LIS2DW12Sensor.h

00001 /**
00002  ******************************************************************************
00003  * @file    LIS2DW12Sensor.h
00004  * @author  CLab
00005  * @version V1.0.0
00006  * @date    15 November 2018
00007  * @brief   Abstract Class of an LIS2DW12 Inertial Measurement Unit (IMU) 3 axes
00008  *          sensor.
00009  ******************************************************************************
00010  * @attention
00011  *
00012  * <h2><center>&copy; COPYRIGHT(c) 2018 STMicroelectronics</center></h2>
00013  *
00014  * Redistribution and use in source and binary forms, with or without modification,
00015  * are permitted provided that the following conditions are met:
00016  *   1. Redistributions of source code must retain the above copyright notice,
00017  *      this list of conditions and the following disclaimer.
00018  *   2. Redistributions in binary form must reproduce the above copyright notice,
00019  *      this list of conditions and the following disclaimer in the documentation
00020  *      and/or other materials provided with the distribution.
00021  *   3. Neither the name of STMicroelectronics nor the names of its contributors
00022  *      may be used to endorse or promote products derived from this software
00023  *      without specific prior written permission.
00024  *
00025  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00026  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00027  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00028  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
00029  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
00030  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
00031  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00032  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
00033  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
00034  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00035  *
00036  ******************************************************************************
00037  */
00038 
00039 
00040 /* Prevent recursive inclusion -----------------------------------------------*/
00041 
00042 #ifndef __LIS2DW12Sensor_H__
00043 #define __LIS2DW12Sensor_H__
00044 
00045 
00046 /* Includes ------------------------------------------------------------------*/
00047 
00048 #include "DevI2C.h"
00049 #include "lis2dw12_reg.h"
00050 #include "MotionSensor.h"
00051 #include <assert.h>
00052 
00053 /* Defines -------------------------------------------------------------------*/
00054 
00055 #define LIS2DW12_ACC_SENSITIVITY_FOR_FS_2G_LOPOW1_MODE   0.976f  /**< Sensitivity value for 2g full scale, Low-power1 mode [mg/LSB] */
00056 #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] */
00057 
00058 #define LIS2DW12_ACC_SENSITIVITY_FOR_FS_4G_LOPOW1_MODE   1.952f  /**< Sensitivity value for 4g full scale, Low-power1 mode [mg/LSB] */
00059 #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] */
00060 
00061 #define LIS2DW12_ACC_SENSITIVITY_FOR_FS_8G_LOPOW1_MODE   3.904f  /**< Sensitivity value for 8g full scale, Low-power1 mode [mg/LSB] */
00062 #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] */
00063 
00064 #define LIS2DW12_ACC_SENSITIVITY_FOR_FS_16G_LOPOW1_MODE  7.808f  /**< Sensitivity value for 16g full scale, Low-power1 mode [mg/LSB] */
00065 #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] */
00066 
00067 /* Typedefs ------------------------------------------------------------------*/
00068 
00069 typedef struct {
00070     unsigned int WakeUpStatus : 1;
00071     unsigned int D6DOrientationStatus : 1;
00072     unsigned int SleepStatus : 1;
00073 } LIS2DW12_Event_Status_t;
00074 
00075 typedef enum {
00076     LIS2DW12_HIGH_PERFORMANCE_MODE,
00077     LIS2DW12_LOW_POWER_MODE4,
00078     LIS2DW12_LOW_POWER_MODE3,
00079     LIS2DW12_LOW_POWER_MODE2,
00080     LIS2DW12_LOW_POWER_MODE1
00081 } LIS2DW12_Operating_Mode_t;
00082 
00083 typedef enum {
00084     LIS2DW12_LOW_NOISE_DISABLE,
00085     LIS2DW12_LOW_NOISE_ENABLE
00086 } LIS2DW12_Low_Noise_t;
00087 
00088 /* Class Declaration ---------------------------------------------------------*/
00089 
00090 /**
00091  * Abstract class of an LIS2DW12 Inertial Measurement Unit (IMU) 3 axes
00092  * sensor.
