ST / X_NUCLEO_IKS01A1

Firmware Library for X-NUCLEO-IKS01A1 (MEMS Inertial & Environmental Sensors) Expansion Board

Dependencies:   X_NUCLEO_COMMON ST_INTERFACES

Dependents:   MultiTech_Dragonfly_2015_ATT_Gov_Solutions_Hackathon_Example HelloWorld_IKS01A1 LoRaWAN-test-10secs ServoMotorDemo ... more

Fork of X_NUCLEO_IKS01A1 by ST Expansion SW Team

X-NUCLEO-IKS01A1 MEMS Inertial & Environmental Sensor Nucleo Expansion Board Firmware Package

Introduction

This firmware package includes Components Device Drivers and Board Support Package for STMicroelectronics' X-NUCLEO-IKS01A1 MEMS Inertial & Environmental Sensors Nucleo Expansion Board.

Firmware Library

Class X_NUCLEO_IKS01A1 is intended to represent the MEMS inertial & environmental sensors expansion board with the same name.

The expansion board is basically featuring four IPs:

  1. a HTS221 Relative Humidity and Temperature Sensor,
  2. a LIS3MDL 3-Axis Magnetometer,
  3. a LPS25H MEMS Pressure Sensor, and
  4. a LSM6DS0 3D Accelerometer and 3D Gyroscope

The expansion board features also a DIL 24-pin socket which makes it possible to add further MEMS adapters and other sensors (e.g. UV index).

It is intentionally implemented as a singleton because only one X_NUCLEO_IKS01A1 at a time might be deployed in a HW component stack. In order to get the singleton instance you have to call class method `Instance()`, e.g.:

// Sensors expansion board singleton instance
static X_NUCLEO_IKS01A1 *sensors_expansion_board = X_NUCLEO_IKS01A1::Instance();


Furthermore, library ST_INTERFACES contains all abstract classes which together constitute the common API to which all existing and future ST components will adhere to.

Example Applications

Components/lsm6ds3/lsm6ds3_class.h@92:d1c67d482bad, 2017-03-24 (annotated)

Committer:
Wolfgang Betz
Date:
Fri Mar 24 10:57:29 2017 +0100
Revision:
92:d1c67d482bad
Parent:
88:7b8d3316d753 
Align to latest `ST_INTERFACES`

