LSM6DSOSensor.h

00001 /**
00002  ******************************************************************************
00003  * @file    LSM6DSOSensor.h
00004  * @author  SRA
00005  * @version V1.0.0
00006  * @date    February 2019
00007  * @brief   Abstract Class of an LSM6DSO Inertial Measurement Unit (IMU) 6 axes
00008  *          sensor.
00009  ******************************************************************************
00010  * @attention
00011  *
00012  * <h2><center>&copy; COPYRIGHT(c) 2019 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 __LSM6DSOSensor_H__
00043 #define __LSM6DSOSensor_H__
00044 
00045 
00046 /* Includes ------------------------------------------------------------------*/
00047 #include "DevI2C.h"
00048 #include "lsm6dso_reg.h"
00049 #include "MotionSensor.h"
00050 #include "GyroSensor.h"
00051 #include "mbed.h"
00052 #include <assert.h>
00053 
00054 /* Defines -------------------------------------------------------------------*/
00055 
00056 #define LSM6DSO_ACC_SENSITIVITY_FS_2G   0.061f
00057 #define LSM6DSO_ACC_SENSITIVITY_FS_4G   0.122f
00058 #define LSM6DSO_ACC_SENSITIVITY_FS_8G   0.244f
00059 #define LSM6DSO_ACC_SENSITIVITY_FS_16G  0.488f
00060 
00061 #define LSM6DSO_GYRO_SENSITIVITY_FS_125DPS    4.375f
00062 #define LSM6DSO_GYRO_SENSITIVITY_FS_250DPS    8.750f
00063 #define LSM6DSO_GYRO_SENSITIVITY_FS_500DPS   17.500f
00064 #define LSM6DSO_GYRO_SENSITIVITY_FS_1000DPS  35.000f
00065 #define LSM6DSO_GYRO_SENSITIVITY_FS_2000DPS  70.000f
00066 
00067 
00068 /* Typedefs ------------------------------------------------------------------*/
00069 
00070 typedef enum {
00071     LSM6DSO_INT1_PIN,
00072     LSM6DSO_INT2_PIN,
00073 } LSM6DSO_Interrupt_Pin_t;
00074 
00075 typedef enum
00076 {
00077   LSM6DSO_ACC_HIGH_PERFORMANCE_MODE,
00078   LSM6DSO_ACC_LOW_POWER_NORMAL_MODE,
00079   LSM6DSO_ACC_ULTRA_LOW_POWER_MODE
00080 } LSM6DSO_ACC_Operating_Mode_t;
00081 
00082 typedef enum
00083 {
00084   LSM6DSO_GYRO_HIGH_PERFORMANCE_MODE,
00085   LSM6DSO_GYRO_LOW_POWER_NORMAL_MODE
00086 } LSM6DSO_GYRO_Operating_Mode_t;
00087 
00088 typedef struct {
00089     unsigned int FreeFallStatus : 1;
00090     unsigned int TapStatus : 1;
00091     unsigned int DoubleTapStatus : 1;
00092     unsigned int WakeUpStatus : 1;
00093     unsigned int StepStatus : 1;
00094     unsigned int TiltStatus : 1;
00095     unsigned int D6DOrientationStatus : 1;
00096     unsigned int SleepStatus : 1;
00097 } LSM6DSO_Event_Status_t;
00098 
00099 
00100 /* Class Declaration ---------------------------------------------------------*/
00101 
00102 /**
00103  * Abstract class of an LSM6DSO Inertial Measurement Unit (IMU) 6 axes
00104  * sensor.
