ST / LSM6DSOX

iNEMO inertial module: 3D accelerometer and 3D gyroscope.

Dependencies:   X_NUCLEO_COMMON ST_INTERFACES

LSM6DSOXSensor.h@1:fe40aec6e97a, 2020-10-29 (annotated)

Committer:
cparata
Date:
Thu Oct 29 12:45:14 2020 +0000
Revision:
1:fe40aec6e97a
Parent:
0:f27ce43dee4f
Child:
2:6f62c931be0b
Update PID and add low power modes

Who changed what in which revision?

UserRevisionLine numberNew contents of line
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>&copy; 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 1:fe40aec6e97a 101 typedef union{
cparata 1:fe40aec6e97a 102 int16_t i16bit[3];
cparata 1:fe40aec6e97a 103 uint8_t u8bit[6];
cparata 1:fe40aec6e97a 104 } LSM6DSOX_Axis3bit16_t;
cparata 1:fe40aec6e97a 105
cparata 1:fe40aec6e97a 106 typedef union{
cparata 1:fe40aec6e97a 107 int16_t i16bit;
cparata 1:fe40aec6e97a 108 uint8_t u8bit[2];
cparata 1:fe40aec6e97a 109 } LSM6DSOX_Axis1bit16_t;
cparata 1:fe40aec6e97a 110
cparata 1:fe40aec6e97a 111 typedef union{
cparata 1:fe40aec6e97a 112 int32_t i32bit[3];
cparata 1:fe40aec6e97a 113 uint8_t u8bit[12];
cparata 1:fe40aec6e97a 114 } LSM6DSOX_Axis3bit32_t;
cparata 1:fe40aec6e97a 115
cparata 1:fe40aec6e97a 116 typedef union{
cparata 1:fe40aec6e97a 117 int32_t i32bit;
cparata 1:fe40aec6e97a 118 uint8_t u8bit[4];
cparata 1:fe40aec6e97a 119 } LSM6DSOX_Axis1bit32_t;
cparata 1:fe40aec6e97a 120
cparata 0:f27ce43dee4f 121
cparata 0:f27ce43dee4f 122 /* Class Declaration ---------------------------------------------------------*/
cparata 0:f27ce43dee4f 123
cparata 0:f27ce43dee4f 124 /**
cparata 0:f27ce43dee4f 125 * Abstract class of an LSM6DSOX Inertial Measurement Unit (IMU) 6 axes
cparata 0:f27ce43dee4f 126 * sensor.
cparata 0:f27ce43dee4f 127 */
cparata 0:f27ce43dee4f 128 class LSM6DSOXSensor : public MotionSensor, public GyroSensor
cparata 0:f27ce43dee4f 129 {
cparata 0:f27ce43dee4f 130 public:
cparata 0:f27ce43dee4f 131 enum SPI_type_t {SPI3W, SPI4W};
cparata 0:f27ce43dee4f 132 LSM6DSOXSensor(SPI *spi, PinName cs_pin, PinName int1_pin=NC, PinName int2_pin=NC, SPI_type_t spi_type=SPI4W);
cparata 0:f27ce43dee4f 133 LSM6DSOXSensor(DevI2C *i2c, uint8_t address=LSM6DSOX_I2C_ADD_H, PinName int1_pin=NC, PinName int2_pin=NC);
cparata 0:f27ce43dee4f 134 virtual int init(void *init);
cparata 0:f27ce43dee4f 135 virtual int read_id(uint8_t *id);
cparata 0:f27ce43dee4f 136 virtual int get_x_axes(int32_t *acceleration);
cparata 0:f27ce43dee4f 137 virtual int get_g_axes(int32_t *angular_rate);
cparata 0:f27ce43dee4f 138 virtual int get_x_sensitivity(float *sensitivity);
cparata 0:f27ce43dee4f 139 virtual int get_g_sensitivity(float *sensitivity);
cparata 0:f27ce43dee4f 140 virtual int get_x_axes_raw(int16_t *value);
cparata 0:f27ce43dee4f 141 virtual int get_g_axes_raw(int16_t *value);
cparata 0:f27ce43dee4f 142 virtual int get_x_odr(float *odr);
cparata 0:f27ce43dee4f 143 virtual int get_g_odr(float *odr);
cparata 0:f27ce43dee4f 144 virtual int set_x_odr(float odr);
