iNEMO inertial module: 3D accelerometer and 3D gyroscope.
Dependencies: X_NUCLEO_COMMON ST_INTERFACES
LSM6DSOXSensor.h@5:97fea56292cd, 2021-04-15 (annotated)
- Committer:
- cparata
- Date:
- Thu Apr 15 16:16:36 2021 +0000
- Revision:
- 5:97fea56292cd
- Parent:
- 3:d89217a05f63
Fix issue on INT2 events
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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cparata | 0:f27ce43dee4f | 1 | /** |
cparata | 0:f27ce43dee4f | 2 | ****************************************************************************** |
cparata | 0:f27ce43dee4f | 3 | * @file LSM6DSOXSensor.h |
cparata | 0:f27ce43dee4f | 4 | * @author SRA |
cparata | 0:f27ce43dee4f | 5 | * @version V1.0.0 |
cparata | 0:f27ce43dee4f | 6 | * @date February 2019 |
cparata | 0:f27ce43dee4f | 7 | * @brief Abstract Class of an LSM6DSOX Inertial Measurement Unit (IMU) 6 axes |
cparata | 0:f27ce43dee4f | 8 | * sensor. |
cparata | 0:f27ce43dee4f | 9 | ****************************************************************************** |
cparata | 0:f27ce43dee4f | 10 | * @attention |
cparata | 0:f27ce43dee4f | 11 | * |
cparata | 0:f27ce43dee4f | 12 | * <h2><center>© COPYRIGHT(c) 2019 STMicroelectronics</center></h2> |
cparata | 0:f27ce43dee4f | 13 | * |
cparata | 0:f27ce43dee4f | 14 | * Redistribution and use in source and binary forms, with or without modification, |
cparata | 0:f27ce43dee4f | 15 | * are permitted provided that the following conditions are met: |
cparata | 0:f27ce43dee4f | 16 | * 1. Redistributions of source code must retain the above copyright notice, |
cparata | 0:f27ce43dee4f | 17 | * this list of conditions and the following disclaimer. |
cparata | 0:f27ce43dee4f | 18 | * 2. Redistributions in binary form must reproduce the above copyright notice, |
cparata | 0:f27ce43dee4f | 19 | * this list of conditions and the following disclaimer in the documentation |
cparata | 0:f27ce43dee4f | 20 | * and/or other materials provided with the distribution. |
cparata | 0:f27ce43dee4f | 21 | * 3. Neither the name of STMicroelectronics nor the names of its contributors |
cparata | 0:f27ce43dee4f | 22 | * may be used to endorse or promote products derived from this software |
cparata | 0:f27ce43dee4f | 23 | * without specific prior written permission. |
cparata | 0:f27ce43dee4f | 24 | * |
cparata | 0:f27ce43dee4f | 25 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
cparata | 0:f27ce43dee4f | 26 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
cparata | 0:f27ce43dee4f | 27 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE |
cparata | 0:f27ce43dee4f | 28 | * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE |
cparata | 0:f27ce43dee4f | 29 | * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL |
cparata | 0:f27ce43dee4f | 30 | * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR |