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Wolfgang Betz 44:d757094f6229 1 /**
Wolfgang Betz 44:d757094f6229 2 ******************************************************************************
Wolfgang Betz 44:d757094f6229 3 * @file lsm6ds3_class.h
Wolfgang Betz 44:d757094f6229 4 * @author AST / EST
Wolfgang Betz 44:d757094f6229 5 * @version V0.0.1
Wolfgang Betz 44:d757094f6229 6 * @date 14-April-2015
Wolfgang Betz 44:d757094f6229 7 * @brief Header file for component LSM6DS3
Wolfgang Betz 44:d757094f6229 8 ******************************************************************************
Wolfgang Betz 44:d757094f6229 9 * @attention
Wolfgang Betz 44:d757094f6229 10 *
Wolfgang Betz 44:d757094f6229 11 * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
Wolfgang Betz 44:d757094f6229 12 *
Wolfgang Betz 44:d757094f6229 13 * Redistribution and use in source and binary forms, with or without modification,
Wolfgang Betz 44:d757094f6229 14 * are permitted provided that the following conditions are met:
Wolfgang Betz 44:d757094f6229 15 * 1. Redistributions of source code must retain the above copyright notice,
Wolfgang Betz 44:d757094f6229 16 * this list of conditions and the following disclaimer.
Wolfgang Betz 44:d757094f6229 17 * 2. Redistributions in binary form must reproduce the above copyright notice,
Wolfgang Betz 44:d757094f6229 18 * this list of conditions and the following disclaimer in the documentation
Wolfgang Betz 44:d757094f6229 19 * and/or other materials provided with the distribution.
Wolfgang Betz 44:d757094f6229 20 * 3. Neither the name of STMicroelectronics nor the names of its contributors
Wolfgang Betz 44:d757094f6229 21 * may be used to endorse or promote products derived from this software
Wolfgang Betz 44:d757094f6229 22 * without specific prior written permission.
Wolfgang Betz 44:d757094f6229 23 *
Wolfgang Betz 44:d757094f6229 24 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
Wolfgang Betz 44:d757094f6229 25 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
Wolfgang Betz 44:d757094f6229 26 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
Wolfgang Betz 44:d757094f6229 27 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
Wolfgang Betz 44:d757094f6229 28 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
Wolfgang Betz 44:d757094f6229 29 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
Wolfgang Betz 44:d757094f6229 30 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
Wolfgang Betz 44:d757094f6229 31 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
Wolfgang Betz 44:d757094f6229 32 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
Wolfgang Betz 44:d757094f6229 33 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
Wolfgang Betz 44:d757094f6229 34 *
Wolfgang Betz 44:d757094f6229 35 ******************************************************************************
Wolfgang Betz 44:d757094f6229 36 */
Wolfgang Betz 44:d757094f6229 37
Wolfgang Betz 44:d757094f6229 38 #ifndef __LSM6DS3_CLASS_H
Wolfgang Betz 44:d757094f6229 39 #define __LSM6DS3_CLASS_H
Wolfgang Betz 44:d757094f6229 40
Wolfgang Betz 44:d757094f6229 41 /* Includes ------------------------------------------------------------------*/
Wolfgang Betz 44:d757094f6229 42 #include "mbed.h"
Wolfgang Betz 44:d757094f6229 43 #include "DevI2C.h"
Wolfgang Betz 57:04563dd74269 44 #include "lsm6ds3.h"
Davidroid 88:7b8d3316d753 45 #include "GyroSensor.h"
Davidroid 88:7b8d3316d753 46 #include "MotionSensor.h"
