Diff: Components/lsm6ds0/lsm6ds0.cpp

Revision:

4:566f2c41dc1d

Parent:

3:088aa5839e0d

Child:

5:8bab0f419849

--- a/Components/lsm6ds0/lsm6ds0.cpp	Mon Apr 13 14:44:02 2015 +0200
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,286 +0,0 @@
-/**
-******************************************************************************
-* @file    x_cube_mems_lsm6ds0.h
-* @author  AST / EST
-* @version V0.0.1
-* @date    9-December-2014
-* @brief   Header file for component LSM6DS0
-******************************************************************************
-* @attention
-*
-* <h2><center>&copy; COPYRIGHT(c) 2014 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.
-*
-******************************************************************************
-*/
-
-/* Includes ------------------------------------------------------------------*/
-#include "mbed.h"
-#include "lsm6ds0.h"
-#include "lsm6ds0_platform.h"
-#include <math.h>
-
-/* Methods -------------------------------------------------------------------*/
-
-/**
- * @brief Read data from LSM6DS0 Gyroscope and calculate angular rate in mdps.
- * @param float *pfData
- * @retval None.
- */
-void LSM6DS0::Gyro_GetAxes(AxesRaw_TypeDef *pData)
-{
-
-  uint8_t tempReg = 0x00;
-  int16_t pDataRaw[3];
-  float sensitivity = 0;
-  int ret;
-
-  LSM6DS0::Gyro_GetAxesRaw(pDataRaw);
-
-  //IMU_6AXES_IO_Read(&tempReg, LSM6DS0_XG_MEMS_ADDRESS, LSM6DS0_XG_CTRL_REG1_G, 1);
-  ret = dev_i2c.i2c_read(&tempReg, LSM6DS0_XG_MEMS_ADDRESS, LSM6DS0_XG_CTRL_REG1_G, 1);
-
-  tempReg &= LSM6DS0_G_FS_MASK;
-
-  switch(tempReg)
-  {
-    case LSM6DS0_G_FS_245:
-      sensitivity = 8.75;
-      break;
-    case LSM6DS0_G_FS_500:
-      sensitivity = 17.50;
-      break;
-    case LSM6DS0_G_FS_2000:
-      sensitivity = 70;
-      break;
-  }
-
-  pData->AXIS_X = (int32_t)(pDataRaw[0] * sensitivity);
-  pData->AXIS_Y = (int32_t)(pDataRaw[1] * sensitivity);
-  pData->AXIS_Z = (int32_t)(pDataRaw[2] * sensitivity);
-}
-
-
-/**
- * @brief Read raw data from LSM6DS0 Gyroscope output register.
- * @param float *pfData
- * @retval None.
- */
-void LSM6DS0::Gyro_GetAxesRaw(int16_t *pData)
-{
-    uint8_t tempReg[2] = {0,0};
-    int ret;
-
-    //IMU_6AXES_IO_Read(&tempReg[0], LSM6DS0_XG_MEMS_ADDRESS, LSM6DS0_XG_OUT_X_L_G + 0x80, 2);
-    ret = dev_i2c.i2c_read(&tempReg[0], LSM6DS0_XG_MEMS_ADDRESS, LSM6DS0_XG_OUT_X_L_G + 0x80, 2);
-
-    pData[0] = ((((int16_t)tempReg[1]) << 8)+(int16_t)tempReg[0]);
-
-    //IMU_6AXES_IO_Read(&tempReg[0], LSM6DS0_XG_MEMS_ADDRESS, LSM6DS0_XG_OUT_Y_L_G + 0x80, 2);
-    ret = dev_i2c.i2c_read(&tempReg[0], LSM6DS0_XG_MEMS_ADDRESS, LSM6DS0_XG_OUT_Y_L_G + 0x80, 2);
-
-    pData[1] = ((((int16_t)tempReg[1]) << 8)+(int16_t)tempReg[0]);
-
-    //IMU_6AXES_IO_Read(&tempReg[0], LSM6DS0_XG_MEMS_ADDRESS, LSM6DS0_XG_OUT_Z_L_G + 0x80, 2);
-    ret = dev_i2c.i2c_read(&tempReg[0], LSM6DS0_XG_MEMS_ADDRESS, LSM6DS0_XG_OUT_Z_L_G + 0x80, 2);