cparata | 0:f27ce43dee4f | 31 | * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
cparata | 0:f27ce43dee4f | 32 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, |
cparata | 0:f27ce43dee4f | 33 | * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
cparata | 0:f27ce43dee4f | 34 | * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
cparata | 0:f27ce43dee4f | 35 | * |
cparata | 0:f27ce43dee4f | 36 | ****************************************************************************** |
cparata | 0:f27ce43dee4f | 37 | */ |
cparata | 0:f27ce43dee4f | 38 | |
cparata | 0:f27ce43dee4f | 39 | |
cparata | 0:f27ce43dee4f | 40 | /* Prevent recursive inclusion -----------------------------------------------*/ |
cparata | 0:f27ce43dee4f | 41 | |
cparata | 0:f27ce43dee4f | 42 | #ifndef __LSM6DSOXSensor_H__ |
cparata | 0:f27ce43dee4f | 43 | #define __LSM6DSOXSensor_H__ |
cparata | 0:f27ce43dee4f | 44 | |
cparata | 0:f27ce43dee4f | 45 | |
cparata | 0:f27ce43dee4f | 46 | /* Includes ------------------------------------------------------------------*/ |
cparata | 0:f27ce43dee4f | 47 | #include "DevI2C.h" |
cparata | 0:f27ce43dee4f | 48 | #include "lsm6dsox_reg.h" |
cparata | 0:f27ce43dee4f | 49 | #include "MotionSensor.h" |
cparata | 0:f27ce43dee4f | 50 | #include "GyroSensor.h" |
cparata | 1:fe40aec6e97a | 51 | #include "mbed.h" |
cparata | 0:f27ce43dee4f | 52 | #include <assert.h> |
cparata | 0:f27ce43dee4f | 53 | |
cparata | 0:f27ce43dee4f | 54 | /* Defines -------------------------------------------------------------------*/ |
cparata | 0:f27ce43dee4f | 55 | |
cparata | 0:f27ce43dee4f | 56 | #define LSM6DSOX_ACC_SENSITIVITY_FS_2G 0.061f |
cparata | 0:f27ce43dee4f | 57 | #define LSM6DSOX_ACC_SENSITIVITY_FS_4G 0.122f |
cparata | 0:f27ce43dee4f | 58 | #define LSM6DSOX_ACC_SENSITIVITY_FS_8G 0.244f |
cparata | 0:f27ce43dee4f | 59 | #define LSM6DSOX_ACC_SENSITIVITY_FS_16G 0.488f |
cparata | 0:f27ce43dee4f | 60 | |
cparata | 0:f27ce43dee4f | 61 | #define LSM6DSOX_GYRO_SENSITIVITY_FS_125DPS 4.375f |
cparata | 0:f27ce43dee4f | 62 | #define LSM6DSOX_GYRO_SENSITIVITY_FS_250DPS 8.750f |
cparata | 0:f27ce43dee4f | 63 | #define LSM6DSOX_GYRO_SENSITIVITY_FS_500DPS 17.500f |
cparata | 0:f27ce43dee4f | 64 | #define LSM6DSOX_GYRO_SENSITIVITY_FS_1000DPS 35.000f |
cparata | 0:f27ce43dee4f | 65 | #define LSM6DSOX_GYRO_SENSITIVITY_FS_2000DPS 70.000f |
cparata | 0:f27ce43dee4f | 66 | |
cparata | 0:f27ce43dee4f | 67 | |
cparata | 0:f27ce43dee4f | 68 | /* Typedefs ------------------------------------------------------------------*/ |
cparata | 0:f27ce43dee4f | 69 | |
cparata | 0:f27ce43dee4f | 70 | typedef enum |
cparata | 0:f27ce43dee4f | 71 | { |
cparata | 0:f27ce43dee4f | 72 | LSM6DSOX_INT1_PIN, |
cparata | 0:f27ce43dee4f | 73 | LSM6DSOX_INT2_PIN, |
cparata | 0:f27ce43dee4f | 74 | } LSM6DSOX_Interrupt_Pin_t; |
cparata | 0:f27ce43dee4f | 75 | |
cparata | 1:fe40aec6e97a | 76 | typedef enum |