Wolfgang Betz 44:d757094f6229 47
Wolfgang Betz 44:d757094f6229 48 /* Classes -------------------------------------------------------------------*/
Wolfgang Betz 44:d757094f6229 49 /** Class representing a LSM6DS3 sensor component
Wolfgang Betz 44:d757094f6229 50 */
Wolfgang Betz 44:d757094f6229 51 class LSM6DS3 : public GyroSensor, public MotionSensor {
Wolfgang Betz 44:d757094f6229 52 public:
Wolfgang Betz 44:d757094f6229 53 /** Constructor
Wolfgang Betz 54:2a676c734b30 54 * @param[in] i2c device I2C to be used for communication
Wolfgang Betz 54:2a676c734b30 55 * @param[in] irq_pin pin name for free fall detection interrupt
Wolfgang Betz 44:d757094f6229 56 */
Wolfgang Betz 52:54553fd15b50 57 LSM6DS3(DevI2C &i2c, PinName irq_pin) : GyroSensor(), MotionSensor(),
Wolfgang Betz 52:54553fd15b50 58 dev_i2c(i2c), free_fall(irq_pin) {
Wolfgang Betz 44:d757094f6229 59 }
Wolfgang Betz 44:d757094f6229 60
Wolfgang Betz 44:d757094f6229 61 /** Destructor
Wolfgang Betz 44:d757094f6229 62 */
Wolfgang Betz 44:d757094f6229 63 virtual ~LSM6DS3() {}
Wolfgang Betz 44:d757094f6229 64
Wolfgang Betz 44:d757094f6229 65 /*** Interface Methods ***/
Wolfgang Betz 92:d1c67d482bad 66 virtual int init(void *init_struct) {
Wolfgang Betz 44:d757094f6229 67 return LSM6DS3_Init((IMU_6AXES_InitTypeDef*)init_struct);
Wolfgang Betz 44:d757094f6229 68 }
Wolfgang Betz 44:d757094f6229 69
Wolfgang Betz 92:d1c67d482bad 70 virtual int read_id(uint8_t *xg_id) {
Wolfgang Betz 44:d757094f6229 71 return LSM6DS3_Read_XG_ID(xg_id);
Wolfgang Betz 44:d757094f6229 72 }
Wolfgang Betz 44:d757094f6229 73
Wolfgang Betz 92:d1c67d482bad 74 virtual int get_x_axes(int32_t *pData) {
Wolfgang Betz 44:d757094f6229 75 return LSM6DS3_X_GetAxes(pData);
Wolfgang Betz 44:d757094f6229 76 }
Wolfgang Betz 44:d757094f6229 77
Wolfgang Betz 92:d1c67d482bad 78 virtual int get_x_axes_raw(int16_t *pData) {
Wolfgang Betz 44:d757094f6229 79 return LSM6DS3_X_GetAxesRaw(pData);
Wolfgang Betz 44:d757094f6229 80 }
Wolfgang Betz 44:d757094f6229 81
Wolfgang Betz 92:d1c67d482bad 82 virtual int get_g_axes(int32_t *pData) {
Wolfgang Betz 44:d757094f6229 83 return LSM6DS3_G_GetAxes(pData);
Wolfgang Betz 44:d757094f6229 84 }
Wolfgang Betz 44:d757094f6229 85
Wolfgang Betz 92:d1c67d482bad 86 virtual int get_g_axes_raw(int16_t *pData) {
Wolfgang Betz 44:d757094f6229 87 return LSM6DS3_G_GetAxesRaw(pData);
Wolfgang Betz 44:d757094f6229 88 }
Wolfgang Betz 44:d757094f6229 89
Wolfgang Betz 92:d1c67d482bad 90 virtual int get_x_odr(float *odr) {
Wolfgang Betz 44:d757094f6229 91 return LSM6DS3_X_Get_ODR(odr);
Wolfgang Betz 44:d757094f6229 92 }
Wolfgang Betz 44:d757094f6229 93
Wolfgang Betz 92:d1c67d482bad 94 virtual int set_x_odr(float odr) {
Wolfgang Betz 44:d757094f6229 95 return LSM6DS3_X_Set_ODR(odr);
Wolfgang Betz 44:d757094f6229 96 }
Wolfgang Betz 44:d757094f6229 97
Wolfgang Betz 92:d1c67d482bad 98 virtual int get_x_sensitivity(float *pfData) {
Wolfgang Betz 44:d757094f6229 99 return LSM6DS3_X_GetSensitivity(pfData);
Wolfgang Betz 44:d757094f6229 100 }
Wolfgang Betz 44:d757094f6229 101
Wolfgang Betz 92:d1c67d482bad 102 virtual int get_x_fs(float *fullScale) {
Wolfgang Betz 44:d757094f6229 103 return LSM6DS3_X_Get_FS(fullScale);
Wolfgang Betz 44:d757094f6229 104 }
Wolfgang Betz 44:d757094f6229 105
Wolfgang Betz 92:d1c67d482bad 106 virtual int set_x_fs(float fullScale) {
Wolfgang Betz 44:d757094f6229 107 return LSM6DS3_X_Set_FS(fullScale);
Wolfgang Betz 44:d757094f6229 108 }
