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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
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lsm6ds0_class.h
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00001 /** 00002 ****************************************************************************** 00003 * @file lsm6ds0_class.h 00004 * @author AST / EST 00005 * @version V0.0.1 00006 * @date 14-April-2015 00007 * @brief Header file for component LSM6DS0 00008 ****************************************************************************** 00009 * @attention 00010 * 00011 * <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2> 00012 * 00013 * Redistribution and use in source and binary forms, with or without modification, 00014 * are permitted provided that the following conditions are met: 00015 * 1. Redistributions of source code must retain the above copyright notice, 00016 * this list of conditions and the following disclaimer. 00017 * 2. Redistributions in binary form must reproduce the above copyright notice, 00018 * this list of conditions and the following disclaimer in the documentation 00019 * and/or other materials provided with the distribution. 00020 * 3. Neither the name of STMicroelectronics nor the names of its contributors 00021 * may be used to endorse or promote products derived from this software 00022 * without specific prior written permission. 00023 * 00024 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00025 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00026 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 00027 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE 00028 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL 00029 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR 00030 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00031 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, 00032 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 00033 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 00034 * 00035 ****************************************************************************** 00036 */ 00037 00038 #ifndef __LSM6DS0_CLASS_H 00039 #define __LSM6DS0_CLASS_H 00040 00041 /* Includes ------------------------------------------------------------------*/ 00042 #include "mbed.h" 00043 #include "DevI2C.h" 00044 #include "lsm6ds0.h" 00045 #include "GyroSensor.h" 00046 #include "MotionSensor.h" 00047 00048 /* Classes -------------------------------------------------------------------*/ 00049 /** Class representing a LSM6DS0 sensor component 00050 */ 00051 class LSM6DS0 : public GyroSensor, public MotionSensor { 00052 public: 00053 /** Constructor 00054 * @param[in] i2c device I2C to be used for communication 00055 */ 00056 LSM6DS0(DevI2C &i2c) : GyroSensor(), MotionSensor(), dev_i2c(i2c) { 00057 } 00058 00059 /** Destructor 00060 */ 00061 virtual ~LSM6DS0() {} 00062 00063 /*** Interface Methods ***/ 00064 virtual int init(void *init_struct) { 00065 return LSM6DS0_Init((IMU_6AXES_InitTypeDef*)init_struct); 00066 } 00067 00068 virtual int read_id(uint8_t *xg_id) { 00069 return LSM6DS0_Read_XG_ID(xg_id); 00070 } 00071 00072 virtual int get_x_axes(int32_t *pData) { 00073 return LSM6DS0_X_GetAxes(pData); 00074 } 00075 00076 virtual int get_x_axes_raw(int16_t *pData) { 00077 return LSM6DS0_X_GetAxesRaw(pData); 00078 } 00079 00080 virtual int get_g_axes(int32_t *pData) { 00081 return LSM6DS0_G_GetAxes(pData); 00082 } 00083 00084 virtual int get_g_axes_raw(int16_t *pData) { 00085 return LSM6DS0_G_GetAxesRaw(pData); 00086 } 00087 00088 virtual int get_x_odr(float *odr) { 00089 return LSM6DS0_X_Get_ODR(odr); 00090 } 00091 00092 virtual int set_x_odr(float odr) { 00093 return LSM6DS0_X_Set_ODR(odr); 00094 } 00095 00096 virtual int get_x_sensitivity(float *pfData) { 00097 return LSM6DS0_X_GetSensitivity(pfData); 00098 } 00099 00100 virtual int get_x_fs(float *fullScale) { 00101 return LSM6DS0_X_Get_FS(fullScale); 00102 } 00103 00104 virtual int set_x_fs(float fullScale) { 00105 