cparata 1:fe40aec6e97a 145 virtual int set_x_odr_with_mode(float odr, LSM6DSOX_ACC_Operating_Mode_t mode);
cparata 0:f27ce43dee4f 146 virtual int set_g_odr(float odr);
cparata 1:fe40aec6e97a 147 virtual int set_g_odr_with_mode(float odr, LSM6DSOX_GYRO_Operating_Mode_t mode);
cparata 0:f27ce43dee4f 148 virtual int get_x_fs(float *full_scale);
cparata 0:f27ce43dee4f 149 virtual int get_g_fs(float *full_scale);
cparata 0:f27ce43dee4f 150 virtual int set_x_fs(float full_scale);
cparata 0:f27ce43dee4f 151 virtual int set_g_fs(float full_scale);
cparata 0:f27ce43dee4f 152 int enable_x(void);
cparata 0:f27ce43dee4f 153 int enable_g(void);
cparata 0:f27ce43dee4f 154 int disable_x(void);
cparata 0:f27ce43dee4f 155 int disable_g(void);
cparata 0:f27ce43dee4f 156 int enable_free_fall_detection(LSM6DSOX_Interrupt_Pin_t pin = LSM6DSOX_INT1_PIN);
cparata 0:f27ce43dee4f 157 int disable_free_fall_detection(void);
cparata 0:f27ce43dee4f 158 int set_free_fall_threshold(uint8_t thr);
cparata 0:f27ce43dee4f 159 int set_free_fall_duration(uint8_t dur);
cparata 0:f27ce43dee4f 160 int enable_pedometer(void);
cparata 0:f27ce43dee4f 161 int disable_pedometer(void);
cparata 0:f27ce43dee4f 162 int get_step_counter(uint16_t *step_count);
cparata 0:f27ce43dee4f 163 int reset_step_counter(void);
cparata 0:f27ce43dee4f 164 int enable_tilt_detection(LSM6DSOX_Interrupt_Pin_t pin = LSM6DSOX_INT1_PIN);
cparata 0:f27ce43dee4f 165 int disable_tilt_detection(void);
cparata 0:f27ce43dee4f 166 int enable_wake_up_detection(LSM6DSOX_Interrupt_Pin_t pin = LSM6DSOX_INT2_PIN);
cparata 0:f27ce43dee4f 167 int disable_wake_up_detection(void);
cparata 0:f27ce43dee4f 168 int set_wake_up_threshold(uint8_t thr);
cparata 0:f27ce43dee4f 169 int set_wake_up_duration(uint8_t dur);
cparata 0:f27ce43dee4f 170 int enable_single_tap_detection(LSM6DSOX_Interrupt_Pin_t pin = LSM6DSOX_INT1_PIN);
cparata 0:f27ce43dee4f 171 int disable_single_tap_detection(void);
cparata 0:f27ce43dee4f 172 int enable_double_tap_detection(LSM6DSOX_Interrupt_Pin_t pin = LSM6DSOX_INT1_PIN);
cparata 0:f27ce43dee4f 173 int disable_double_tap_detection(void);
cparata 0:f27ce43dee4f 174 int set_tap_threshold(uint8_t thr);
cparata 0:f27ce43dee4f 175 int set_tap_shock_time(uint8_t time);
cparata 0:f27ce43dee4f 176 int set_tap_quiet_time(uint8_t time);
cparata 0:f27ce43dee4f 177 int set_tap_duration_time(uint8_t time);
cparata 0:f27ce43dee4f 178 int enable_6d_orientation(LSM6DSOX_Interrupt_Pin_t pin = LSM6DSOX_INT1_PIN);
cparata 0:f27ce43dee4f 179 int disable_6d_orientation(void);
cparata 0:f27ce43dee4f 180 int set_6d_orientation_threshold(uint8_t thr);
cparata 0:f27ce43dee4f 181 int get_6d_orientation_xl(uint8_t *xl);
cparata 0:f27ce43dee4f 182 int get_6d_orientation_xh(uint8_t *xh);
cparata 0:f27ce43dee4f 183 int get_6d_orientation_yl(uint8_t *yl);
cparata 0:f27ce43dee4f 184 int get_6d_orientation_yh(uint8_t *yh);
cparata 0:f27ce43dee4f 185 int get_6d_orientation_zl(uint8_t *zl);
