ST / Mbed 2 deprecated Tilt_IKS01A2

Example of tilt detection for LSM6DSL in X-NUCLEO-IKS01A2

Dependencies:   X_NUCLEO_IKS01A2 mbed

Fork of Tilt_IKS01A2 by ST Expansion SW Team

Tilt Detection Demo Application based on sensor expansion board X-NUCLEO-IKS01A2

Main function is to show how to detect the tilt event using the sensor expansion board and send a notification using UART to a connected PC or Desktop and display it on terminal applications like TeraTerm.
After connection has been established:
- the user can try to tilt the board and then view the notification using an hyper terminal. When the tilt event is detected, the LED is switched on for a while.
- the user button can be used to enable/disable the tilt detection feature.

X_NUCLEO_IKS01A2/Components/LSM6DSLSensor/LSM6DSLSensor.h@2:39ad2a393143, 2016-08-19 (annotated)

Committer:
cparata
Date:
Fri Aug 19 12:34:01 2016 +0000
Revision:
2:39ad2a393143
Child:
4:49b63c3f26ae
Add interfaces to all components

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cparata 2:39ad2a393143 1 /**
cparata 2:39ad2a393143 2 ******************************************************************************
cparata 2:39ad2a393143 3 * @file LSM6DSLSensor.h
cparata 2:39ad2a393143 4 * @author AST
cparata 2:39ad2a393143 5 * @version V1.0.0
cparata 2:39ad2a393143 6 * @date 5 August 2016
cparata 2:39ad2a393143 7 * @brief Abstract Class of an LSM6DSL Inertial Measurement Unit (IMU) 6 axes
cparata 2:39ad2a393143 8 * sensor.
cparata 2:39ad2a393143 9 ******************************************************************************
cparata 2:39ad2a393143 10 * @attention
cparata 2:39ad2a393143 11 *
cparata 2:39ad2a393143 12 * <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
cparata 2:39ad2a393143 13 *
cparata 2:39ad2a393143 14 * Redistribution and use in source and binary forms, with or without modification,
cparata 2:39ad2a393143 15 * are permitted provided that the following conditions are met:
cparata 2:39ad2a393143 16 * 1. Redistributions of source code must retain the above copyright notice,
cparata 2:39ad2a393143 17 * this list of conditions and the following disclaimer.
cparata 2:39ad2a393143 18 * 2. Redistributions in binary form must reproduce the above copyright notice,
cparata 2:39ad2a393143 19 * this list of conditions and the following disclaimer in the documentation
cparata 2:39ad2a393143 20 * and/or other materials provided with the distribution.
cparata 2:39ad2a393143 21 * 3. Neither the name of STMicroelectronics nor the names of its contributors
cparata 2:39ad2a393143 22 * may be used to endorse or promote products derived from this software
cparata 2:39ad2a393143 23 * without specific prior written permission.
cparata 2:39ad2a393143 24 *
cparata 2:39ad2a393143 25 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
cparata 2:39ad2a393143 26 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
cparata 2:39ad2a393143 27 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
cparata 2:39ad2a393143 28 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
cparata 2:39ad2a393143 29 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
cparata 2:39ad2a393143 30 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
