LSM6DSOXSensor.h

00001 /**
00002  ******************************************************************************
00003  * @file    LSM6DSOXSensor.h
00004  * @author  SRA
00005  * @version V1.0.0
00006  * @date    February 2019
00007  * @brief   Abstract Class of an LSM6DSOX 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 __LSM6DSOXSensor_H__
00043 #define __LSM6DSOXSensor_H__
00044 
00045 
00046 /* Includes ------------------------------------------------------------------*/
00047 #include "DevI2C.h"
00048 #include "lsm6dsox_reg.h"
00049 #include "MotionSensor.h"
00050 #include "GyroSensor.h"
00051 #include "mbed.h"
00052 #include <assert.h>
00053 
00054 /* Defines -------------------------------------------------------------------*/
00055 
00056 #define LSM6DSOX_ACC_SENSITIVITY_FS_2G   0.061f
00057 #define LSM6DSOX_ACC_SENSITIVITY_FS_4G   0.122f
00058 #define LSM6DSOX_ACC_SENSITIVITY_FS_8G   0.244f
00059 #define LSM6DSOX_ACC_SENSITIVITY_FS_16G  0.488f
00060 
00061 #define LSM6DSOX_GYRO_SENSITIVITY_FS_125DPS    4.375f
00062 #define LSM6DSOX_GYRO_SENSITIVITY_FS_250DPS    8.750f
00063 #define LSM6DSOX_GYRO_SENSITIVITY_FS_500DPS   17.500f
00064 #define LSM6DSOX_GYRO_SENSITIVITY_FS_1000DPS  35.000f
00065 #define LSM6DSOX_GYRO_SENSITIVITY_FS_2000DPS  70.000f
00066 
00067 
00068 /* Typedefs ------------------------------------------------------------------*/
00069 
00070 typedef enum
00071 {
00072   LSM6DSOX_INT1_PIN,
00073   LSM6DSOX_INT2_PIN,
00074 } LSM6DSOX_Interrupt_Pin_t;
00075 
00076 typedef enum
00077 {
00078   LSM6DSOX_ACC_HIGH_PERFORMANCE_MODE,
00079   LSM6DSOX_ACC_LOW_POWER_NORMAL_MODE,
00080   LSM6DSOX_ACC_ULTRA_LOW_POWER_MODE
00081 } LSM6DSOX_ACC_Operating_Mode_t;
00082 
00083 typedef enum
00084 {
00085   LSM6DSOX_GYRO_HIGH_PERFORMANCE_MODE,
00086   LSM6DSOX_GYRO_LOW_POWER_NORMAL_MODE
00087 } LSM6DSOX_GYRO_Operating_Mode_t;
00088 
00089 typedef struct
00090 {
00091   unsigned int FreeFallStatus : 1;
00092   unsigned int TapStatus : 1;
00093   unsigned int DoubleTapStatus : 1;
00094   unsigned int WakeUpStatus : 1;
00095   unsigned int StepStatus : 1;
00096   unsigned int TiltStatus : 1;
00097   unsigned int D6DOrientationStatus : 1;
00098   unsigned int SleepStatus : 1;
00099 } LSM6DSOX_Event_Status_t;
00100 
00101 typedef struct {
00102   unsigned int is_mlc1 : 1;
00103   unsigned int is_mlc2 : 1;
00104   unsigned int is_mlc3 : 1;
00105   unsigned int is_mlc4 : 1;
00106   unsigned int is_mlc5 : 1;
00107   unsigned int is_mlc6 : 1;
00108   unsigned int is_mlc7 : 1;
00109   unsigned int is_mlc8 : 1;
00110 } LSM6DSOX_MLC_Status_t;
00111 
00112 
00113 /* Class Declaration ---------------------------------------------------------*/
00114    
00115 /**
00116  * Abstract class of an LSM6DSOX Inertial Measurement Unit (IMU) 6 axes
00117  * sensor.