Wolfgang Betz 44:d757094f6229 109
Wolfgang Betz 92:d1c67d482bad 110 virtual int get_g_odr(float *odr) {
Wolfgang Betz 44:d757094f6229 111 return LSM6DS3_G_Get_ODR(odr);
Wolfgang Betz 44:d757094f6229 112 }
Wolfgang Betz 44:d757094f6229 113
Wolfgang Betz 92:d1c67d482bad 114 virtual int set_g_odr(float odr) {
Wolfgang Betz 44:d757094f6229 115 return LSM6DS3_G_Set_ODR(odr);
Wolfgang Betz 44:d757094f6229 116 }
Wolfgang Betz 44:d757094f6229 117
Wolfgang Betz 92:d1c67d482bad 118 virtual int get_g_sensitivity(float *pfData) {
Wolfgang Betz 44:d757094f6229 119 return LSM6DS3_G_GetSensitivity(pfData);
Wolfgang Betz 44:d757094f6229 120 }
Wolfgang Betz 44:d757094f6229 121
Wolfgang Betz 92:d1c67d482bad 122 virtual int get_g_fs(float *fullScale) {
Wolfgang Betz 44:d757094f6229 123 return LSM6DS3_G_Get_FS(fullScale);
Wolfgang Betz 44:d757094f6229 124 }
Wolfgang Betz 44:d757094f6229 125
Wolfgang Betz 92:d1c67d482bad 126 virtual int set_g_fs(float fullScale) {
Wolfgang Betz 44:d757094f6229 127 return LSM6DS3_G_Set_FS(fullScale);
Wolfgang Betz 44:d757094f6229 128 }
Wolfgang Betz 44:d757094f6229 129
Wolfgang Betz 44:d757094f6229 130 /* Additional Public Methods */
Wolfgang Betz 54:2a676c734b30 131 /**
Wolfgang Betz 54:2a676c734b30 132 * @brief Enable free fall detection
Wolfgang Betz 54:2a676c734b30 133 * @return IMU_6AXES_OK in case of success, an error code otherwise
Wolfgang Betz 54:2a676c734b30 134 */
Wolfgang Betz 44:d757094f6229 135 IMU_6AXES_StatusTypeDef Enable_Free_Fall_Detection(void) {
Wolfgang Betz 44:d757094f6229 136 return LSM6DS3_Enable_Free_Fall_Detection();
Wolfgang Betz 44:d757094f6229 137 }
Wolfgang Betz 44:d757094f6229 138
Wolfgang Betz 54:2a676c734b30 139 /**
Wolfgang Betz 54:2a676c734b30 140 * @brief Disable free fall detection
Wolfgang Betz 54:2a676c734b30 141 * @return IMU_6AXES_OK in case of success, an error code otherwise
Wolfgang Betz 54:2a676c734b30 142 */
Wolfgang Betz 44:d757094f6229 143 IMU_6AXES_StatusTypeDef Disable_Free_Fall_Detection(void) {
Wolfgang Betz 44:d757094f6229 144 return LSM6DS3_Disable_Free_Fall_Detection();
Wolfgang Betz 44:d757094f6229 145 }
Wolfgang Betz 44:d757094f6229 146
Wolfgang Betz 54:2a676c734b30 147 /**
Wolfgang Betz 54:2a676c734b30 148 * @brief Get status of free fall detection
Wolfgang Betz 54:2a676c734b30 149 * @param[out] status the pointer where the status of free fall detection is stored;
Wolfgang Betz 54:2a676c734b30 150 * 0 means no detection, 1 means detection happened
Wolfgang Betz 54:2a676c734b30 151 * @return IMU_6AXES_OK in case of success, an error code otherwise
Wolfgang Betz 54:2a676c734b30 152 */
Wolfgang Betz 44:d757094f6229 153 IMU_6AXES_StatusTypeDef Get_Status_Free_Fall_Detection(uint8_t *status) {
Wolfgang Betz 44:d757094f6229 154 return LSM6DS3_Get_Status_Free_Fall_Detection(status);
Wolfgang Betz 44:d757094f6229 155 }
Wolfgang Betz 52:54553fd15b50 156
Wolfgang Betz 52:54553fd15b50 157 /** Attach a function to call when a free fall is detected
Wolfgang Betz 52:54553fd15b50 158 *
Wolfgang Betz 54:2a676c734b30 159 * @param[in] fptr A pointer to a void function, or 0 to set as none
Wolfgang Betz 52:54553fd15b50 160 */
Wolfgang Betz 52:54553fd15b50 161 void Attach_Free_Fall_Detection_IRQ(void (*fptr)(void)) {
Wolfgang Betz 52:54553fd15b50 162 free_fall.rise(fptr);
Wolfgang Betz 52:54553fd15b50 163 }
Wolfgang Betz 52:54553fd15b50 164
Wolfgang Betz 52:54553fd15b50 165 /** Enable Free Fall IRQ
Wolfgang Betz 52:54553fd15b50 166 */