cparata 0:f27ce43dee4f 186 int get_6d_orientation_zh(uint8_t *zh);
cparata 0:f27ce43dee4f 187 int get_event_status(LSM6DSOX_Event_Status_t *status);
cparata 0:f27ce43dee4f 188 int read_reg(uint8_t reg, uint8_t *data);
cparata 0:f27ce43dee4f 189 int write_reg(uint8_t reg, uint8_t data);
cparata 0:f27ce43dee4f 190 int set_interrupt_latch(uint8_t status);
cparata 0:f27ce43dee4f 191 int get_x_drdy_status(uint8_t *status);
cparata 0:f27ce43dee4f 192 int set_x_self_test(uint8_t status);
cparata 0:f27ce43dee4f 193 int get_g_drdy_status(uint8_t *status);
cparata 0:f27ce43dee4f 194 int set_g_self_test(uint8_t status);
cparata 0:f27ce43dee4f 195 int get_fifo_num_samples(uint16_t *num_samples);
cparata 0:f27ce43dee4f 196 int get_fifo_full_status(uint8_t *status);
cparata 0:f27ce43dee4f 197 int set_fifo_int1_fifo_full(uint8_t status);
cparata 0:f27ce43dee4f 198 int set_fifo_watermark_level(uint16_t watermark);
cparata 0:f27ce43dee4f 199 int set_fifo_stop_on_fth(uint8_t status);
cparata 0:f27ce43dee4f 200 int set_fifo_mode(uint8_t mode);
cparata 0:f27ce43dee4f 201 int get_fifo_tag(uint8_t *tag);
cparata 0:f27ce43dee4f 202 int get_fifo_data(uint8_t *data);
cparata 0:f27ce43dee4f 203 int get_fifo_x_axes(int32_t *acceleration);
cparata 0:f27ce43dee4f 204 int set_fifo_x_bdr(float bdr);
cparata 0:f27ce43dee4f 205 int get_fifo_g_axes(int32_t *angular_velocity);
cparata 0:f27ce43dee4f 206 int set_fifo_g_bdr(float bdr);
cparata 0:f27ce43dee4f 207
cparata 0:f27ce43dee4f 208 /**
cparata 0:f27ce43dee4f 209 * @brief Attaching an interrupt handler to the INT1 interrupt.
cparata 0:f27ce43dee4f 210 * @param fptr An interrupt handler.
cparata 0:f27ce43dee4f 211 * @retval None.
cparata 0:f27ce43dee4f 212 */
cparata 0:f27ce43dee4f 213 void attach_int1_irq(void (*fptr)(void))
cparata 0:f27ce43dee4f 214 {
cparata 0:f27ce43dee4f 215 _int1_irq.rise(fptr);
cparata 0:f27ce43dee4f 216 }
cparata 0:f27ce43dee4f 217
cparata 0:f27ce43dee4f 218 /**
cparata 0:f27ce43dee4f 219 * @brief Enabling the INT1 interrupt handling.
cparata 0:f27ce43dee4f 220 * @param None.
cparata 0:f27ce43dee4f 221 * @retval None.
cparata 0:f27ce43dee4f 222 */
cparata 0:f27ce43dee4f 223 void enable_int1_irq(void)
cparata 0:f27ce43dee4f 224 {
cparata 0:f27ce43dee4f 225 _int1_irq.enable_irq();
cparata 0:f27ce43dee4f 226 }
cparata 0:f27ce43dee4f 227
cparata 0:f27ce43dee4f 228 /**
cparata 0:f27ce43dee4f 229 * @brief Disabling the INT1 interrupt handling.
cparata 0:f27ce43dee4f 230 * @param None.
cparata 0:f27ce43dee4f 231 * @retval None.
cparata 0:f27ce43dee4f 232 */
cparata 0:f27ce43dee4f 233 void disable_int1_irq(void)
cparata 0:f27ce43dee4f 234 {
cparata 0:f27ce43dee4f 235 _int1_irq.disable_irq();
cparata 0:f27ce43dee4f 236 }
cparata 0:f27ce43dee4f 237
cparata 0:f27ce43dee4f 238 /**
cparata 0:f27ce43dee4f 239 * @brief Attaching an interrupt handler to the INT2 interrupt.
cparata 0:f27ce43dee4f 240 * @param fptr An interrupt handler.
cparata 0:f27ce43dee4f 241 * @retval None.