cparata | 1:fe40aec6e97a | 77 | { |
cparata | 1:fe40aec6e97a | 78 | LSM6DSOX_ACC_HIGH_PERFORMANCE_MODE, |
cparata | 1:fe40aec6e97a | 79 | LSM6DSOX_ACC_LOW_POWER_NORMAL_MODE, |
cparata | 1:fe40aec6e97a | 80 | LSM6DSOX_ACC_ULTRA_LOW_POWER_MODE |
cparata | 1:fe40aec6e97a | 81 | } LSM6DSOX_ACC_Operating_Mode_t; |
cparata | 1:fe40aec6e97a | 82 | |
cparata | 1:fe40aec6e97a | 83 | typedef enum |
cparata | 1:fe40aec6e97a | 84 | { |
cparata | 1:fe40aec6e97a | 85 | LSM6DSOX_GYRO_HIGH_PERFORMANCE_MODE, |
cparata | 1:fe40aec6e97a | 86 | LSM6DSOX_GYRO_LOW_POWER_NORMAL_MODE |
cparata | 1:fe40aec6e97a | 87 | } LSM6DSOX_GYRO_Operating_Mode_t; |
cparata | 1:fe40aec6e97a | 88 | |
cparata | 0:f27ce43dee4f | 89 | typedef struct |
cparata | 0:f27ce43dee4f | 90 | { |
cparata | 0:f27ce43dee4f | 91 | unsigned int FreeFallStatus : 1; |
cparata | 0:f27ce43dee4f | 92 | unsigned int TapStatus : 1; |
cparata | 0:f27ce43dee4f | 93 | unsigned int DoubleTapStatus : 1; |
cparata | 0:f27ce43dee4f | 94 | unsigned int WakeUpStatus : 1; |
cparata | 0:f27ce43dee4f | 95 | unsigned int StepStatus : 1; |
cparata | 0:f27ce43dee4f | 96 | unsigned int TiltStatus : 1; |
cparata | 0:f27ce43dee4f | 97 | unsigned int D6DOrientationStatus : 1; |
cparata | 0:f27ce43dee4f | 98 | unsigned int SleepStatus : 1; |
cparata | 0:f27ce43dee4f | 99 | } LSM6DSOX_Event_Status_t; |
cparata | 0:f27ce43dee4f | 100 | |
cparata | 3:d89217a05f63 | 101 | typedef struct { |
cparata | 3:d89217a05f63 | 102 | unsigned int is_mlc1 : 1; |
cparata | 3:d89217a05f63 | 103 | unsigned int is_mlc2 : 1; |
cparata | 3:d89217a05f63 | 104 | unsigned int is_mlc3 : 1; |
cparata | 3:d89217a05f63 | 105 | unsigned int is_mlc4 : 1; |
cparata | 3:d89217a05f63 | 106 | unsigned int is_mlc5 : 1; |
cparata | 3:d89217a05f63 | 107 | unsigned int is_mlc6 : 1; |
cparata | 3:d89217a05f63 | 108 | unsigned int is_mlc7 : 1; |
cparata | 3:d89217a05f63 | 109 | unsigned int is_mlc8 : 1; |
cparata | 3:d89217a05f63 | 110 | } LSM6DSOX_MLC_Status_t; |
cparata | 3:d89217a05f63 | 111 | |
cparata | 0:f27ce43dee4f | 112 | |
cparata | 0:f27ce43dee4f | 113 | /* Class Declaration ---------------------------------------------------------*/ |
cparata | 0:f27ce43dee4f | 114 | |
cparata | 0:f27ce43dee4f | 115 | /** |
cparata | 0:f27ce43dee4f | 116 | * Abstract class of an LSM6DSOX Inertial Measurement Unit (IMU) 6 axes |
cparata | 0:f27ce43dee4f | 117 | * sensor. |
cparata | 0:f27ce43dee4f | 118 | */ |
cparata | 0:f27ce43dee4f | 119 | class LSM6DSOXSensor : public MotionSensor, public GyroSensor |
cparata | 0:f27ce43dee4f | 120 | { |
cparata | 0:f27ce43dee4f | 121 | public: |
cparata | 0:f27ce43dee4f | 122 | enum SPI_type_t {SPI3W, SPI4W}; |
cparata | 0:f27ce43dee4f | 123 | LSM6DSOXSensor(SPI *spi, PinName cs_pin, PinName int1_pin=NC, PinName int2_pin=NC, SPI_type_t spi_type=SPI4W); |
