Diff: X_NUCLEO_IKS01A2/Components/LSM6DSLSensor/LSM6DSLSensor.h

Revision:

2:67af0ad3ea2e

Child:

4:b9467a8f2bcc

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/X_NUCLEO_IKS01A2/Components/LSM6DSLSensor/LSM6DSLSensor.h	Fri Aug 19 12:29:08 2016 +0000
@@ -0,0 +1,221 @@
+/**
+ ******************************************************************************
+ * @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 */
+
+/* Class Declaration ---------------------------------------------------------*/
+
+/**
+ * Abstract class of an LSM6DSL Inertial Measurement Unit (IMU) 6 axes
+ * sensor.
+ */
+class LSM6DSLSensor : public MotionSensor, public GyroSensor
+{
+  public:
+    LSM6DSLSensor(DevI2C &i2c);
+    LSM6DSLSensor(DevI2C &i2c, 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 Disable_Free_Fall_Detection(void);
+    int Get_Status_Free_Fall_Detection(uint8_t *status);
+    int Set_Free_Fall_Threshold(uint8_t thr);
+    int Enable_Pedometer(void);
+    int Disable_Pedometer(void);
+    int Get_Status_Pedometer(uint8_t *status);
+    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 Disable_Tilt_Detection(void);
+    int Get_Status_Tilt_Detection(uint8_t *status);
+    int Enable_Wake_Up_Detection(void);
+    int Disable_Wake_Up_Detection(void);
+    int Get_Status_Wake_Up_Detection(uint8_t *status);
+    int Set_Wake_Up_Threshold(uint8_t thr);
+    int Enable_Single_Tap_Detection(void);
+    int Disable_Single_Tap_Detection(void);
+    int Get_Status_Single_Tap_Detection(uint8_t *status);
+    int Enable_Double_Tap_Detection(void);
+    int Disable_Double_Tap_Detection(void);
+    int Get_Status_Double_Tap_Detection(uint8_t *status);
+    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 Disable_6D_Orientation(void);
+    int Get_Status_6D_Orientation(uint8_t *status);
+    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 ReadReg(uint8_t reg, uint8_t *data);
+    int WriteReg(uint8_t reg, uint8_t data);
+    
+    /**
+     * @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;
+    
+    /* 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