cparata 2:39ad2a393143 31 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
cparata 2:39ad2a393143 32 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
cparata 2:39ad2a393143 33 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
cparata 2:39ad2a393143 34 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
cparata 2:39ad2a393143 35 *
cparata 2:39ad2a393143 36 ******************************************************************************
cparata 2:39ad2a393143 37 */
cparata 2:39ad2a393143 38
cparata 2:39ad2a393143 39
cparata 2:39ad2a393143 40 /* Prevent recursive inclusion -----------------------------------------------*/
cparata 2:39ad2a393143 41
cparata 2:39ad2a393143 42 #ifndef __LSM6DSLSensor_H__
cparata 2:39ad2a393143 43 #define __LSM6DSLSensor_H__
cparata 2:39ad2a393143 44
cparata 2:39ad2a393143 45
cparata 2:39ad2a393143 46 /* Includes ------------------------------------------------------------------*/
cparata 2:39ad2a393143 47
cparata 2:39ad2a393143 48 #include "DevI2C.h"
cparata 2:39ad2a393143 49 #include "LSM6DSL_ACC_GYRO_driver.h"
cparata 2:39ad2a393143 50 #include "MotionSensor.h"
cparata 2:39ad2a393143 51 #include "GyroSensor.h"
cparata 2:39ad2a393143 52
cparata 2:39ad2a393143 53 /* Defines -------------------------------------------------------------------*/
cparata 2:39ad2a393143 54
cparata 2:39ad2a393143 55 #define LSM6DSL_ACC_SENSITIVITY_FOR_FS_2G 0.061 /**< Sensitivity value for 2 g full scale [mg/LSB] */
cparata 2:39ad2a393143 56 #define LSM6DSL_ACC_SENSITIVITY_FOR_FS_4G 0.122 /**< Sensitivity value for 4 g full scale [mg/LSB] */
cparata 2:39ad2a393143 57 #define LSM6DSL_ACC_SENSITIVITY_FOR_FS_8G 0.244 /**< Sensitivity value for 8 g full scale [mg/LSB] */
cparata 2:39ad2a393143 58 #define LSM6DSL_ACC_SENSITIVITY_FOR_FS_16G 0.488 /**< Sensitivity value for 16 g full scale [mg/LSB] */
cparata 2:39ad2a393143 59
cparata 2:39ad2a393143 60 #define LSM6DSL_GYRO_SENSITIVITY_FOR_FS_125DPS 04.375 /**< Sensitivity value for 125 dps full scale [mdps/LSB] */
cparata 2:39ad2a393143 61 #define LSM6DSL_GYRO_SENSITIVITY_FOR_FS_245DPS 08.750 /**< Sensitivity value for 245 dps full scale [mdps/LSB] */
cparata 2:39ad2a393143 62 #define LSM6DSL_GYRO_SENSITIVITY_FOR_FS_500DPS 17.500 /**< Sensitivity value for 500 dps full scale [mdps/LSB] */
cparata 2:39ad2a393143 63 #define LSM6DSL_GYRO_SENSITIVITY_FOR_FS_1000DPS 35.000 /**< Sensitivity value for 1000 dps full scale [mdps/LSB] */
cparata 2:39ad2a393143 64 #define LSM6DSL_GYRO_SENSITIVITY_FOR_FS_2000DPS 70.000 /**< Sensitivity value for 2000 dps full scale [mdps/LSB] */
cparata 2:39ad2a393143 65
cparata 2:39ad2a393143 66 #define LSM6DSL_PEDOMETER_THRESHOLD_LOW 0x00 /**< Lowest value of pedometer threshold */
cparata 2:39ad2a393143 67 #define LSM6DSL_PEDOMETER_THRESHOLD_MID_LOW 0x07
cparata 2:39ad2a393143 68 #define LSM6DSL_PEDOMETER_THRESHOLD_MID 0x0F
cparata 2:39ad2a393143 69 #define LSM6DSL_PEDOMETER_THRESHOLD_MID_HIGH 0x17
cparata 2:39ad2a393143 70 #define LSM6DSL_PEDOMETER_THRESHOLD_HIGH 0x1F /**< Highest value of pedometer threshold */
cparata 2:39ad2a393143 71
cparata 2:39ad2a393143 72 #define LSM6DSL_WAKE_UP_THRESHOLD_LOW 0x01 /**< Lowest value of wake up threshold */
cparata 2:39ad2a393143 73 #define LSM6DSL_WAKE_UP_THRESHOLD_MID_LOW 0x0F