cparata | 0:f27ce43dee4f | 124 | LSM6DSOXSensor(DevI2C *i2c, uint8_t address=LSM6DSOX_I2C_ADD_H, PinName int1_pin=NC, PinName int2_pin=NC); |
cparata | 0:f27ce43dee4f | 125 | virtual int init(void *init); |
cparata | 0:f27ce43dee4f | 126 | virtual int read_id(uint8_t *id); |
cparata | 0:f27ce43dee4f | 127 | virtual int get_x_axes(int32_t *acceleration); |
cparata | 0:f27ce43dee4f | 128 | virtual int get_g_axes(int32_t *angular_rate); |
cparata | 0:f27ce43dee4f | 129 | virtual int get_x_sensitivity(float *sensitivity); |
cparata | 0:f27ce43dee4f | 130 | virtual int get_g_sensitivity(float *sensitivity); |
cparata | 0:f27ce43dee4f | 131 | virtual int get_x_axes_raw(int16_t *value); |
cparata | 0:f27ce43dee4f | 132 | virtual int get_g_axes_raw(int16_t *value); |
cparata | 0:f27ce43dee4f | 133 | virtual int get_x_odr(float *odr); |
cparata | 0:f27ce43dee4f | 134 | virtual int get_g_odr(float *odr); |
cparata | 0:f27ce43dee4f | 135 | virtual int set_x_odr(float odr); |
cparata | 1:fe40aec6e97a | 136 | virtual int set_x_odr_with_mode(float odr, LSM6DSOX_ACC_Operating_Mode_t mode); |
cparata | 0:f27ce43dee4f | 137 | virtual int set_g_odr(float odr); |
cparata | 1:fe40aec6e97a | 138 | virtual int set_g_odr_with_mode(float odr, LSM6DSOX_GYRO_Operating_Mode_t mode); |
cparata | 0:f27ce43dee4f | 139 | virtual int get_x_fs(float *full_scale); |
cparata | 0:f27ce43dee4f | 140 | virtual int get_g_fs(float *full_scale); |
cparata | 0:f27ce43dee4f | 141 | virtual int set_x_fs(float full_scale); |
cparata | 0:f27ce43dee4f | 142 | virtual int set_g_fs(float full_scale); |
cparata | 0:f27ce43dee4f | 143 | int enable_x(void); |
cparata | 0:f27ce43dee4f | 144 | int enable_g(void); |
cparata | 0:f27ce43dee4f | 145 | int disable_x(void); |
cparata | 0:f27ce43dee4f | 146 | int disable_g(void); |
cparata | 0:f27ce43dee4f | 147 | int enable_free_fall_detection(LSM6DSOX_Interrupt_Pin_t pin = LSM6DSOX_INT1_PIN); |
cparata | 0:f27ce43dee4f | 148 | int disable_free_fall_detection(void); |
cparata | 0:f27ce43dee4f | 149 | int set_free_fall_threshold(uint8_t thr); |
cparata | 0:f27ce43dee4f | 150 | int set_free_fall_duration(uint8_t dur); |
cparata | 0:f27ce43dee4f | 151 | int enable_pedometer(void); |
cparata | 0:f27ce43dee4f | 152 | int disable_pedometer(void); |
cparata | 0:f27ce43dee4f | 153 | int get_step_counter(uint16_t *step_count); |
cparata | 0:f27ce43dee4f | 154 | int reset_step_counter(void); |
cparata | 0:f27ce43dee4f | 155 | int enable_tilt_detection(LSM6DSOX_Interrupt_Pin_t pin = LSM6DSOX_INT1_PIN); |
cparata | 0:f27ce43dee4f | 156 | int disable_tilt_detection(void); |
cparata | 0:f27ce43dee4f | 157 | int enable_wake_up_detection(LSM6DSOX_Interrupt_Pin_t pin = LSM6DSOX_INT2_PIN); |
cparata | 0:f27ce43dee4f | 158 | int disable_wake_up_detection(void); |
cparata | 0:f27ce43dee4f | 159 | int set_wake_up_threshold(uint8_t thr); |
cparata | 0:f27ce43dee4f | 160 | int set_wake_up_duration(uint8_t dur); |
