Diff: LSM6DSOSensor.h

Revision:

0:6d69e896ce38

Child:

1:888ac5f8d970

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/LSM6DSOSensor.h	Tue Mar 05 16:26:47 2019 +0000
@@ -0,0 +1,319 @@
+/**
+ ******************************************************************************
+ * @file    LSM6DSOSensor.h
+ * @author  SRA
+ * @version V1.0.0
+ * @date    February 2019
+ * @brief   Abstract Class of an LSM6DSO Inertial Measurement Unit (IMU) 6 axes
+ *          sensor.
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>&copy; COPYRIGHT(c) 2019 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 __LSM6DSOSensor_H__
+#define __LSM6DSOSensor_H__
+
+
+/* Includes ------------------------------------------------------------------*/
+#include "DevI2C.h"
+#include "lsm6dso_reg.h"
+#include "MotionSensor.h"
+#include "GyroSensor.h"
+#include <assert.h>
+
+/* Defines -------------------------------------------------------------------*/
+
+#define LSM6DSO_ACC_SENSITIVITY_FS_2G   0.061f
+#define LSM6DSO_ACC_SENSITIVITY_FS_4G   0.122f
+#define LSM6DSO_ACC_SENSITIVITY_FS_8G   0.244f
+#define LSM6DSO_ACC_SENSITIVITY_FS_16G  0.488f
+
+#define LSM6DSO_GYRO_SENSITIVITY_FS_125DPS    4.375f
+#define LSM6DSO_GYRO_SENSITIVITY_FS_250DPS    8.750f
+#define LSM6DSO_GYRO_SENSITIVITY_FS_500DPS   17.500f
+#define LSM6DSO_GYRO_SENSITIVITY_FS_1000DPS  35.000f
+#define LSM6DSO_GYRO_SENSITIVITY_FS_2000DPS  70.000f
+
+
+/* Typedefs ------------------------------------------------------------------*/
+
+typedef enum
+{
+  LSM6DSO_INT1_PIN,
+  LSM6DSO_INT2_PIN,
+} LSM6DSO_Interrupt_Pin_t;
+
+typedef struct
+{
+  unsigned int FreeFallStatus : 1;
+  unsigned int TapStatus : 1;
+  unsigned int DoubleTapStatus : 1;
+  unsigned int WakeUpStatus : 1;
+  unsigned int StepStatus : 1;
+  unsigned int TiltStatus : 1;
+  unsigned int D6DOrientationStatus : 1;
+  unsigned int SleepStatus : 1;
+} LSM6DSO_Event_Status_t;
+
+
+/* Class Declaration ---------------------------------------------------------*/
+   
+/**
+ * Abstract class of an LSM6DSO Inertial Measurement Unit (IMU) 6 axes
+ * sensor.
+ */
+class LSM6DSOSensor : public MotionSensor, public GyroSensor
+{
+  public:
+    enum SPI_type_t {SPI3W, SPI4W};
+    LSM6DSOSensor(SPI *spi, PinName cs_pin, PinName int1_pin=NC, PinName int2_pin=NC, SPI_type_t spi_type=SPI4W);
+    LSM6DSOSensor(DevI2C *i2c, uint8_t address=LSM6DSO_I2C_ADD_H, PinName int1_pin=NC, PinName int2_pin=NC);
+    virtual int init(void *init);
+    virtual int read_id(uint8_t *id);
+    virtual int get_x_axes(int32_t *acceleration);
+    virtual int get_g_axes(int32_t *angular_rate);
+    virtual int get_x_sensitivity(float *sensitivity);
+    virtual int get_g_sensitivity(float *sensitivity);
+    virtual int get_x_axes_raw(int16_t *value);
+    virtual int get_g_axes_raw(int16_t *value);
+    virtual int get_x_odr(float *odr);
+    virtual int get_g_odr(float *odr);
+    virtual int set_x_odr(float odr);
+    virtual int set_g_odr(float odr);
+    virtual int get_x_fs(float *full_scale);
+    virtual int get_g_fs(float *full_scale);
+    virtual int set_x_fs(float full_scale);
+    virtual int set_g_fs(float full_scale);
+    int enable_x(void);
+    int enable_g(void);
+    int disable_x(void);
+    int disable_g(void);
+    int enable_free_fall_detection(LSM6DSO_Interrupt_Pin_t pin = LSM6DSO_INT1_PIN);
+    int disable_free_fall_detection(void);
+    int set_free_fall_threshold(uint8_t thr);
+    int set_free_fall_duration(uint8_t dur);
+    int enable_pedometer(void);
+    int disable_pedometer(void);
+    int get_step_counter(uint16_t *step_count);
+    int reset_step_counter(void);
+    int enable_tilt_detection(LSM6DSO_Interrupt_Pin_t pin = LSM6DSO_INT1_PIN);
+    int disable_tilt_detection(void);
+    int enable_wake_up_detection(LSM6DSO_Interrupt_Pin_t pin = LSM6DSO_INT2_PIN);
+    int disable_wake_up_detection(void);
+    int set_wake_up_threshold(uint8_t thr);
+    int set_wake_up_duration(uint8_t dur);
+    int enable_single_tap_detection(LSM6DSO_Interrupt_Pin_t pin = LSM6DSO_INT1_PIN);
+    int disable_single_tap_detection(void);
+    int enable_double_tap_detection(LSM6DSO_Interrupt_Pin_t pin = LSM6DSO_INT1_PIN);
+    int disable_double_tap_detection(void);
+    int set_tap_threshold(uint8_t thr);
+    int set_tap_shock_time(uint8_t time);
+    int set_tap_quiet_time(uint8_t time);
+    int set_tap_duration_time(uint8_t time);
+    int enable_6d_orientation(LSM6DSO_Interrupt_Pin_t pin = LSM6DSO_INT1_PIN);
+    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(LSM6DSO_Event_Status_t *status);
+    int read_reg(uint8_t reg, uint8_t *data);
+    int write_reg(uint8_t reg, uint8_t data);
+    int set_interrupt_latch(uint8_t status);
+    int get_x_drdy_status(uint8_t *status);
+    int set_x_self_test(uint8_t status);
+    int get_g_drdy_status(uint8_t *status);
+    int set_g_self_test(uint8_t status);
+    int get_fifo_num_samples(uint16_t *num_samples);
+    int get_fifo_full_status(uint8_t *status);
+    int set_fifo_int1_fifo_full(uint8_t status);
+    int set_fifo_watermark_level(uint16_t watermark);
+    int set_fifo_stop_on_fth(uint8_t status);
+    int set_fifo_mode(uint8_t mode);
+    int get_fifo_tag(uint8_t *tag);
+    int get_fifo_data(uint8_t *data);
+    int get_fifo_x_axes(int32_t *acceleration);
+    int set_fifo_x_bdr(float bdr);
+    int get_fifo_g_axes(int32_t *angular_velocity);
+    int set_fifo_g_bdr(float bdr);
+    
+    /**
+     * @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);
+    int set_g_odr_when_enabled(float odr);
+    int set_x_odr_when_disabled(float odr);
+    int set_g_odr_when_disabled(float odr);
+
+    /* 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;
+    lsm6dso_odr_xl_t _x_last_odr;
+    uint8_t _g_is_enabled;
+    lsm6dso_odr_g_t _g_last_odr;
+
+    lsm6dso_ctx_t _reg_ctx;
+};
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+int32_t LSM6DSO_io_write( void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite );
+int32_t LSM6DSO_io_read( void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead );
+#ifdef __cplusplus
+  }
+#endif
+
+#endif