00093  */
00094 class LIS2DW12Sensor : public MotionSensor {
00095 public:
00096     enum SPI_type_t {SPI3W, SPI4W};
00097     LIS2DW12Sensor(DevI2C *i2c, uint8_t address = LIS2DW12_I2C_ADD_H, PinName int1_pin = NC, PinName int2_pin = NC);
00098     LIS2DW12Sensor(SPI *spi, PinName cs_pin, PinName int1_pin = NC, PinName int2_pin = NC, SPI_type_t spi_type = SPI4W);
00099     virtual int init(void *init);
00100     virtual int read_id(uint8_t *id);
00101     virtual int get_x_axes(int32_t *pData);
00102     virtual int get_x_sensitivity(float *pfData);
00103     virtual int get_x_axes_raw(int16_t *pData);
00104     virtual int get_x_odr(float *odr);
00105     virtual int set_x_odr(float odr);
00106     virtual int get_x_fs(float *fullScale);
00107     virtual int set_x_fs(float fullScale);
00108     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);
00109     int enable_x(void);
00110     int disable_x(void);
00111     int enable_wake_up_detection(void);
00112     int disable_wake_up_detection(void);
00113     int set_wake_up_threshold(uint8_t thr);
00114     int set_wake_up_duration(uint8_t dur);
00115     int enable_inactivity_detection(void);
00116     int disable_inactivity_detection(void);
00117     int set_sleep_duration(uint8_t dur);
00118     int enable_6d_orientation(void);
00119     int disable_6d_orientation(void);
00120     int set_6d_orientation_threshold(uint8_t thr);
00121     int get_6d_orientation_xl(uint8_t *xl);
00122     int get_6d_orientation_xh(uint8_t *xh);
00123     int get_6d_orientation_yl(uint8_t *yl);
00124     int get_6d_orientation_yh(uint8_t *yh);
00125     int get_6d_orientation_zl(uint8_t *zl);
00126     int get_6d_orientation_zh(uint8_t *zh);
00127     int get_event_status(LIS2DW12_Event_Status_t *status);
00128     int get_fifo_num_samples(uint16_t *num_samples);
00129     int set_fifo_mode(uint8_t mode);
00130     int read_reg(uint8_t reg, uint8_t *data);
00131     int write_reg(uint8_t reg, uint8_t data);
00132 
00133     /**
00134      * @brief  Attaching an interrupt handler to the INT1 interrupt.
00135      * @param  fptr An interrupt handler.
00136      * @retval None.
00137      */
00138     void attach_int1_irq(void (*fptr)(void))
00139     {
00140         _int1_irq.rise(fptr);
00141     }
00142 
00143     /**
00144      * @brief  Enabling the INT1 interrupt handling.
00145      * @param  None.
00146      * @retval None.
00147      */
00148     void enable_int1_irq(void)
00149     {
00150         _int1_irq.enable_irq();
00151     }
00152 
00153     /**
00154      * @brief  Disabling the INT1 interrupt handling.
00155      * @param  None.
00156      * @retval None.
00157      */
00158     void disable_int1_irq(void)
00159     {
00160         _int1_irq.disable_irq();
00161     }
00162 
00163     /**
00164      * @brief  Attaching an interrupt handler to the INT2 interrupt.
00165      * @param  fptr An interrupt handler.
00166      * @retval None.
00167      */
00168     void attach_int2_irq(void (*fptr)(void))
00169     {
00170         _int2_irq.rise(fptr);
00171     }
00172 
00173     /**
00174      * @brief  Enabling the INT2 interrupt handling.
00175      * @param  None.
00176      * @retval None.
00177      */
00178     void enable_int2_irq(void)
00179     {
00180         _int2_irq.enable_irq();
00181     }
00182 
00183     /**
00184      * @brief  Disabling the INT2 interrupt handling.
00185      * @param  None.
00186      * @retval None.
