Diff: X_NUCLEO_IKS01A2/Components/LSM6DSLSensor/LSM6DSLSensor.h

Revision:

2:fc97ec716eba

Parent:

1:4b4e6a89adce

Child:

3:8698b0214af9

--- a/X_NUCLEO_IKS01A2/Components/LSM6DSLSensor/LSM6DSLSensor.h	Thu Nov 24 16:45:14 2016 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,303 +0,0 @@
-/**
- ******************************************************************************
- * @file    LSM6DSLSensor.h
- * @author  AST
- * @version V1.0.0
- * @date    5 August 2016
- * @brief   Abstract Class of an LSM6DSL Inertial Measurement Unit (IMU) 6 axes
- *          sensor.
- ******************************************************************************
- * @attention
- *
- * <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
- *
- * Redistribution and use in source and binary forms, with or without modification,
- * are permitted provided that the following conditions are met:
- *   1. Redistributions of source code must retain the above copyright notice,
- *      this list of conditions and the following disclaimer.
- *   2. Redistributions in binary form must reproduce the above copyright notice,
- *      this list of conditions and the following disclaimer in the documentation
- *      and/or other materials provided with the distribution.
- *   3. Neither the name of STMicroelectronics nor the names of its contributors
- *      may be used to endorse or promote products derived from this software
- *      without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
- * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
- * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
- * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- *
- ******************************************************************************
- */
-
-
-/* Prevent recursive inclusion -----------------------------------------------*/
-
-#ifndef __LSM6DSLSensor_H__
-#define __LSM6DSLSensor_H__
-
-
-/* Includes ------------------------------------------------------------------*/
-
-#include "DevI2C.h"
-#include "LSM6DSL_ACC_GYRO_driver.h"
-#include "MotionSensor.h"
-#include "GyroSensor.h"
-
-/* Defines -------------------------------------------------------------------*/
-
-#define LSM6DSL_ACC_SENSITIVITY_FOR_FS_2G   0.061  /**< Sensitivity value for 2 g full scale [mg/LSB] */
-#define LSM6DSL_ACC_SENSITIVITY_FOR_FS_4G   0.122  /**< Sensitivity value for 4 g full scale [mg/LSB] */
-#define LSM6DSL_ACC_SENSITIVITY_FOR_FS_8G   0.244  /**< Sensitivity value for 8 g full scale [mg/LSB] */
-#define LSM6DSL_ACC_SENSITIVITY_FOR_FS_16G  0.488  /**< Sensitivity value for 16 g full scale [mg/LSB] */
-
-#define LSM6DSL_GYRO_SENSITIVITY_FOR_FS_125DPS   04.375  /**< Sensitivity value for 125 dps full scale [mdps/LSB] */
-#define LSM6DSL_GYRO_SENSITIVITY_FOR_FS_245DPS   08.750  /**< Sensitivity value for 245 dps full scale [mdps/LSB] */
-#define LSM6DSL_GYRO_SENSITIVITY_FOR_FS_500DPS   17.500  /**< Sensitivity value for 500 dps full scale [mdps/LSB] */
-#define LSM6DSL_GYRO_SENSITIVITY_FOR_FS_1000DPS  35.000  /**< Sensitivity value for 1000 dps full scale [mdps/LSB] */
-#define LSM6DSL_GYRO_SENSITIVITY_FOR_FS_2000DPS  70.000  /**< Sensitivity value for 2000 dps full scale [mdps/LSB] */
-
-#define LSM6DSL_PEDOMETER_THRESHOLD_LOW       0x00  /**< Lowest  value of pedometer threshold */
-#define LSM6DSL_PEDOMETER_THRESHOLD_MID_LOW   0x07
-#define LSM6DSL_PEDOMETER_THRESHOLD_MID       0x0F
-#define LSM6DSL_PEDOMETER_THRESHOLD_MID_HIGH  0x17
-#define LSM6DSL_PEDOMETER_THRESHOLD_HIGH      0x1F  /**< Highest value of pedometer threshold */
-
-#define LSM6DSL_WAKE_UP_THRESHOLD_LOW       0x01  /**< Lowest  value of wake up threshold */