cparata | 0:f27ce43dee4f | 161 | int enable_single_tap_detection(LSM6DSOX_Interrupt_Pin_t pin = LSM6DSOX_INT1_PIN); |
cparata | 0:f27ce43dee4f | 162 | int disable_single_tap_detection(void); |
cparata | 0:f27ce43dee4f | 163 | int enable_double_tap_detection(LSM6DSOX_Interrupt_Pin_t pin = LSM6DSOX_INT1_PIN); |
cparata | 0:f27ce43dee4f | 164 | int disable_double_tap_detection(void); |
cparata | 0:f27ce43dee4f | 165 | int set_tap_threshold(uint8_t thr); |
cparata | 0:f27ce43dee4f | 166 | int set_tap_shock_time(uint8_t time); |
cparata | 0:f27ce43dee4f | 167 | int set_tap_quiet_time(uint8_t time); |
cparata | 0:f27ce43dee4f | 168 | int set_tap_duration_time(uint8_t time); |
cparata | 0:f27ce43dee4f | 169 | int enable_6d_orientation(LSM6DSOX_Interrupt_Pin_t pin = LSM6DSOX_INT1_PIN); |
cparata | 0:f27ce43dee4f | 170 | int disable_6d_orientation(void); |
cparata | 0:f27ce43dee4f | 171 | int set_6d_orientation_threshold(uint8_t thr); |
cparata | 0:f27ce43dee4f | 172 | int get_6d_orientation_xl(uint8_t *xl); |
cparata | 0:f27ce43dee4f | 173 | int get_6d_orientation_xh(uint8_t *xh); |
cparata | 0:f27ce43dee4f | 174 | int get_6d_orientation_yl(uint8_t *yl); |
cparata | 0:f27ce43dee4f | 175 | int get_6d_orientation_yh(uint8_t *yh); |
cparata | 0:f27ce43dee4f | 176 | int get_6d_orientation_zl(uint8_t *zl); |
cparata | 0:f27ce43dee4f | 177 | int get_6d_orientation_zh(uint8_t *zh); |
cparata | 0:f27ce43dee4f | 178 | int get_event_status(LSM6DSOX_Event_Status_t *status); |
cparata | 0:f27ce43dee4f | 179 | int read_reg(uint8_t reg, uint8_t *data); |
cparata | 0:f27ce43dee4f | 180 | int write_reg(uint8_t reg, uint8_t data); |
cparata | 0:f27ce43dee4f | 181 | int set_interrupt_latch(uint8_t status); |
cparata | 0:f27ce43dee4f | 182 | int get_x_drdy_status(uint8_t *status); |
cparata | 0:f27ce43dee4f | 183 | int set_x_self_test(uint8_t status); |
cparata | 0:f27ce43dee4f | 184 | int get_g_drdy_status(uint8_t *status); |
cparata | 0:f27ce43dee4f | 185 | int set_g_self_test(uint8_t status); |
cparata | 0:f27ce43dee4f | 186 | int get_fifo_num_samples(uint16_t *num_samples); |
cparata | 0:f27ce43dee4f | 187 | int get_fifo_full_status(uint8_t *status); |
cparata | 0:f27ce43dee4f | 188 | int set_fifo_int1_fifo_full(uint8_t status); |
cparata | 0:f27ce43dee4f | 189 | int set_fifo_watermark_level(uint16_t watermark); |
cparata | 0:f27ce43dee4f | 190 | int set_fifo_stop_on_fth(uint8_t status); |
cparata | 0:f27ce43dee4f | 191 | int set_fifo_mode(uint8_t mode); |
cparata | 0:f27ce43dee4f | 192 | int get_fifo_tag(uint8_t *tag); |
cparata | 0:f27ce43dee4f | 193 | int get_fifo_data(uint8_t *data); |
cparata | 0:f27ce43dee4f | 194 | int get_fifo_x_axes(int32_t *acceleration); |
cparata | 0:f27ce43dee4f | 195 | int set_fifo_x_bdr(float bdr); |
cparata | 0:f27ce43dee4f | 196 | int get_fifo_g_axes(int32_t *angular_velocity); |
cparata | 0:f27ce43dee4f | 197 | int set_fifo_g_bdr(float bdr); |