00105  */
00106 class LSM6DSOSensor : public MotionSensor, public GyroSensor {
00107 public:
00108     enum SPI_type_t {SPI3W, SPI4W};
00109     LSM6DSOSensor(SPI *spi, PinName cs_pin, PinName int1_pin = NC, PinName int2_pin = NC, SPI_type_t spi_type = SPI4W);
00110     LSM6DSOSensor(DevI2C *i2c, uint8_t address = LSM6DSO_I2C_ADD_H, PinName int1_pin = NC, PinName int2_pin = NC);
00111     virtual int init(void *init);
00112     virtual int read_id(uint8_t *id);
00113     virtual int get_x_axes(int32_t *acceleration);
00114     virtual int get_g_axes(int32_t *angular_rate);
00115     virtual int get_x_sensitivity(float *sensitivity);
00116     virtual int get_g_sensitivity(float *sensitivity);
00117     virtual int get_x_axes_raw(int16_t *value);
00118     virtual int get_g_axes_raw(int16_t *value);
00119     virtual int get_x_odr(float *odr);
00120     virtual int get_g_odr(float *odr);
00121     virtual int set_x_odr(float odr);
00122     virtual int set_x_odr_with_mode(float odr, LSM6DSO_ACC_Operating_Mode_t mode);
00123     virtual int set_g_odr(float odr);
00124     virtual int set_g_odr_with_mode(float odr, LSM6DSO_GYRO_Operating_Mode_t mode);
00125     virtual int get_x_fs(float *full_scale);
00126     virtual int get_g_fs(float *full_scale);
00127     virtual int set_x_fs(float full_scale);
00128     virtual int set_g_fs(float full_scale);
00129     int enable_x(void);
00130     int enable_g(void);
00131     int disable_x(void);
00132     int disable_g(void);
00133     int enable_free_fall_detection(LSM6DSO_Interrupt_Pin_t pin = LSM6DSO_INT1_PIN);
00134     int disable_free_fall_detection(void);
00135     int set_free_fall_threshold(uint8_t thr);
00136     int set_free_fall_duration(uint8_t dur);
00137     int enable_pedometer(void);
00138     int disable_pedometer(void);
00139     int get_step_counter(uint16_t *step_count);
00140     int reset_step_counter(void);
00141     int enable_tilt_detection(LSM6DSO_Interrupt_Pin_t pin = LSM6DSO_INT1_PIN);
00142     int disable_tilt_detection(void);
00143     int enable_wake_up_detection(LSM6DSO_Interrupt_Pin_t pin = LSM6DSO_INT1_PIN);
00144     int disable_wake_up_detection(void);
00145     int set_wake_up_threshold(uint8_t thr);
00146     int set_wake_up_duration(uint8_t dur);
00147     int enable_single_tap_detection(LSM6DSO_Interrupt_Pin_t pin = LSM6DSO_INT1_PIN);
00148     int disable_single_tap_detection(void);
00149     int enable_double_tap_detection(LSM6DSO_Interrupt_Pin_t pin = LSM6DSO_INT1_PIN);
00150     int disable_double_tap_detection(void);
00151     int set_tap_threshold(uint8_t thr);
00152     int set_tap_shock_time(uint8_t time);
00153     int set_tap_quiet_time(uint8_t time);
00154     int set_tap_duration_time(uint8_t time);
00155     int enable_6d_orientation(LSM6DSO_Interrupt_Pin_t pin = LSM6DSO_INT1_PIN);
00156     int disable_6d_orientation(void);
00157     int set_6d_orientation_threshold(uint8_t thr);
00158     int get_6d_orientation_xl(uint8_t *xl);
00159     int get_6d_orientation_xh(uint8_t *xh);
00160     int get_6d_orientation_yl(uint8_t *yl);
00161     int get_6d_orientation_yh(uint8_t *yh);
00162     int get_6d_orientation_zl(uint8_t *zl);
00163     int get_6d_orientation_zh(uint8_t *zh);
00164     int get_event_status(LSM6DSO_Event_Status_t *status);
00165     int read_reg(uint8_t reg, uint8_t *data);
00166     int write_reg(uint8_t reg, uint8_t data);
00167     int set_interrupt_latch(uint8_t status);
00168     int get_x_drdy_status(uint8_t *status);
00169     int set_x_self_test(uint8_t status);
00170     int get_g_drdy_status(uint8_t *status);
00171     int set_g_self_test(uint8_t status);
00172     int get_fifo_num_samples(uint16_t *num_samples);
00173     int get_fifo_full_status(uint8_t *status);
00174     int set_fifo_int1_fifo_full(uint8_t status);
00175     int set_fifo_watermark_level(uint16_t watermark);
00176     int set_fifo_stop_on_fth(uint8_t status);
00177     int set_fifo_mode(uint8_t mode);
00178     int get_fifo_tag(uint8_t *tag);
00179     int get_fifo_data(uint8_t *data);
00180     int get_fifo_x_axes(int32_t *acceleration);
00181     int set_fifo_x_bdr(float bdr);
00182     int get_fifo_g_axes(int32_t *angular_velocity);
00183     int set_fifo_g_bdr(float bdr);
00184 
00185     /**
00186      * @brief  Attaching an interrupt handler to the INT1 interrupt.
00187      * @param  fptr An interrupt handler.
00188      * @retval None.
00189      */
00190     void attach_int1_irq(void (*fptr)(void))
00191     {
00192         _int1_irq.rise(fptr);
00193     }
00194 
00195     /**
00196      * @brief  Enabling the INT1 interrupt handling.
00197      * @param  None.
00198      * @retval None.
00199      */
00200     void enable_int1_irq(void)
00201     {
00202         _int1_irq.enable_irq();
00203     }
00204 
00205     /**
00206      * @brief  Disabling the INT1 interrupt handling.
00207      * @param  None.
00208      * @retval None.