-#define LSM6DSL_WAKE_UP_THRESHOLD_MID_LOW   0x0F
-#define LSM6DSL_WAKE_UP_THRESHOLD_MID       0x1F
-#define LSM6DSL_WAKE_UP_THRESHOLD_MID_HIGH  0x2F
-#define LSM6DSL_WAKE_UP_THRESHOLD_HIGH      0x3F  /**< Highest value of wake up threshold */
-
-#define LSM6DSL_TAP_THRESHOLD_LOW       0x01  /**< Lowest  value of wake up threshold */
-#define LSM6DSL_TAP_THRESHOLD_MID_LOW   0x08
-#define LSM6DSL_TAP_THRESHOLD_MID       0x10
-#define LSM6DSL_TAP_THRESHOLD_MID_HIGH  0x18
-#define LSM6DSL_TAP_THRESHOLD_HIGH      0x1F  /**< Highest value of wake up threshold */
-
-#define LSM6DSL_TAP_SHOCK_TIME_LOW       0x00  /**< Lowest  value of wake up threshold */
-#define LSM6DSL_TAP_SHOCK_TIME_MID_LOW   0x01
-#define LSM6DSL_TAP_SHOCK_TIME_MID_HIGH  0x02
-#define LSM6DSL_TAP_SHOCK_TIME_HIGH      0x03  /**< Highest value of wake up threshold */
-
-#define LSM6DSL_TAP_QUIET_TIME_LOW       0x00  /**< Lowest  value of wake up threshold */
-#define LSM6DSL_TAP_QUIET_TIME_MID_LOW   0x01
-#define LSM6DSL_TAP_QUIET_TIME_MID_HIGH  0x02
-#define LSM6DSL_TAP_QUIET_TIME_HIGH      0x03  /**< Highest value of wake up threshold */
-
-#define LSM6DSL_TAP_DURATION_TIME_LOW       0x00  /**< Lowest  value of wake up threshold */
-#define LSM6DSL_TAP_DURATION_TIME_MID_LOW   0x04
-#define LSM6DSL_TAP_DURATION_TIME_MID       0x08
-#define LSM6DSL_TAP_DURATION_TIME_MID_HIGH  0x0C
-#define LSM6DSL_TAP_DURATION_TIME_HIGH      0x0F  /**< Highest value of wake up threshold */
-
-/* Typedefs ------------------------------------------------------------------*/
-
-typedef enum
-{
-  LSM6DSL_INT1_PIN,
-  LSM6DSL_INT2_PIN
-} LSM6DSL_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;
-} LSM6DSL_Event_Status_t;
-
-/* Class Declaration ---------------------------------------------------------*/
-
-/**
- * Abstract class of an LSM6DSL Inertial Measurement Unit (IMU) 6 axes
- * sensor.
- */
-class LSM6DSLSensor : public MotionSensor, public GyroSensor
-{
-  public:
-    LSM6DSLSensor(DevI2C &i2c, PinName INT1_pin, PinName INT2_pin);
-    LSM6DSLSensor(DevI2C &i2c, PinName INT1_pin, PinName INT2_pin, uint8_t address);
-    virtual int Init(void *init);
-    virtual int ReadID(uint8_t *id);
-    virtual int Get_X_Axes(int32_t *pData);
-    virtual int Get_G_Axes(int32_t *pData);
-    virtual int Get_X_Sensitivity(float *pfData);
-    virtual int Get_G_Sensitivity(float *pfData);
-    virtual int Get_X_AxesRaw(int16_t *pData);
-    virtual int Get_G_AxesRaw(int16_t *pData);
-    virtual int Get_X_ODR(float *odr);
-    virtual int Get_G_ODR(float *odr);
-    virtual int Set_X_ODR(float odr);
-    virtual int Set_G_ODR(float odr);
-    virtual int Get_X_FS(float *fullScale);
-    virtual int Get_G_FS(float *fullScale);
-    virtual int Set_X_FS(float fullScale);
-    virtual int Set_G_FS(float fullScale);
-    int Enable_X(void);
-    int Enable_G(void);
-    int Disable_X(void);
-    int Disable_G(void);
-    int Enable_Free_Fall_Detection(void);
-    int Enable_Free_Fall_Detection(LSM6DSL_Interrupt_Pin_t pin);
-    int Disable_Free_Fall_Detection(void);
-    int Set_Free_Fall_Threshold(uint8_t thr);
-    int Enable_Pedometer(void);
-    int Disable_Pedometer(void);
-    int Get_Step_Counter(uint16_t *step_count);
-    int Reset_Step_Counter(void);
-    int Set_Pedometer_Threshold(uint8_t thr);
-    int Enable_Tilt_Detection(void);
-    int Enable_Tilt_Detection(LSM6DSL_Interrupt_Pin_t pin);
-    int Disable_Tilt_Detection(void);
-    int Enable_Wake_Up_Detection(void);
-    int Enable_Wake_Up_Detection(LSM6DSL_Interrupt_Pin_t pin);
-    int Disable_Wake_Up_Detection(void);
-    int Set_Wake_Up_Threshold(uint8_t thr);
-    int Enable_Single_Tap_Detection(void);