cparata | 3:d89217a05f63 | 198 | int get_mlc_status(LSM6DSOX_MLC_Status_t *status); |
cparata | 3:d89217a05f63 | 199 | int get_mlc_output(uint8_t *output); |
cparata | 0:f27ce43dee4f | 200 | |
cparata | 0:f27ce43dee4f | 201 | /** |
cparata | 0:f27ce43dee4f | 202 | * @brief Attaching an interrupt handler to the INT1 interrupt. |
cparata | 0:f27ce43dee4f | 203 | * @param fptr An interrupt handler. |
cparata | 0:f27ce43dee4f | 204 | * @retval None. |
cparata | 0:f27ce43dee4f | 205 | */ |
cparata | 0:f27ce43dee4f | 206 | void attach_int1_irq(void (*fptr)(void)) |
cparata | 0:f27ce43dee4f | 207 | { |
cparata | 0:f27ce43dee4f | 208 | _int1_irq.rise(fptr); |
cparata | 0:f27ce43dee4f | 209 | } |
cparata | 0:f27ce43dee4f | 210 | |
cparata | 0:f27ce43dee4f | 211 | /** |
cparata | 0:f27ce43dee4f | 212 | * @brief Enabling the INT1 interrupt handling. |
cparata | 0:f27ce43dee4f | 213 | * @param None. |
cparata | 0:f27ce43dee4f | 214 | * @retval None. |
cparata | 0:f27ce43dee4f | 215 | */ |
cparata | 0:f27ce43dee4f | 216 | void enable_int1_irq(void) |
cparata | 0:f27ce43dee4f | 217 | { |
cparata | 0:f27ce43dee4f | 218 | _int1_irq.enable_irq(); |
cparata | 0:f27ce43dee4f | 219 | } |
cparata | 0:f27ce43dee4f | 220 | |
cparata | 0:f27ce43dee4f | 221 | /** |
cparata | 0:f27ce43dee4f | 222 | * @brief Disabling the INT1 interrupt handling. |
cparata | 0:f27ce43dee4f | 223 | * @param None. |
cparata | 0:f27ce43dee4f | 224 | * @retval None. |
cparata | 0:f27ce43dee4f | 225 | */ |
cparata | 0:f27ce43dee4f | 226 | void disable_int1_irq(void) |
cparata | 0:f27ce43dee4f | 227 | { |
cparata | 0:f27ce43dee4f | 228 | _int1_irq.disable_irq(); |
cparata | 0:f27ce43dee4f | 229 | } |
cparata | 0:f27ce43dee4f | 230 | |
cparata | 0:f27ce43dee4f | 231 | /** |
cparata | 0:f27ce43dee4f | 232 | * @brief Attaching an interrupt handler to the INT2 interrupt. |
cparata | 0:f27ce43dee4f | 233 | * @param fptr An interrupt handler. |
cparata | 0:f27ce43dee4f | 234 | * @retval None. |
cparata | 0:f27ce43dee4f | 235 | */ |
cparata | 0:f27ce43dee4f | 236 | void attach_int2_irq(void (*fptr)(void)) |
cparata | 0:f27ce43dee4f | 237 | { |
cparata | 0:f27ce43dee4f | 238 | _int2_irq.rise(fptr); |
cparata | 0:f27ce43dee4f | 239 | } |
cparata | 0:f27ce43dee4f | 240 | |
cparata | 0:f27ce43dee4f | 241 | /** |
cparata | 0:f27ce43dee4f | 242 | * @brief Enabling the INT2 interrupt handling. |
cparata | 0:f27ce43dee4f | 243 | * @param None. |
cparata | 0:f27ce43dee4f | 244 | * @retval None. |
cparata | 0:f27ce43dee4f | 245 | */ |
cparata | 0:f27ce43dee4f | 246 | void enable_int2_irq(void) |
cparata | 0:f27ce43dee4f | 247 | { |
cparata | 0:f27ce43dee4f | 248 | _int2_irq.enable_irq(); |
cparata | 0:f27ce43dee4f | 249 | } |
cparata | 0:f27ce43dee4f | 250 | |
cparata | 0:f27ce43dee4f | 251 | /** |
cparata | 0:f27ce43dee4f | 252 | * @brief Disabling the INT2 interrupt handling. |