00118  */
00119 class LSM6DSOXSensor : public MotionSensor, public GyroSensor
00120 {
00121   public:
00122     enum SPI_type_t {SPI3W, SPI4W};
00123     LSM6DSOXSensor(SPI *spi, PinName cs_pin, PinName int1_pin=NC, PinName int2_pin=NC, SPI_type_t spi_type=SPI4W);
00124     LSM6DSOXSensor(DevI2C *i2c, uint8_t address=LSM6DSOX_I2C_ADD_H, PinName int1_pin=NC, PinName int2_pin=NC);
00125     virtual int init(void *init);
00126     virtual int read_id(uint8_t *id);
00127     virtual int get_x_axes(int32_t *acceleration);
00128     virtual int get_g_axes(int32_t *angular_rate);
00129     virtual int get_x_sensitivity(float *sensitivity);
00130     virtual int get_g_sensitivity(float *sensitivity);
00131     virtual int get_x_axes_raw(int16_t *value);
00132     virtual int get_g_axes_raw(int16_t *value);
00133     virtual int get_x_odr(float *odr);
00134     virtual int get_g_odr(float *odr);
00135     virtual int set_x_odr(float odr);
00136     virtual int set_x_odr_with_mode(float odr, LSM6DSOX_ACC_Operating_Mode_t mode);
00137     virtual int set_g_odr(float odr);
00138     virtual int set_g_odr_with_mode(float odr, LSM6DSOX_GYRO_Operating_Mode_t mode);
00139     virtual int get_x_fs(float *full_scale);
00140     virtual int get_g_fs(float *full_scale);
00141     virtual int set_x_fs(float full_scale);
00142     virtual int set_g_fs(float full_scale);
00143     int enable_x(void);
00144     int enable_g(void);
00145     int disable_x(void);
00146     int disable_g(void);
00147     int enable_free_fall_detection(LSM6DSOX_Interrupt_Pin_t pin = LSM6DSOX_INT1_PIN);
00148     int disable_free_fall_detection(void);
00149     int set_free_fall_threshold(uint8_t thr);
00150     int set_free_fall_duration(uint8_t dur);
00151     int enable_pedometer(void);
00152     int disable_pedometer(void);
00153     int get_step_counter(uint16_t *step_count);
00154     int reset_step_counter(void);
00155     int enable_tilt_detection(LSM6DSOX_Interrupt_Pin_t pin = LSM6DSOX_INT1_PIN);
00156     int disable_tilt_detection(void);
00157     int enable_wake_up_detection(LSM6DSOX_Interrupt_Pin_t pin = LSM6DSOX_INT2_PIN);
00158     int disable_wake_up_detection(void);
00159     int set_wake_up_threshold(uint8_t thr);
00160     int set_wake_up_duration(uint8_t dur);
00161     int enable_single_tap_detection(LSM6DSOX_Interrupt_Pin_t pin = LSM6DSOX_INT1_PIN);
00162     int disable_single_tap_detection(void);
00163     int enable_double_tap_detection(LSM6DSOX_Interrupt_Pin_t pin = LSM6DSOX_INT1_PIN);
00164     int disable_double_tap_detection(void);
00165     int set_tap_threshold(uint8_t thr);
00166     int set_tap_shock_time(uint8_t time);
00167     int set_tap_quiet_time(uint8_t time);
00168     int set_tap_duration_time(uint8_t time);
00169     int enable_6d_orientation(LSM6DSOX_Interrupt_Pin_t pin = LSM6DSOX_INT1_PIN);
00170     int disable_6d_orientation(void);
00171     int set_6d_orientation_threshold(uint8_t thr);
00172     int get_6d_orientation_xl(uint8_t *xl);
00173     int get_6d_orientation_xh(uint8_t *xh);
00174     int get_6d_orientation_yl(uint8_t *yl);
00175     int get_6d_orientation_yh(uint8_t *yh);
00176     int get_6d_orientation_zl(uint8_t *zl);
00177     int get_6d_orientation_zh(uint8_t *zh);
00178     int get_event_status(LSM6DSOX_Event_Status_t *status);
00179     int read_reg(uint8_t reg, uint8_t *data);
00180     int write_reg(uint8_t reg, uint8_t data);
00181     int set_interrupt_latch(uint8_t status);
00182     int get_x_drdy_status(uint8_t *status);
00183     int set_x_self_test(uint8_t status);
00184     int get_g_drdy_status(uint8_t *status);
00185     int set_g_self_test(uint8_t status);
00186     int get_fifo_num_samples(uint16_t *num_samples);
00187     int get_fifo_full_status(uint8_t *status);
00188     int set_fifo_int1_fifo_full(uint8_t status);
00189     int set_fifo_watermark_level(uint16_t watermark);
00190     int set_fifo_stop_on_fth(uint8_t status);
00191     int set_fifo_mode(uint8_t mode);
00192     int get_fifo_tag(uint8_t *tag);
00193     int get_fifo_data(uint8_t *data);
00194     int get_fifo_x_axes(int32_t *acceleration);
00195     int set_fifo_x_bdr(float bdr);
00196     int get_fifo_g_axes(int32_t *angular_velocity);
00197     int set_fifo_g_bdr(float bdr);
00198     int get_mlc_status(LSM6DSOX_MLC_Status_t *status);
00199     int get_mlc_output(uint8_t *output);
00200     
00201     /**
00202      * @brief  Attaching an interrupt handler to the INT1 interrupt.
00203      * @param  fptr An interrupt handler.
00204      * @retval None.
00205      */
00206     void attach_int1_irq(void (*fptr)(void))
00207     {
00208         _int1_irq.rise(fptr);
00209     }
00210 
00211     /**
00212      * @brief  Enabling the INT1 interrupt handling.
00213      * @param  None.
00214      * @retval None.
00215      */
00216     void enable_int1_irq(void)
00217     {
00218         _int1_irq.enable_irq();
00219     }
00220     
00221     /**
00222      * @brief  Disabling the INT1 interrupt handling.