-    int Enable_Single_Tap_Detection(LSM6DSL_Interrupt_Pin_t pin);
-    int Disable_Single_Tap_Detection(void);
-    int Enable_Double_Tap_Detection(void);
-    int Enable_Double_Tap_Detection(LSM6DSL_Interrupt_Pin_t pin);
-    int Disable_Double_Tap_Detection(void);
-    int Set_Tap_Threshold(uint8_t thr);
-    int Set_Tap_Shock_Time(uint8_t time);
-    int Set_Tap_Quiet_Time(uint8_t time);
-    int Set_Tap_Duration_Time(uint8_t time);
-    int Enable_6D_Orientation(void);
-    int Enable_6D_Orientation(LSM6DSL_Interrupt_Pin_t pin);
-    int Disable_6D_Orientation(void);
-    int Get_6D_Orientation_XL(uint8_t *xl);
-    int Get_6D_Orientation_XH(uint8_t *xh);
-    int Get_6D_Orientation_YL(uint8_t *yl);
-    int Get_6D_Orientation_YH(uint8_t *yh);
-    int Get_6D_Orientation_ZL(uint8_t *zl);
-    int Get_6D_Orientation_ZH(uint8_t *zh);
-    int Get_Event_Status(LSM6DSL_Event_Status_t *status);
-    int ReadReg(uint8_t reg, uint8_t *data);
-    int WriteReg(uint8_t reg, uint8_t data);
-    
-    /**
-     * @brief  Attaching an interrupt handler to the INT1 interrupt.
-     * @param  fptr An interrupt handler.
-     * @retval None.
-     */
-    void AttachINT1IRQ(void (*fptr)(void))
-    {
-        INT1_irq.rise(fptr);
-    }
-
-    /**
-     * @brief  Enabling the INT1 interrupt handling.
-     * @param  None.
-     * @retval None.
-     */
-    void EnableINT1IRQ(void)
-    {
-        INT1_irq.enable_irq();
-    }
-    
-    /**
-     * @brief  Disabling the INT1 interrupt handling.
-     * @param  None.
-     * @retval None.
-     */
-    void DisableINT1IRQ(void)
-    {
-        INT1_irq.disable_irq();
-    }
-    
-    /**
-     * @brief  Attaching an interrupt handler to the INT2 interrupt.
-     * @param  fptr An interrupt handler.
-     * @retval None.
-     */
-    void AttachINT2IRQ(void (*fptr)(void))
-    {
-        INT2_irq.rise(fptr);
-    }
-
-    /**
-     * @brief  Enabling the INT2 interrupt handling.
-     * @param  None.
-     * @retval None.
-     */
-    void EnableINT2IRQ(void)
-    {
-        INT2_irq.enable_irq();
-    }
-    
-    /**
-     * @brief  Disabling the INT2 interrupt handling.
-     * @param  None.
-     * @retval None.
-     */
-    void DisableINT2IRQ(void)
-    {
-        INT2_irq.disable_irq();
-    }
-    
-    /**
-     * @brief Utility function to read data.
-     * @param  pBuffer: pointer to data to be read.
-     * @param  RegisterAddr: specifies internal address register to be read.
-     * @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)
-    {
-        return (uint8_t) dev_i2c.i2c_read(pBuffer, address, RegisterAddr, NumByteToRead);
-    }
-    
-    /**
-     * @brief Utility function to write data.
-     * @param  pBuffer: pointer to data to be written.
-     * @param  RegisterAddr: specifies internal address register to be written.
-     * @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)
-    {
-        return (uint8_t) dev_i2c.i2c_write(pBuffer, address, RegisterAddr, NumByteToWrite);
-    }
-
-  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);
-    int Set_G_ODR_When_Disabled(float odr);
-
-    /* Helper classes. */
-    DevI2C &dev_i2c;
-
-    InterruptIn INT1_irq;
-    InterruptIn INT2_irq;
-
-    /* Configuration */
-    uint8_t address;
-    
-    uint8_t X_isEnabled;
-    float X_Last_ODR;
-    uint8_t G_isEnabled;
-    float G_Last_ODR;
-};
-
-#ifdef __cplusplus
- extern "C" {
-#endif
-uint8_t LSM6DSL_IO_Write( void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite );
-uint8_t LSM6DSL_IO_Read( void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead );
-#ifdef __cplusplus
-  }
-#endif
-
-#endif