cparata | 0:f27ce43dee4f | 253 | * @param None. |
cparata | 0:f27ce43dee4f | 254 | * @retval None. |
cparata | 0:f27ce43dee4f | 255 | */ |
cparata | 0:f27ce43dee4f | 256 | void disable_int2_irq(void) |
cparata | 0:f27ce43dee4f | 257 | { |
cparata | 0:f27ce43dee4f | 258 | _int2_irq.disable_irq(); |
cparata | 0:f27ce43dee4f | 259 | } |
cparata | 0:f27ce43dee4f | 260 | |
cparata | 0:f27ce43dee4f | 261 | /** |
cparata | 0:f27ce43dee4f | 262 | * @brief Utility function to read data. |
cparata | 0:f27ce43dee4f | 263 | * @param pBuffer: pointer to data to be read. |
cparata | 0:f27ce43dee4f | 264 | * @param RegisterAddr: specifies internal address register to be read. |
cparata | 0:f27ce43dee4f | 265 | * @param NumByteToRead: number of bytes to be read. |
cparata | 0:f27ce43dee4f | 266 | * @retval 0 if ok, an error code otherwise. |
cparata | 0:f27ce43dee4f | 267 | */ |
cparata | 0:f27ce43dee4f | 268 | uint8_t io_read(uint8_t* pBuffer, uint8_t RegisterAddr, uint16_t NumByteToRead) |
cparata | 0:f27ce43dee4f | 269 | { |
cparata | 0:f27ce43dee4f | 270 | if (_dev_spi) { |
cparata | 0:f27ce43dee4f | 271 | /* Write Reg Address */ |
cparata | 0:f27ce43dee4f | 272 | _dev_spi->lock(); |
cparata | 0:f27ce43dee4f | 273 | _cs_pin = 0; |
cparata | 0:f27ce43dee4f | 274 | if (_spi_type == SPI4W) { |
cparata | 0:f27ce43dee4f | 275 | _dev_spi->write(RegisterAddr | 0x80); |
cparata | 0:f27ce43dee4f | 276 | for (int i=0; i<NumByteToRead; i++) { |
cparata | 0:f27ce43dee4f | 277 | *(pBuffer+i) = _dev_spi->write(0x00); |
cparata | 0:f27ce43dee4f | 278 | } |
cparata | 0:f27ce43dee4f | 279 | } else if (_spi_type == SPI3W){ |
cparata | 0:f27ce43dee4f | 280 | /* Write RD Reg Address with RD bit*/ |
cparata | 0:f27ce43dee4f | 281 | uint8_t TxByte = RegisterAddr | 0x80; |
cparata | 0:f27ce43dee4f | 282 | _dev_spi->write((char *)&TxByte, 1, (char *)pBuffer, (int) NumByteToRead); |
cparata | 0:f27ce43dee4f | 283 | } |
cparata | 0:f27ce43dee4f | 284 | _cs_pin = 1; |
cparata | 0:f27ce43dee4f | 285 | _dev_spi->unlock(); |
cparata | 0:f27ce43dee4f | 286 | return 0; |
cparata | 0:f27ce43dee4f | 287 | } |
cparata | 0:f27ce43dee4f | 288 | if (_dev_i2c) return (uint8_t) _dev_i2c->i2c_read(pBuffer, _address, RegisterAddr, NumByteToRead); |
cparata | 0:f27ce43dee4f | 289 | return 1; |
cparata | 0:f27ce43dee4f | 290 | } |
cparata | 0:f27ce43dee4f | 291 | |
cparata | 0:f27ce43dee4f | 292 | /** |
cparata | 0:f27ce43dee4f | 293 | * @brief Utility function to write data. |
cparata | 0:f27ce43dee4f | 294 | * @param pBuffer: pointer to data to be written. |
cparata | 0:f27ce43dee4f | 295 | * @param RegisterAddr: specifies internal address register to be written. |
cparata | 0:f27ce43dee4f | 296 | * @param NumByteToWrite: number of bytes to write. |
cparata | 0:f27ce43dee4f | 297 | * @retval 0 if ok, an error code otherwise. |
cparata | 0:f27ce43dee4f | 298 | */ |