cparata 2:39ad2a393143 74 #define LSM6DSL_WAKE_UP_THRESHOLD_MID 0x1F
cparata 2:39ad2a393143 75 #define LSM6DSL_WAKE_UP_THRESHOLD_MID_HIGH 0x2F
cparata 2:39ad2a393143 76 #define LSM6DSL_WAKE_UP_THRESHOLD_HIGH 0x3F /**< Highest value of wake up threshold */
cparata 2:39ad2a393143 77
cparata 2:39ad2a393143 78 #define LSM6DSL_TAP_THRESHOLD_LOW 0x01 /**< Lowest value of wake up threshold */
cparata 2:39ad2a393143 79 #define LSM6DSL_TAP_THRESHOLD_MID_LOW 0x08
cparata 2:39ad2a393143 80 #define LSM6DSL_TAP_THRESHOLD_MID 0x10
cparata 2:39ad2a393143 81 #define LSM6DSL_TAP_THRESHOLD_MID_HIGH 0x18
cparata 2:39ad2a393143 82 #define LSM6DSL_TAP_THRESHOLD_HIGH 0x1F /**< Highest value of wake up threshold */
cparata 2:39ad2a393143 83
cparata 2:39ad2a393143 84 #define LSM6DSL_TAP_SHOCK_TIME_LOW 0x00 /**< Lowest value of wake up threshold */
cparata 2:39ad2a393143 85 #define LSM6DSL_TAP_SHOCK_TIME_MID_LOW 0x01
cparata 2:39ad2a393143 86 #define LSM6DSL_TAP_SHOCK_TIME_MID_HIGH 0x02
cparata 2:39ad2a393143 87 #define LSM6DSL_TAP_SHOCK_TIME_HIGH 0x03 /**< Highest value of wake up threshold */
cparata 2:39ad2a393143 88
cparata 2:39ad2a393143 89 #define LSM6DSL_TAP_QUIET_TIME_LOW 0x00 /**< Lowest value of wake up threshold */
cparata 2:39ad2a393143 90 #define LSM6DSL_TAP_QUIET_TIME_MID_LOW 0x01
cparata 2:39ad2a393143 91 #define LSM6DSL_TAP_QUIET_TIME_MID_HIGH 0x02
cparata 2:39ad2a393143 92 #define LSM6DSL_TAP_QUIET_TIME_HIGH 0x03 /**< Highest value of wake up threshold */
cparata 2:39ad2a393143 93
cparata 2:39ad2a393143 94 #define LSM6DSL_TAP_DURATION_TIME_LOW 0x00 /**< Lowest value of wake up threshold */
cparata 2:39ad2a393143 95 #define LSM6DSL_TAP_DURATION_TIME_MID_LOW 0x04
cparata 2:39ad2a393143 96 #define LSM6DSL_TAP_DURATION_TIME_MID 0x08
cparata 2:39ad2a393143 97 #define LSM6DSL_TAP_DURATION_TIME_MID_HIGH 0x0C
cparata 2:39ad2a393143 98 #define LSM6DSL_TAP_DURATION_TIME_HIGH 0x0F /**< Highest value of wake up threshold */
cparata 2:39ad2a393143 99
cparata 2:39ad2a393143 100 /* Class Declaration ---------------------------------------------------------*/
cparata 2:39ad2a393143 101
cparata 2:39ad2a393143 102 /**
cparata 2:39ad2a393143 103 * Abstract class of an LSM6DSL Inertial Measurement Unit (IMU) 6 axes
cparata 2:39ad2a393143 104 * sensor.
cparata 2:39ad2a393143 105 */
cparata 2:39ad2a393143 106 class LSM6DSLSensor : public MotionSensor, public GyroSensor
cparata 2:39ad2a393143 107 {
cparata 2:39ad2a393143 108 public:
cparata 2:39ad2a393143 109 LSM6DSLSensor(DevI2C &i2c);
cparata 2:39ad2a393143 110 LSM6DSLSensor(DevI2C &i2c, uint8_t address);
cparata 2:39ad2a393143 111 virtual int Init(void *init);
cparata 2:39ad2a393143 112 virtual int ReadID(uint8_t *id);
cparata 2:39ad2a393143 113 virtual int Get_X_Axes(int32_t *pData);
cparata 2:39ad2a393143 114 virtual int Get_G_Axes(int32_t *pData);
cparata 2:39ad2a393143 115 virtual int Get_X_Sensitivity(float *pfData);
cparata 2:39ad2a393143 116 virtual int Get_G_Sensitivity(float *pfData);
cparata 2:39ad2a393143 117 virtual int Get_X_AxesRaw(int16_t *pData);
cparata 2:39ad2a393143 118 virtual int Get_G_AxesRaw(int16_t *pData);
cparata 2:39ad2a393143 119 virtual int Get_X_ODR(float *odr);
cparata 2:39ad2a393143 120 virtual int Get_G_ODR(float *odr);
