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