cparata 0:f27ce43dee4f 242 */
cparata 0:f27ce43dee4f 243 void attach_int2_irq(void (*fptr)(void))
cparata 0:f27ce43dee4f 244 {
cparata 0:f27ce43dee4f 245 _int2_irq.rise(fptr);
cparata 0:f27ce43dee4f 246 }
cparata 0:f27ce43dee4f 247
cparata 0:f27ce43dee4f 248 /**
cparata 0:f27ce43dee4f 249 * @brief Enabling the INT2 interrupt handling.
cparata 0:f27ce43dee4f 250 * @param None.
cparata 0:f27ce43dee4f 251 * @retval None.
cparata 0:f27ce43dee4f 252 */
cparata 0:f27ce43dee4f 253 void enable_int2_irq(void)
cparata 0:f27ce43dee4f 254 {
cparata 0:f27ce43dee4f 255 _int2_irq.enable_irq();
cparata 0:f27ce43dee4f 256 }
cparata 0:f27ce43dee4f 257
cparata 0:f27ce43dee4f 258 /**
cparata 0:f27ce43dee4f 259 * @brief Disabling the INT2 interrupt handling.
cparata 0:f27ce43dee4f 260 * @param None.
cparata 0:f27ce43dee4f 261 * @retval None.
cparata 0:f27ce43dee4f 262 */
cparata 0:f27ce43dee4f 263 void disable_int2_irq(void)
cparata 0:f27ce43dee4f 264 {
cparata 0:f27ce43dee4f 265 _int2_irq.disable_irq();
cparata 0:f27ce43dee4f 266 }
cparata 0:f27ce43dee4f 267
cparata 0:f27ce43dee4f 268 /**
cparata 0:f27ce43dee4f 269 * @brief Utility function to read data.
cparata 0:f27ce43dee4f 270 * @param pBuffer: pointer to data to be read.
cparata 0:f27ce43dee4f 271 * @param RegisterAddr: specifies internal address register to be read.
cparata 0:f27ce43dee4f 272 * @param NumByteToRead: number of bytes to be read.
cparata 0:f27ce43dee4f 273 * @retval 0 if ok, an error code otherwise.
cparata 0:f27ce43dee4f 274 */
cparata 0:f27ce43dee4f 275 uint8_t io_read(uint8_t* pBuffer, uint8_t RegisterAddr, uint16_t NumByteToRead)
cparata 0:f27ce43dee4f 276 {
cparata 0:f27ce43dee4f 277 if (_dev_spi) {
cparata 0:f27ce43dee4f 278 /* Write Reg Address */
cparata 0:f27ce43dee4f 279 _dev_spi->lock();
cparata 0:f27ce43dee4f 280 _cs_pin = 0;
cparata 0:f27ce43dee4f 281 if (_spi_type == SPI4W) {
cparata 0:f27ce43dee4f 282 _dev_spi->write(RegisterAddr | 0x80);
cparata 0:f27ce43dee4f 283 for (int i=0; i<NumByteToRead; i++) {
cparata 0:f27ce43dee4f 284 *(pBuffer+i) = _dev_spi->write(0x00);
cparata 0:f27ce43dee4f 285 }
cparata 0:f27ce43dee4f 286 } else if (_spi_type == SPI3W){
cparata 0:f27ce43dee4f 287 /* Write RD Reg Address with RD bit*/
cparata 0:f27ce43dee4f 288 uint8_t TxByte = RegisterAddr | 0x80;
cparata 0:f27ce43dee4f 289 _dev_spi->write((char *)&TxByte, 1, (char *)pBuffer, (int) NumByteToRead);
cparata 0:f27ce43dee4f 290 }
cparata 0:f27ce43dee4f 291 _cs_pin = 1;
cparata 0:f27ce43dee4f 292 _dev_spi->unlock();
cparata 0:f27ce43dee4f 293 return 0;
cparata 0:f27ce43dee4f 294 }
cparata 0:f27ce43dee4f 295 if (_dev_i2c) return (uint8_t) _dev_i2c->i2c_read(pBuffer, _address, RegisterAddr, NumByteToRead);
cparata 0:f27ce43dee4f 296 return 1;
cparata 0:f27ce43dee4f 297 }
cparata 0:f27ce43dee4f 298
cparata 0:f27ce43dee4f 299 /**
cparata 0:f27ce43dee4f 300 * @brief Utility function to write data.