cparata 2:39ad2a393143 121 virtual int Set_X_ODR(float odr);
cparata 2:39ad2a393143 122 virtual int Set_G_ODR(float odr);
cparata 2:39ad2a393143 123 virtual int Get_X_FS(float *fullScale);
cparata 2:39ad2a393143 124 virtual int Get_G_FS(float *fullScale);
cparata 2:39ad2a393143 125 virtual int Set_X_FS(float fullScale);
cparata 2:39ad2a393143 126 virtual int Set_G_FS(float fullScale);
cparata 2:39ad2a393143 127 int Enable_X(void);
cparata 2:39ad2a393143 128 int Enable_G(void);
cparata 2:39ad2a393143 129 int Disable_X(void);
cparata 2:39ad2a393143 130 int Disable_G(void);
cparata 2:39ad2a393143 131 int Enable_Free_Fall_Detection(void);
cparata 2:39ad2a393143 132 int Disable_Free_Fall_Detection(void);
cparata 2:39ad2a393143 133 int Get_Status_Free_Fall_Detection(uint8_t *status);
cparata 2:39ad2a393143 134 int Set_Free_Fall_Threshold(uint8_t thr);
cparata 2:39ad2a393143 135 int Enable_Pedometer(void);
cparata 2:39ad2a393143 136 int Disable_Pedometer(void);
cparata 2:39ad2a393143 137 int Get_Status_Pedometer(uint8_t *status);
cparata 2:39ad2a393143 138 int Get_Step_Counter(uint16_t *step_count);
cparata 2:39ad2a393143 139 int Reset_Step_Counter(void);
cparata 2:39ad2a393143 140 int Set_Pedometer_Threshold(uint8_t thr);
cparata 2:39ad2a393143 141 int Enable_Tilt_Detection(void);
cparata 2:39ad2a393143 142 int Disable_Tilt_Detection(void);
cparata 2:39ad2a393143 143 int Get_Status_Tilt_Detection(uint8_t *status);
cparata 2:39ad2a393143 144 int Enable_Wake_Up_Detection(void);
cparata 2:39ad2a393143 145 int Disable_Wake_Up_Detection(void);
cparata 2:39ad2a393143 146 int Get_Status_Wake_Up_Detection(uint8_t *status);
cparata 2:39ad2a393143 147 int Set_Wake_Up_Threshold(uint8_t thr);
cparata 2:39ad2a393143 148 int Enable_Single_Tap_Detection(void);
cparata 2:39ad2a393143 149 int Disable_Single_Tap_Detection(void);
cparata 2:39ad2a393143 150 int Get_Status_Single_Tap_Detection(uint8_t *status);
cparata 2:39ad2a393143 151 int Enable_Double_Tap_Detection(void);
cparata 2:39ad2a393143 152 int Disable_Double_Tap_Detection(void);
cparata 2:39ad2a393143 153 int Get_Status_Double_Tap_Detection(uint8_t *status);
cparata 2:39ad2a393143 154 int Set_Tap_Threshold(uint8_t thr);
cparata 2:39ad2a393143 155 int Set_Tap_Shock_Time(uint8_t time);
cparata 2:39ad2a393143 156 int Set_Tap_Quiet_Time(uint8_t time);
cparata 2:39ad2a393143 157 int Set_Tap_Duration_Time(uint8_t time);
cparata 2:39ad2a393143 158 int Enable_6D_Orientation(void);
cparata 2:39ad2a393143 159 int Disable_6D_Orientation(void);
cparata 2:39ad2a393143 160 int Get_Status_6D_Orientation(uint8_t *status);
cparata 2:39ad2a393143 161 int Get_6D_Orientation_XL(uint8_t *xl);
cparata 2:39ad2a393143 162 int Get_6D_Orientation_XH(uint8_t *xh);
cparata 2:39ad2a393143 163 int Get_6D_Orientation_YL(uint8_t *yl);
cparata 2:39ad2a393143 164 int Get_6D_Orientation_YH(uint8_t *yh);
cparata 2:39ad2a393143 165 int Get_6D_Orientation_ZL(uint8_t *zl);
cparata 2:39ad2a393143 166 int Get_6D_Orientation_ZH(uint8_t *zh);
cparata 2:39ad2a393143 167 int ReadReg(uint8_t reg, uint8_t *data);
cparata 2:39ad2a393143 168 int WriteReg(uint8_t reg, uint8_t data);
cparata 2:39ad2a393143 169
cparata 2:39ad2a393143 170 /**
cparata 2:39ad2a393143 171 * @brief Utility function to read data.