return LSM6DS0_X_Set_FS(fullScale); 00106 } 00107 00108 virtual int get_g_odr(float *odr) { 00109 return LSM6DS0_G_Get_ODR(odr); 00110 } 00111 00112 virtual int set_g_odr(float odr) { 00113 return LSM6DS0_G_Set_ODR(odr); 00114 } 00115 00116 virtual int get_g_sensitivity(float *pfData) { 00117 return LSM6DS0_G_GetSensitivity(pfData); 00118 } 00119 00120 virtual int get_g_fs(float *fullScale) { 00121 return LSM6DS0_G_Get_FS(fullScale); 00122 } 00123 00124 virtual int set_g_fs(float fullScale) { 00125 return LSM6DS0_G_Set_FS(fullScale); 00126 } 00127 00128 protected: 00129 /*** Methods ***/ 00130 IMU_6AXES_StatusTypeDef LSM6DS0_Init(IMU_6AXES_InitTypeDef *LSM6DS0_Init); 00131 IMU_6AXES_StatusTypeDef LSM6DS0_Read_XG_ID(uint8_t *xg_id); 00132 IMU_6AXES_StatusTypeDef LSM6DS0_X_GetAxes(int32_t *pData); 00133 IMU_6AXES_StatusTypeDef LSM6DS0_X_GetAxesRaw(int16_t *pData); 00134 IMU_6AXES_StatusTypeDef LSM6DS0_G_GetAxes(int32_t *pData); 00135 IMU_6AXES_StatusTypeDef LSM6DS0_G_GetAxesRaw(int16_t *pData); 00136 IMU_6AXES_StatusTypeDef LSM6DS0_X_Get_ODR( float *odr ); 00137 IMU_6AXES_StatusTypeDef LSM6DS0_X_Set_ODR( float odr ); 00138 IMU_6AXES_StatusTypeDef LSM6DS0_X_GetSensitivity( float *pfData ); 00139 IMU_6AXES_StatusTypeDef LSM6DS0_X_Get_FS( float *fullScale ); 00140 IMU_6AXES_StatusTypeDef LSM6DS0_X_Set_FS( float fullScale ); 00141 IMU_6AXES_StatusTypeDef LSM6DS0_G_Get_ODR( float *odr ); 00142 IMU_6AXES_StatusTypeDef LSM6DS0_G_Set_ODR( float odr ); 00143 IMU_6AXES_StatusTypeDef LSM6DS0_G_GetSensitivity( float *pfData ); 00144 IMU_6AXES_StatusTypeDef LSM6DS0_G_Get_FS( float *fullScale ); 00145 IMU_6AXES_StatusTypeDef LSM6DS0_G_Set_FS( float fullScale ); 00146 00147 IMU_6AXES_StatusTypeDef LSM6DS0_X_Set_Axes_Status(uint8_t enableX, uint8_t enableY, uint8_t enableZ); 00148 IMU_6AXES_StatusTypeDef LSM6DS0_G_Set_Axes_Status(uint8_t enableX, uint8_t enableY, uint8_t enableZ); 00149 00150 /** 00151 * @brief Configures LSM6DS0 interrupt lines for NUCLEO boards 00152 */ 00153 void LSM6DS0_IO_ITConfig(void) 00154 { 00155 /* To be implemented */ 00156 } 00157 00158 /** 00159 * @brief Configures LSM6DS0 I2C interface 00160 * @return IMU_6AXES_OK in case of success, an error code otherwise 00161 */ 00162 IMU_6AXES_StatusTypeDef LSM6DS0_IO_Init(void) 00163 { 00164 return IMU_6AXES_OK; /* done in constructor */ 00165 } 00166 00167 /** 00168 * @brief Utility function to read data from LSM6DS0 00169 * @param[out] pBuffer pointer to the byte-array to read data in to 00170 * @param[in] RegisterAddr specifies internal address register to read from. 00171 * @param[in] NumByteToRead number of bytes to be read. 00172 * @retval IMU_6AXES_OK if ok, 00173 * @retval IMU_6AXES_ERROR if an I2C error has occured 00174 */ 00175 IMU_6AXES_StatusTypeDef LSM6DS0_IO_Read(uint8_t* pBuffer, 00176 uint8_t RegisterAddr, uint16_t NumByteToRead) 00177 { 00178 int ret = dev_i2c.i2c_read(pBuffer, 00179 LSM6DS0_XG_MEMS_ADDRESS, 00180 RegisterAddr, 00181 NumByteToRead); 00182 if(ret != 0) { 00183 return IMU_6AXES_ERROR; 00184 } 00185 return IMU_6AXES_OK; 00186 } 00187 00188 /** 00189 * @brief Utility function to write data to LSM6DS0 00190 * @param[in] pBuffer pointer to the byte-array data to send 00191 * @param[in] RegisterAddr specifies internal address register to read from. 00192 * @param[in] NumByteToWrite number of bytes to write. 00193 * @retval IMU_6AXES_OK if ok, 00194 * @retval IMU_6AXES_ERROR if an I2C error has occured 00195 */ 00196 IMU_6AXES_StatusTypeDef LSM6DS0_IO_Write(uint8_t* pBuffer, 00197 uint8_t RegisterAddr, uint16_t NumByteToWrite) 00198 { 00199 int ret = dev_i2c.i2c_write(pBuffer, 00200 LSM6DS0_XG_MEMS_ADDRESS, 00201 RegisterAddr, 00202 NumByteToWrite); 00203 if(ret != 0) { 00204 return IMU_6AXES_ERROR; 00205 } 00206 return IMU_6AXES_OK; 00207 } 00208 00209 /*** Instance Variables ***/ 00210 /* IO Device */ 00211 DevI2C &dev_i2c; 00212 }; 00213 00214 #endif // __LSM6DS0_CLASS_H
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X-NUCLEO-IKS01A1 - Motion MEMS and Environmental Sensors