00187      */
00188     void disable_int2_irq(void)
00189     {
00190         _int2_irq.disable_irq();
00191     }
00192 
00193     /**
00194      * @brief Utility function to read data.
00195      * @param  pBuffer: pointer to data to be read.
00196      * @param  RegisterAddr: specifies internal address register to be read.
00197      * @param  NumByteToRead: number of bytes to be read.
00198      * @retval 0 if ok, an error code otherwise.
00199      */
00200     uint8_t io_read(uint8_t *pBuffer, uint8_t RegisterAddr, uint16_t NumByteToRead)
00201     {
00202         if (_dev_spi) {
00203             /* Write Reg Address */
00204             _dev_spi->lock();
00205             _cs_pin = 0;
00206             if (_spi_type == SPI4W) {
00207                 _dev_spi->write(RegisterAddr | 0x80);
00208                 for (int i = 0; i < NumByteToRead; i++) {
00209                     *(pBuffer + i) = _dev_spi->write(0x00);
00210                 }
00211             } else if (_spi_type == SPI3W) {
00212                 /* Write RD Reg Address with RD bit*/
00213                 uint8_t TxByte = RegisterAddr | 0x80;
00214                 _dev_spi->write((char *)&TxByte, 1, (char *)pBuffer, (int) NumByteToRead);
00215             }
00216             _cs_pin = 1;
00217             _dev_spi->unlock();
00218             return 0;
00219         }
00220         if (_dev_i2c) {
00221             return (uint8_t) _dev_i2c->i2c_read(pBuffer, _address, RegisterAddr, NumByteToRead);
00222         }
00223         return 1;
00224     }
00225 
00226     /**
00227      * @brief Utility function to write data.
00228      * @param  pBuffer: pointer to data to be written.
00229      * @param  RegisterAddr: specifies internal address register to be written.
00230      * @param  NumByteToWrite: number of bytes to write.
00231      * @retval 0 if ok, an error code otherwise.
00232      */
00233     uint8_t io_write(uint8_t *pBuffer, uint8_t RegisterAddr, uint16_t NumByteToWrite)
00234     {
00235         if (_dev_spi) {
00236             _dev_spi->lock();
00237             _cs_pin = 0;
00238             _dev_spi->write(RegisterAddr);
00239             _dev_spi->write((char *)pBuffer, (int) NumByteToWrite, NULL, 0);
00240             _cs_pin = 1;
00241             _dev_spi->unlock();
00242             return 0;
00243         }
00244         if (_dev_i2c) {
00245             return (uint8_t) _dev_i2c->i2c_write(pBuffer, _address, RegisterAddr, NumByteToWrite);
00246         }
00247         return 1;
00248     }
00249 
00250 private:
00251     int set_x_odr_when_enabled(float odr, LIS2DW12_Operating_Mode_t mode, LIS2DW12_Low_Noise_t noise);
00252     int set_x_odr_when_disabled(float odr, LIS2DW12_Operating_Mode_t mode, LIS2DW12_Low_Noise_t noise);
00253 
00254     /* Helper classes. */
00255     DevI2C *_dev_i2c;
00256     SPI    *_dev_spi;
00257 
00258     /* Configuration */
00259     uint8_t _address;
00260     DigitalOut  _cs_pin;
00261     InterruptIn _int1_irq;
00262     InterruptIn _int2_irq;
00263     SPI_type_t _spi_type;
00264 
00265     uint8_t _x_is_enabled;
00266     float _x_last_odr;
00267     LIS2DW12_Operating_Mode_t _x_last_operating_mode;
00268     LIS2DW12_Low_Noise_t _x_last_noise;
00269 
00270     lis2dw12_ctx_t _reg_ctx;
00271 };
00272 
00273 #ifdef __cplusplus
00274 extern "C" {
00275 #endif
00276 int32_t LIS2DW12_io_write(void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite);
00277 int32_t LIS2DW12_io_read(void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead);
00278 #ifdef __cplusplus
00279 }
00280 #endif
00281 
00282 #endif