cparata 2:39ad2a393143 172 * @param pBuffer: pointer to data to be read.
cparata 2:39ad2a393143 173 * @param RegisterAddr: specifies internal address register to be read.
cparata 2:39ad2a393143 174 * @param NumByteToRead: number of bytes to be read.
cparata 2:39ad2a393143 175 * @retval 0 if ok, an error code otherwise.
cparata 2:39ad2a393143 176 */
cparata 2:39ad2a393143 177 uint8_t IO_Read(uint8_t* pBuffer, uint8_t RegisterAddr, uint16_t NumByteToRead)
cparata 2:39ad2a393143 178 {
cparata 2:39ad2a393143 179 return (uint8_t) dev_i2c.i2c_read(pBuffer, address, RegisterAddr, NumByteToRead);
cparata 2:39ad2a393143 180 }
cparata 2:39ad2a393143 181
cparata 2:39ad2a393143 182 /**
cparata 2:39ad2a393143 183 * @brief Utility function to write data.
cparata 2:39ad2a393143 184 * @param pBuffer: pointer to data to be written.
cparata 2:39ad2a393143 185 * @param RegisterAddr: specifies internal address register to be written.
cparata 2:39ad2a393143 186 * @param NumByteToWrite: number of bytes to write.
cparata 2:39ad2a393143 187 * @retval 0 if ok, an error code otherwise.
cparata 2:39ad2a393143 188 */
cparata 2:39ad2a393143 189 uint8_t IO_Write(uint8_t* pBuffer, uint8_t RegisterAddr, uint16_t NumByteToWrite)
cparata 2:39ad2a393143 190 {
cparata 2:39ad2a393143 191 return (uint8_t) dev_i2c.i2c_write(pBuffer, address, RegisterAddr, NumByteToWrite);
cparata 2:39ad2a393143 192 }
cparata 2:39ad2a393143 193
cparata 2:39ad2a393143 194 private:
cparata 2:39ad2a393143 195 int Set_X_ODR_When_Enabled(float odr);
cparata 2:39ad2a393143 196 int Set_G_ODR_When_Enabled(float odr);
cparata 2:39ad2a393143 197 int Set_X_ODR_When_Disabled(float odr);
cparata 2:39ad2a393143 198 int Set_G_ODR_When_Disabled(float odr);
cparata 2:39ad2a393143 199
cparata 2:39ad2a393143 200 /* Helper classes. */
cparata 2:39ad2a393143 201 DevI2C &dev_i2c;
cparata 2:39ad2a393143 202
cparata 2:39ad2a393143 203 /* Configuration */
cparata 2:39ad2a393143 204 uint8_t address;
cparata 2:39ad2a393143 205
cparata 2:39ad2a393143 206 uint8_t X_isEnabled;
cparata 2:39ad2a393143 207 float X_Last_ODR;
cparata 2:39ad2a393143 208 uint8_t G_isEnabled;
cparata 2:39ad2a393143 209 float G_Last_ODR;
cparata 2:39ad2a393143 210 };
cparata 2:39ad2a393143 211
cparata 2:39ad2a393143 212 #ifdef __cplusplus
cparata 2:39ad2a393143 213 extern "C" {
cparata 2:39ad2a393143 214 #endif
cparata 2:39ad2a393143 215 uint8_t LSM6DSL_IO_Write( void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite );
cparata 2:39ad2a393143 216 uint8_t LSM6DSL_IO_Read( void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead );
cparata 2:39ad2a393143 217 #ifdef __cplusplus
cparata 2:39ad2a393143 218 }
cparata 2:39ad2a393143 219 #endif
cparata 2:39ad2a393143 220
cparata 2:39ad2a393143 221 #endif