iNEMO inertial module: 3D accelerometer and 3D gyroscope.
Dependencies: X_NUCLEO_COMMON ST_INTERFACES
Dependents: X_NUCLEO_IKS01A3 X_NUCLEO_IKS01A3
Diff: LSM6DSOSensor.h
- Revision:
- 3:4274d9103f1d
- Parent:
- 1:888ac5f8d970
- Child:
- 4:77faf76e3cd8
diff -r 4d14e9edf37e -r 4274d9103f1d LSM6DSOSensor.h --- a/LSM6DSOSensor.h Mon Jun 03 09:16:08 2019 +0000 +++ b/LSM6DSOSensor.h Wed Jul 24 14:19:35 2019 +0000 @@ -66,37 +66,34 @@ /* Typedefs ------------------------------------------------------------------*/ -typedef enum -{ - LSM6DSO_INT1_PIN, - LSM6DSO_INT2_PIN, +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; +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: +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); + 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); @@ -168,7 +165,7 @@ 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. @@ -188,7 +185,7 @@ { _int1_irq.enable_irq(); } - + /** * @brief Disabling the INT1 interrupt handling. * @param None. @@ -198,7 +195,7 @@ { _int1_irq.disable_irq(); } - + /** * @brief Attaching an interrupt handler to the INT2 interrupt. * @param fptr An interrupt handler. @@ -218,7 +215,7 @@ { _int2_irq.enable_irq(); } - + /** * @brief Disabling the INT2 interrupt handling. * @param None. @@ -228,7 +225,7 @@ { _int2_irq.disable_irq(); } - + /** * @brief Utility function to read data. * @param pBuffer: pointer to data to be read. @@ -236,30 +233,32 @@ * @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) - { + 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) { + _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); + for (int i = 0; i < NumByteToRead; i++) { + *(pBuffer + i) = _dev_spi->write(0x00); } - } else if (_spi_type == SPI3W){ + } else if (_spi_type == SPI3W) { /* Write RD Reg Address with RD bit*/ - uint8_t TxByte = RegisterAddr | 0x80; + uint8_t TxByte = RegisterAddr | 0x80; _dev_spi->write((char *)&TxByte, 1, (char *)pBuffer, (int) NumByteToRead); - } + } _cs_pin = 1; - _dev_spi->unlock(); + _dev_spi->unlock(); return 0; - } - if (_dev_i2c) return (uint8_t) _dev_i2c->i2c_read(pBuffer, _address, RegisterAddr, NumByteToRead); + } + 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. @@ -267,22 +266,24 @@ * @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) + uint8_t io_write(uint8_t *pBuffer, uint8_t RegisterAddr, uint16_t NumByteToWrite) { - if (_dev_spi) { + 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->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 0; + } + if (_dev_i2c) { + return (uint8_t) _dev_i2c->i2c_write(pBuffer, _address, RegisterAddr, NumByteToWrite); + } return 1; } - private: +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); @@ -294,11 +295,11 @@ /* Configuration */ uint8_t _address; - DigitalOut _cs_pin; + 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; @@ -308,12 +309,12 @@ }; #ifdef __cplusplus - extern "C" { +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 ); +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