00223      * @param  None.
00224      * @retval None.
00225      */
00226     void disable_int1_irq(void)
00227     {
00228         _int1_irq.disable_irq();
00229     }
00230     
00231     /**
00232      * @brief  Attaching an interrupt handler to the INT2 interrupt.
00233      * @param  fptr An interrupt handler.
00234      * @retval None.
00235      */
00236     void attach_int2_irq(void (*fptr)(void))
00237     {
00238         _int2_irq.rise(fptr);
00239     }
00240 
00241     /**
00242      * @brief  Enabling the INT2 interrupt handling.
00243      * @param  None.
00244      * @retval None.
00245      */
00246     void enable_int2_irq(void)
00247     {
00248         _int2_irq.enable_irq();
00249     }
00250     
00251     /**
00252      * @brief  Disabling the INT2 interrupt handling.
00253      * @param  None.
00254      * @retval None.
00255      */
00256     void disable_int2_irq(void)
00257     {
00258         _int2_irq.disable_irq();
00259     }
00260     
00261     /**
00262      * @brief Utility function to read data.
00263      * @param  pBuffer: pointer to data to be read.
00264      * @param  RegisterAddr: specifies internal address register to be read.
00265      * @param  NumByteToRead: number of bytes to be read.
00266      * @retval 0 if ok, an error code otherwise.
00267      */
00268     uint8_t io_read(uint8_t* pBuffer, uint8_t RegisterAddr, uint16_t NumByteToRead)
00269     {        
00270         if (_dev_spi) {
00271             /* Write Reg Address */
00272             _dev_spi->lock();
00273             _cs_pin = 0;           
00274             if (_spi_type == SPI4W) {            
00275                 _dev_spi->write(RegisterAddr | 0x80);
00276                 for (int i=0; i<NumByteToRead; i++) {
00277                     *(pBuffer+i) = _dev_spi->write(0x00);
00278                 }
00279             } else if (_spi_type == SPI3W){
00280                 /* Write RD Reg Address with RD bit*/
00281                 uint8_t TxByte = RegisterAddr | 0x80;    
00282                 _dev_spi->write((char *)&TxByte, 1, (char *)pBuffer, (int) NumByteToRead);
00283             }            
00284             _cs_pin = 1;
00285             _dev_spi->unlock(); 
00286             return 0;
00287         }                       
00288         if (_dev_i2c) return (uint8_t) _dev_i2c->i2c_read(pBuffer, _address, RegisterAddr, NumByteToRead);
00289         return 1;
00290     }
00291     
00292     /**
00293      * @brief Utility function to write data.
00294      * @param  pBuffer: pointer to data to be written.
00295      * @param  RegisterAddr: specifies internal address register to be written.
00296      * @param  NumByteToWrite: number of bytes to write.
00297      * @retval 0 if ok, an error code otherwise.
00298      */
00299     uint8_t io_write(uint8_t* pBuffer, uint8_t RegisterAddr, uint16_t NumByteToWrite)
00300     {
00301         if (_dev_spi) { 
00302             _dev_spi->lock();
00303             _cs_pin = 0;
00304             _dev_spi->write(RegisterAddr);                    
00305             _dev_spi->write((char *)pBuffer, (int) NumByteToWrite, NULL, 0);                     
00306             _cs_pin = 1;                    
00307             _dev_spi->unlock();
00308             return 0;                    
00309         }        
00310         if (_dev_i2c) return (uint8_t) _dev_i2c->i2c_write(pBuffer, _address, RegisterAddr, NumByteToWrite);    
00311         return 1;
00312     }
00313 
00314   private:
00315     int set_x_odr_when_enabled(float odr);
00316     int set_g_odr_when_enabled(float odr);
00317     int set_x_odr_when_disabled(float odr);
00318     int set_g_odr_when_disabled(float odr);
00319 
00320     /* Helper classes. */
00321     DevI2C *_dev_i2c;
00322     SPI    *_dev_spi;
00323 
00324     /* Configuration */
00325     uint8_t _address;
00326     DigitalOut  _cs_pin;        
00327     InterruptIn _int1_irq;
00328     InterruptIn _int2_irq;
00329     SPI_type_t _spi_type;
00330     
00331     uint8_t _x_is_enabled;
00332     lsm6dsox_odr_xl_t _x_last_odr;
00333     uint8_t _g_is_enabled;
00334     lsm6dsox_odr_g_t _g_last_odr;
00335 
00336     lsm6dsox_ctx_t _reg_ctx;
00337 };
00338 
00339 #ifdef __cplusplus
00340  extern "C" {
00341 #endif
00342 int32_t LSM6DSOX_io_write( void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite );
00343 int32_t LSM6DSOX_io_read( void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead );
00344 #ifdef __cplusplus
00345   }
00346 #endif
00347 
00348 #endif