00209      */
00210     void disable_int1_irq(void)
00211     {
00212         _int1_irq.disable_irq();
00213     }
00214 
00215     /**
00216      * @brief  Attaching an interrupt handler to the INT2 interrupt.
00217      * @param  fptr An interrupt handler.
00218      * @retval None.
00219      */
00220     void attach_int2_irq(void (*fptr)(void))
00221     {
00222         _int2_irq.rise(fptr);
00223     }
00224 
00225     /**
00226      * @brief  Enabling the INT2 interrupt handling.
00227      * @param  None.
00228      * @retval None.
00229      */
00230     void enable_int2_irq(void)
00231     {
00232         _int2_irq.enable_irq();
00233     }
00234 
00235     /**
00236      * @brief  Disabling the INT2 interrupt handling.
00237      * @param  None.
00238      * @retval None.
00239      */
00240     void disable_int2_irq(void)
00241     {
00242         _int2_irq.disable_irq();
00243     }
00244 
00245     /**
00246      * @brief Utility function to read data.
00247      * @param  pBuffer: pointer to data to be read.
00248      * @param  RegisterAddr: specifies internal address register to be read.
00249      * @param  NumByteToRead: number of bytes to be read.
00250      * @retval 0 if ok, an error code otherwise.
00251      */
00252     uint8_t io_read(uint8_t *pBuffer, uint8_t RegisterAddr, uint16_t NumByteToRead)
00253     {
00254         if (_dev_spi) {
00255             /* Write Reg Address */
00256             _dev_spi->lock();
00257             _cs_pin = 0;
00258             if (_spi_type == SPI4W) {
00259                 _dev_spi->write(RegisterAddr | 0x80);
00260                 for (int i = 0; i < NumByteToRead; i++) {
00261                     *(pBuffer + i) = _dev_spi->write(0x00);
00262                 }
00263             } else if (_spi_type == SPI3W) {
00264                 /* Write RD Reg Address with RD bit*/
00265                 uint8_t TxByte = RegisterAddr | 0x80;
00266                 _dev_spi->write((char *)&TxByte, 1, (char *)pBuffer, (int) NumByteToRead);
00267             }
00268             _cs_pin = 1;
00269             _dev_spi->unlock();
00270             return 0;
00271         }
00272         if (_dev_i2c) {
00273             return (uint8_t) _dev_i2c->i2c_read(pBuffer, _address, RegisterAddr, NumByteToRead);
00274         }
00275         return 1;
00276     }
00277 
00278     /**
00279      * @brief Utility function to write data.
00280      * @param  pBuffer: pointer to data to be written.
00281      * @param  RegisterAddr: specifies internal address register to be written.
00282      * @param  NumByteToWrite: number of bytes to write.
00283      * @retval 0 if ok, an error code otherwise.
00284      */
00285     uint8_t io_write(uint8_t *pBuffer, uint8_t RegisterAddr, uint16_t NumByteToWrite)
00286     {
00287         if (_dev_spi) {
00288             _dev_spi->lock();
00289             _cs_pin = 0;
00290             _dev_spi->write(RegisterAddr);
00291             _dev_spi->write((char *)pBuffer, (int) NumByteToWrite, NULL, 0);
00292             _cs_pin = 1;
00293             _dev_spi->unlock();
00294             return 0;
00295         }
00296         if (_dev_i2c) {
00297             return (uint8_t) _dev_i2c->i2c_write(pBuffer, _address, RegisterAddr, NumByteToWrite);
00298         }
00299         return 1;
00300     }
00301 
00302 private:
00303     int set_x_odr_when_enabled(float odr);
00304     int set_g_odr_when_enabled(float odr);
00305     int set_x_odr_when_disabled(float odr);
00306     int set_g_odr_when_disabled(float odr);
00307 
00308     /* Helper classes. */
00309     DevI2C *_dev_i2c;
00310     SPI    *_dev_spi;
00311 
00312     /* Configuration */
00313     uint8_t _address;
00314     DigitalOut  _cs_pin;
00315     InterruptIn _int1_irq;
00316     InterruptIn _int2_irq;
00317     SPI_type_t _spi_type;
00318 
00319     uint8_t _x_is_enabled;
00320     lsm6dso_odr_xl_t _x_last_odr;
00321     uint8_t _g_is_enabled;
00322     lsm6dso_odr_g_t _g_last_odr;
00323 
00324     lsm6dso_ctx_t _reg_ctx;
00325 };
00326 
00327 #ifdef __cplusplus
00328 extern "C" {
00329 #endif
00330 int32_t LSM6DSO_io_write(void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite);
00331 int32_t LSM6DSO_io_read(void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead);
00332 #ifdef __cplusplus
00333 }
00334 #endif
00335 
00336 #endif