Wolfgang Betz 52:54553fd15b50 167 void Enable_Free_Fall_Detection_IRQ(void) {
Wolfgang Betz 52:54553fd15b50 168 free_fall.enable_irq();
Wolfgang Betz 52:54553fd15b50 169 }
Wolfgang Betz 52:54553fd15b50 170
Wolfgang Betz 52:54553fd15b50 171 /** Disable free Fall IRQ
Wolfgang Betz 52:54553fd15b50 172 */
Wolfgang Betz 52:54553fd15b50 173 void Disable_Free_Fall_Detection_IRQ(void) {
Wolfgang Betz 52:54553fd15b50 174 free_fall.disable_irq();
Wolfgang Betz 52:54553fd15b50 175 }
Wolfgang Betz 44:d757094f6229 176
Wolfgang Betz 44:d757094f6229 177 protected:
Wolfgang Betz 44:d757094f6229 178 /*** Methods ***/
Wolfgang Betz 44:d757094f6229 179 IMU_6AXES_StatusTypeDef LSM6DS3_Init(IMU_6AXES_InitTypeDef *LSM6DS3_Init);
Wolfgang Betz 44:d757094f6229 180 IMU_6AXES_StatusTypeDef LSM6DS3_Read_XG_ID(uint8_t *xg_id);
Wolfgang Betz 44:d757094f6229 181 IMU_6AXES_StatusTypeDef LSM6DS3_X_GetAxes(int32_t *pData);
Wolfgang Betz 44:d757094f6229 182 IMU_6AXES_StatusTypeDef LSM6DS3_X_GetAxesRaw(int16_t *pData);
Wolfgang Betz 44:d757094f6229 183 IMU_6AXES_StatusTypeDef LSM6DS3_G_GetAxes(int32_t *pData);
Wolfgang Betz 44:d757094f6229 184 IMU_6AXES_StatusTypeDef LSM6DS3_G_GetAxesRaw(int16_t *pData);
Wolfgang Betz 44:d757094f6229 185 IMU_6AXES_StatusTypeDef LSM6DS3_X_Get_ODR( float *odr );
Wolfgang Betz 44:d757094f6229 186 IMU_6AXES_StatusTypeDef LSM6DS3_X_Set_ODR( float odr );
Wolfgang Betz 44:d757094f6229 187 IMU_6AXES_StatusTypeDef LSM6DS3_X_GetSensitivity( float *pfData );
Wolfgang Betz 44:d757094f6229 188 IMU_6AXES_StatusTypeDef LSM6DS3_X_Get_FS( float *fullScale );
Wolfgang Betz 44:d757094f6229 189 IMU_6AXES_StatusTypeDef LSM6DS3_X_Set_FS( float fullScale );
Wolfgang Betz 44:d757094f6229 190 IMU_6AXES_StatusTypeDef LSM6DS3_G_Get_ODR( float *odr );
Wolfgang Betz 44:d757094f6229 191 IMU_6AXES_StatusTypeDef LSM6DS3_G_Set_ODR( float odr );
Wolfgang Betz 44:d757094f6229 192 IMU_6AXES_StatusTypeDef LSM6DS3_G_GetSensitivity( float *pfData );
Wolfgang Betz 44:d757094f6229 193 IMU_6AXES_StatusTypeDef LSM6DS3_G_Get_FS( float *fullScale );
Wolfgang Betz 44:d757094f6229 194 IMU_6AXES_StatusTypeDef LSM6DS3_G_Set_FS( float fullScale );
Wolfgang Betz 44:d757094f6229 195 IMU_6AXES_StatusTypeDef LSM6DS3_Enable_Free_Fall_Detection( void );
Wolfgang Betz 44:d757094f6229 196 IMU_6AXES_StatusTypeDef LSM6DS3_Disable_Free_Fall_Detection( void );
Wolfgang Betz 44:d757094f6229 197 IMU_6AXES_StatusTypeDef LSM6DS3_Get_Status_Free_Fall_Detection( uint8_t *status );
Wolfgang Betz 44:d757094f6229 198
Wolfgang Betz 44:d757094f6229 199 IMU_6AXES_StatusTypeDef LSM6DS3_Common_Sensor_Enable(void);
Wolfgang Betz 44:d757094f6229 200 IMU_6AXES_StatusTypeDef LSM6DS3_X_Set_Axes_Status(uint8_t enableX, uint8_t enableY, uint8_t enableZ);
Wolfgang Betz 44:d757094f6229 201 IMU_6AXES_StatusTypeDef LSM6DS3_G_Set_Axes_Status(uint8_t enableX, uint8_t enableY, uint8_t enableZ);
Wolfgang Betz 44:d757094f6229 202
Wolfgang Betz 44:d757094f6229 203 /**
Wolfgang Betz 44:d757094f6229 204 * @brief Configures LSM6DS3 interrupt lines for NUCLEO boards
Wolfgang Betz 44:d757094f6229 205 */
Wolfgang Betz 44:d757094f6229 206 void LSM6DS3_IO_ITConfig(void)
Wolfgang Betz 44:d757094f6229 207 {
Wolfgang Betz 57:04563dd74269 208 free_fall.mode(PullNone); /* be precise about pin mode */
Wolfgang Betz 44:d757094f6229 209 }
Wolfgang Betz 44:d757094f6229 210
Wolfgang Betz 44:d757094f6229 211 /**
Wolfgang Betz 44:d757094f6229 212 * @brief Configures LSM6DS3 I2C interface