cparata 0:f27ce43dee4f 301 * @param pBuffer: pointer to data to be written.
cparata 0:f27ce43dee4f 302 * @param RegisterAddr: specifies internal address register to be written.
cparata 0:f27ce43dee4f 303 * @param NumByteToWrite: number of bytes to write.
cparata 0:f27ce43dee4f 304 * @retval 0 if ok, an error code otherwise.
cparata 0:f27ce43dee4f 305 */
cparata 0:f27ce43dee4f 306 uint8_t io_write(uint8_t* pBuffer, uint8_t RegisterAddr, uint16_t NumByteToWrite)
cparata 0:f27ce43dee4f 307 {
cparata 0:f27ce43dee4f 308 if (_dev_spi) {
cparata 0:f27ce43dee4f 309 _dev_spi->lock();
cparata 0:f27ce43dee4f 310 _cs_pin = 0;
cparata 0:f27ce43dee4f 311 _dev_spi->write(RegisterAddr);
cparata 0:f27ce43dee4f 312 _dev_spi->write((char *)pBuffer, (int) NumByteToWrite, NULL, 0);
cparata 0:f27ce43dee4f 313 _cs_pin = 1;
cparata 0:f27ce43dee4f 314 _dev_spi->unlock();
cparata 0:f27ce43dee4f 315 return 0;
cparata 0:f27ce43dee4f 316 }
cparata 0:f27ce43dee4f 317 if (_dev_i2c) return (uint8_t) _dev_i2c->i2c_write(pBuffer, _address, RegisterAddr, NumByteToWrite);
cparata 0:f27ce43dee4f 318 return 1;
cparata 0:f27ce43dee4f 319 }
cparata 0:f27ce43dee4f 320
cparata 0:f27ce43dee4f 321 private:
cparata 0:f27ce43dee4f 322 int set_x_odr_when_enabled(float odr);
cparata 0:f27ce43dee4f 323 int set_g_odr_when_enabled(float odr);
cparata 0:f27ce43dee4f 324 int set_x_odr_when_disabled(float odr);
cparata 0:f27ce43dee4f 325 int set_g_odr_when_disabled(float odr);
cparata 0:f27ce43dee4f 326
cparata 0:f27ce43dee4f 327 /* Helper classes. */
cparata 0:f27ce43dee4f 328 DevI2C *_dev_i2c;
cparata 0:f27ce43dee4f 329 SPI *_dev_spi;
cparata 0:f27ce43dee4f 330
cparata 0:f27ce43dee4f 331 /* Configuration */
cparata 0:f27ce43dee4f 332 uint8_t _address;
cparata 0:f27ce43dee4f 333 DigitalOut _cs_pin;
cparata 0:f27ce43dee4f 334 InterruptIn _int1_irq;
cparata 0:f27ce43dee4f 335 InterruptIn _int2_irq;
cparata 0:f27ce43dee4f 336 SPI_type_t _spi_type;
cparata 0:f27ce43dee4f 337
cparata 0:f27ce43dee4f 338 uint8_t _x_is_enabled;
cparata 0:f27ce43dee4f 339 lsm6dsox_odr_xl_t _x_last_odr;
cparata 0:f27ce43dee4f 340 uint8_t _g_is_enabled;
cparata 0:f27ce43dee4f 341 lsm6dsox_odr_g_t _g_last_odr;
cparata 0:f27ce43dee4f 342
cparata 0:f27ce43dee4f 343 lsm6dsox_ctx_t _reg_ctx;
cparata 0:f27ce43dee4f 344 };
cparata 0:f27ce43dee4f 345
cparata 0:f27ce43dee4f 346 #ifdef __cplusplus
cparata 0:f27ce43dee4f 347 extern "C" {
cparata 0:f27ce43dee4f 348 #endif
cparata 0:f27ce43dee4f 349 int32_t LSM6DSOX_io_write( void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite );
cparata 0:f27ce43dee4f 350 int32_t LSM6DSOX_io_read( void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead );
cparata 0:f27ce43dee4f 351 #ifdef __cplusplus
cparata 0:f27ce43dee4f 352 }
cparata 0:f27ce43dee4f 353 #endif
cparata 0:f27ce43dee4f 354
cparata 0:f27ce43dee4f 355 #endif