_6d_orientation_zh(uint8_t *zh); + int get_event_status(LIS2DW12_Event_Status_t *status); + int get_fifo_num_samples(uint16_t *num_samples); + int set_fifo_mode(uint8_t mode); + int read_reg(uint8_t reg, uint8_t *data); + int write_reg(uint8_t reg, uint8_t data); + + /** + * @brief Attaching an interrupt handler to the INT1 interrupt. + * @param fptr An interrupt handler. + * @retval None. + */ + void attach_int1_irq(void (*fptr)(void)) + { + _int1_irq.rise(fptr); + } + + /** + * @brief Enabling the INT1 interrupt handling. + * @param None. + * @retval None. + */ + void enable_int1_irq(void) + { + _int1_irq.enable_irq(); + } + + /** + * @brief Disabling the INT1 interrupt handling. + * @param None. + * @retval None. + */ + void disable_int1_irq(void) + { + _int1_irq.disable_irq(); + } + + /** + * @brief Attaching an interrupt handler to the INT2 interrupt. + * @param fptr An interrupt handler. + * @retval None. + */ + void attach_int2_irq(void (*fptr)(void)) + { + _int2_irq.rise(fptr); + } + + /** + * @brief Enabling the INT2 interrupt handling. + * @param None. + * @retval None. + */ + void enable_int2_irq(void) + { + _int2_irq.enable_irq(); + } + + /** + * @brief Disabling the INT2 interrupt handling. + * @param None. + * @retval None. + */ + void disable_int2_irq(void) + { + _int2_irq.disable_irq(); + } + + /** + * @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) + { + if (_dev_spi) { + /* Write Reg Address */ + _dev_spi->lock(); + _cs_pin = 0; + if (_spi_type == SPI4W) { + _dev_spi->write(RegisterAddr | 0x80); + for (int i=0; i<NumByteToRead; i++) { + *(pBuffer+i) = _dev_spi->write(0x00); + } + } else if (_spi_type == SPI3W){ + /* Write RD Reg Address with RD bit*/ + uint8_t TxByte = RegisterAddr | 0x80; + _dev_spi->write((char *)&TxByte, 1, (char *)pBuffer, (int) NumByteToRead); + } + _cs_pin = 1; + _dev_spi->unlock(); + return 0; + } + if (_dev_i2c) return (uint8_t) _dev_i2c->i2c_read(pBuffer, _address, RegisterAddr, NumByteToRead); + return 1; + } + + /** + * @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) + { + if (_dev_spi) { + _dev_spi->lock(); + _cs_pin = 0; + _dev_spi->write(RegisterAddr); + _dev_spi->write((char *)pBuffer, (int) NumByteToWrite, NULL, 0); + _cs_pin = 1; + _dev_spi->unlock(); + return 0; + } + if (_dev_i2c) return (uint8_t) _dev_i2c->i2c_write(pBuffer, _address, RegisterAddr, NumByteToWrite); + return 1; + } + + private: + int set_x_odr_when_enabled(float odr, LIS2DW12_Operating_Mode_t mode, LIS2DW12_Low_Noise_t noise); + int set_x_odr_when_disabled(float odr, LIS2DW12_Operating_Mode_t mode, LIS2DW12_Low_Noise_t noise); + + /* Helper classes. */ + DevI2C *_dev_i2c; + SPI *_dev_spi; + + /* Configuration */ + uint8_t _address; + DigitalOut _cs_pin; + InterruptIn _int1_irq; + InterruptIn _int2_irq; + SPI_type_t _spi_type; + + uint8_t _x_is_enabled; + float _x_last_odr; + LIS2DW12_Operating_Mode_t _x_last_operating_mode; + LIS2DW12_Low_Noise_t _x_last_noise; + + lis2dw12_ctx_t _reg_ctx; +}; + +#ifdef __cplusplus + extern "C" { +#endif +int32_t LIS2DW12_io_write( void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite ); +int32_t LIS2DW12_io_read( void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead ); +#ifdef __cplusplus + } +#endif + +#endif