Wolfgang Betz 57:04563dd74269 213 * @return IMU_6AXES_OK in case of success, an error code otherwise
Wolfgang Betz 44:d757094f6229 214 */
Wolfgang Betz 44:d757094f6229 215 IMU_6AXES_StatusTypeDef LSM6DS3_IO_Init(void)
Wolfgang Betz 44:d757094f6229 216 {
Wolfgang Betz 44:d757094f6229 217 return IMU_6AXES_OK; /* done in constructor */
Wolfgang Betz 44:d757094f6229 218 }
Wolfgang Betz 44:d757094f6229 219
Wolfgang Betz 44:d757094f6229 220 /**
Wolfgang Betz 57:04563dd74269 221 * @brief Utility function to read data from LSM6DS3
Wolfgang Betz 57:04563dd74269 222 * @param[out] pBuffer pointer to the byte-array to read data in to
Wolfgang Betz 57:04563dd74269 223 * @param[in] RegisterAddr specifies internal address register to read from.
Wolfgang Betz 57:04563dd74269 224 * @param[in] NumByteToRead number of bytes to be read.
Wolfgang Betz 57:04563dd74269 225 * @retval IMU_6AXES_OK if ok,
Wolfgang Betz 57:04563dd74269 226 * @retval IMU_6AXES_ERROR if an I2C error has occured
Wolfgang Betz 44:d757094f6229 227 */
Wolfgang Betz 44:d757094f6229 228 IMU_6AXES_StatusTypeDef LSM6DS3_IO_Read(uint8_t* pBuffer,
Wolfgang Betz 44:d757094f6229 229 uint8_t RegisterAddr, uint16_t NumByteToRead)
Wolfgang Betz 44:d757094f6229 230 {
Wolfgang Betz 44:d757094f6229 231 int ret = dev_i2c.i2c_read(pBuffer,
Wolfgang Betz 44:d757094f6229 232 LSM6DS3_XG_MEMS_ADDRESS,
Wolfgang Betz 44:d757094f6229 233 RegisterAddr,
Wolfgang Betz 44:d757094f6229 234 NumByteToRead);
Wolfgang Betz 44:d757094f6229 235 if(ret != 0) {
Wolfgang Betz 44:d757094f6229 236 return IMU_6AXES_ERROR;
Wolfgang Betz 44:d757094f6229 237 }
Wolfgang Betz 44:d757094f6229 238 return IMU_6AXES_OK;
Wolfgang Betz 44:d757094f6229 239 }
Wolfgang Betz 44:d757094f6229 240
Wolfgang Betz 44:d757094f6229 241 /**
Wolfgang Betz 57:04563dd74269 242 * @brief Utility function to write data to LSM6DS3
Wolfgang Betz 57:04563dd74269 243 * @param[in] pBuffer pointer to the byte-array data to send
Wolfgang Betz 57:04563dd74269 244 * @param[in] RegisterAddr specifies internal address register to read from.
Wolfgang Betz 57:04563dd74269 245 * @param[in] NumByteToWrite number of bytes to write.
Wolfgang Betz 57:04563dd74269 246 * @retval IMU_6AXES_OK if ok,
Wolfgang Betz 57:04563dd74269 247 * @retval IMU_6AXES_ERROR if an I2C error has occured
Wolfgang Betz 44:d757094f6229 248 */
Wolfgang Betz 44:d757094f6229 249 IMU_6AXES_StatusTypeDef LSM6DS3_IO_Write(uint8_t* pBuffer,
Wolfgang Betz 44:d757094f6229 250 uint8_t RegisterAddr, uint16_t NumByteToWrite)
Wolfgang Betz 44:d757094f6229 251 {
Wolfgang Betz 44:d757094f6229 252 int ret = dev_i2c.i2c_write(pBuffer,
Wolfgang Betz 44:d757094f6229 253 LSM6DS3_XG_MEMS_ADDRESS,
Wolfgang Betz 44:d757094f6229 254 RegisterAddr,
Wolfgang Betz 44:d757094f6229 255 NumByteToWrite);
Wolfgang Betz 44:d757094f6229 256 if(ret != 0) {
Wolfgang Betz 44:d757094f6229 257 return IMU_6AXES_ERROR;
Wolfgang Betz 44:d757094f6229 258 }
Wolfgang Betz 44:d757094f6229 259 return IMU_6AXES_OK;
Wolfgang Betz 44:d757094f6229 260 }
Wolfgang Betz 44:d757094f6229 261
Wolfgang Betz 44:d757094f6229 262 /*** Instance Variables ***/
Wolfgang Betz 44:d757094f6229 263 /* IO Device */
Wolfgang Betz 44:d757094f6229 264 DevI2C &dev_i2c;
Wolfgang Betz 52:54553fd15b50 265
Wolfgang Betz 52:54553fd15b50 266 /* Free Fall Detection IRQ */
Wolfgang Betz 52:54553fd15b50 267 InterruptIn free_fall;
Wolfgang Betz 44:d757094f6229 268 };
Wolfgang Betz 44:d757094f6229 269
Wolfgang Betz 44:d757094f6229 270 #endif // __LSM6DS3_CLASS_H