cparata | 0:f27ce43dee4f | 299 | uint8_t io_write(uint8_t* pBuffer, uint8_t RegisterAddr, uint16_t NumByteToWrite) |
cparata | 0:f27ce43dee4f | 300 | { |
cparata | 0:f27ce43dee4f | 301 | if (_dev_spi) { |
cparata | 0:f27ce43dee4f | 302 | _dev_spi->lock(); |
cparata | 0:f27ce43dee4f | 303 | _cs_pin = 0; |
cparata | 0:f27ce43dee4f | 304 | _dev_spi->write(RegisterAddr); |
cparata | 0:f27ce43dee4f | 305 | _dev_spi->write((char *)pBuffer, (int) NumByteToWrite, NULL, 0); |
cparata | 0:f27ce43dee4f | 306 | _cs_pin = 1; |
cparata | 0:f27ce43dee4f | 307 | _dev_spi->unlock(); |
cparata | 0:f27ce43dee4f | 308 | return 0; |
cparata | 0:f27ce43dee4f | 309 | } |
cparata | 0:f27ce43dee4f | 310 | if (_dev_i2c) return (uint8_t) _dev_i2c->i2c_write(pBuffer, _address, RegisterAddr, NumByteToWrite); |
cparata | 0:f27ce43dee4f | 311 | return 1; |
cparata | 0:f27ce43dee4f | 312 | } |
cparata | 0:f27ce43dee4f | 313 | |
cparata | 0:f27ce43dee4f | 314 | private: |
cparata | 0:f27ce43dee4f | 315 | int set_x_odr_when_enabled(float odr); |
cparata | 0:f27ce43dee4f | 316 | int set_g_odr_when_enabled(float odr); |
cparata | 0:f27ce43dee4f | 317 | int set_x_odr_when_disabled(float odr); |
cparata | 0:f27ce43dee4f | 318 | int set_g_odr_when_disabled(float odr); |
cparata | 0:f27ce43dee4f | 319 | |
cparata | 0:f27ce43dee4f | 320 | /* Helper classes. */ |
cparata | 0:f27ce43dee4f | 321 | DevI2C *_dev_i2c; |
cparata | 0:f27ce43dee4f | 322 | SPI *_dev_spi; |
cparata | 0:f27ce43dee4f | 323 | |
cparata | 0:f27ce43dee4f | 324 | /* Configuration */ |
cparata | 0:f27ce43dee4f | 325 | uint8_t _address; |
cparata | 0:f27ce43dee4f | 326 | DigitalOut _cs_pin; |
cparata | 0:f27ce43dee4f | 327 | InterruptIn _int1_irq; |
cparata | 0:f27ce43dee4f | 328 | InterruptIn _int2_irq; |
cparata | 0:f27ce43dee4f | 329 | SPI_type_t _spi_type; |
cparata | 0:f27ce43dee4f | 330 | |
cparata | 0:f27ce43dee4f | 331 | uint8_t _x_is_enabled; |
cparata | 0:f27ce43dee4f | 332 | lsm6dsox_odr_xl_t _x_last_odr; |
cparata | 0:f27ce43dee4f | 333 | uint8_t _g_is_enabled; |
cparata | 0:f27ce43dee4f | 334 | lsm6dsox_odr_g_t _g_last_odr; |
cparata | 0:f27ce43dee4f | 335 | |
cparata | 0:f27ce43dee4f | 336 | lsm6dsox_ctx_t _reg_ctx; |
cparata | 0:f27ce43dee4f | 337 | }; |
cparata | 0:f27ce43dee4f | 338 | |
cparata | 0:f27ce43dee4f | 339 | #ifdef __cplusplus |
cparata | 0:f27ce43dee4f | 340 | extern "C" { |
cparata | 0:f27ce43dee4f | 341 | #endif |
cparata | 0:f27ce43dee4f | 342 | int32_t LSM6DSOX_io_write( void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite ); |
cparata | 0:f27ce43dee4f | 343 | int32_t LSM6DSOX_io_read( void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead ); |
cparata | 0:f27ce43dee4f | 344 | #ifdef __cplusplus |
cparata | 0:f27ce43dee4f | 345 | } |
cparata | 0:f27ce43dee4f | 346 | #endif |
cparata | 0:f27ce43dee4f | 347 | |
cparata | 0:f27ce43dee4f | 348 | #endif |