-
-    pData[2] = ((((int16_t)tempReg[1]) << 8)+(int16_t)tempReg[0]);
-}
-
-
-/**
- * @brief Read data from LSM6DS0 Accelerometer and calculate linear acceleration in mg.
- * @param float *pfData
- * @retval None.
- */
-void LSM6DS0::Acc_GetAxes(AxesRaw_TypeDef *pData)
-{
-  uint8_t tempReg = 0x00;
-  int16_t pDataRaw[3];
-  float sensitivity = 0;
-  int ret;
-
-  Acc_GetAxesRaw(pDataRaw);
-
-  //IMU_6AXES_IO_Read(&tempReg, LSM6DS0_XG_MEMS_ADDRESS, LSM6DS0_XG_CTRL_REG6_XL, 1);
-  ret = dev_i2c.i2c_read(&tempReg, LSM6DS0_XG_MEMS_ADDRESS, LSM6DS0_XG_CTRL_REG6_XL, 1);
-
-  tempReg &= LSM6DS0_XL_FS_MASK;
-
-  switch(tempReg)
-  {
-    case LSM6DS0_XL_FS_2G:
-      sensitivity = 0.061;
-      break;
-    case LSM6DS0_XL_FS_4G:
-      sensitivity = 0.122;
-      break;
-    case LSM6DS0_XL_FS_8G:
-      sensitivity = 0.244;
-      break;
-  }
-
-  pData->AXIS_X = (int32_t)(pDataRaw[0] * sensitivity);
-  pData->AXIS_Y = (int32_t)(pDataRaw[1] * sensitivity);
-  pData->AXIS_Z = (int32_t)(pDataRaw[2] * sensitivity);
-  
-}
-
-/**
- * @brief Read raw data from LSM6DS0 Accelerometer output register.
- * @param float *pfData
- * @retval None.
- */
-void LSM6DS0::Acc_GetAxesRaw(int16_t *pData)
-{
-    uint8_t tempReg[2] = {0,0};
-    int ret;
-
-    //IMU_6AXES_IO_Read(&tempReg[0], LSM6DS0_XG_MEMS_ADDRESS, LSM6DS0_XG_OUT_X_L_XL + 0x80, 2);
-    ret = dev_i2c.i2c_read(&tempReg[0], LSM6DS0_XG_MEMS_ADDRESS, LSM6DS0_XG_OUT_X_L_XL + 0x80, 2);
-
-    pData[0] = ((((int16_t)tempReg[1]) << 8)+(int16_t)tempReg[0]);
-
-    //IMU_6AXES_IO_Read(&tempReg[0], LSM6DS0_XG_MEMS_ADDRESS, LSM6DS0_XG_OUT_Y_L_XL + 0x80, 2);
-    ret = dev_i2c.i2c_read(&tempReg[0], LSM6DS0_XG_MEMS_ADDRESS, LSM6DS0_XG_OUT_Y_L_XL + 0x80, 2);
-
-    pData[1] = ((((int16_t)tempReg[1]) << 8)+(int16_t)tempReg[0]);
-
-    //IMU_6AXES_IO_Read(&tempReg[0], LSM6DS0_XG_MEMS_ADDRESS, LSM6DS0_XG_OUT_Z_L_XL + 0x80, 2);
-    ret = dev_i2c.i2c_read(&tempReg[0], LSM6DS0_XG_MEMS_ADDRESS, LSM6DS0_XG_OUT_Z_L_XL + 0x80, 2);
-
-    pData[2] = ((((int16_t)tempReg[1]) << 8)+(int16_t)tempReg[0]);
-}
-
-/**
- * @brief  Read ID address of HTS221
- * @param  Device ID address
- * @retval ID name
- */
-uint8_t LSM6DS0::ReadID(void)
-{
-    uint8_t tmp=0x00;
-    int ret;
-    
-    /* Read WHO I AM register */
-    //IMU_6AXES_IO_Read(&tmp, LSM6DS0_XG_MEMS_ADDRESS, LSM6DS0_XG_WHO_AM_I_ADDR, 1);
-    ret = dev_i2c.i2c_read(&tmp, LSM6DS0_XG_MEMS_ADDRESS, LSM6DS0_XG_WHO_AM_I_ADDR, 1);
-
-    /* Return the ID */
-    return (uint8_t)tmp;
-}
-
-/**
- * @brief  Set LSM6DS0 Initialization.
- * @param  InitStruct: it contains the configuration setting for the LSM6DS0.
- * @retval None
- */
-void LSM6DS0::Init() {
-    
-    uint8_t tmp1 = 0x00;
-    int ret;
-
-/******* Gyroscope init *******/
-
-    //IMU_6AXES_IO_Read(&tmp1, LSM6DS0_XG_MEMS_ADDRESS, LSM6DS0_XG_CTRL_REG1_G, 1);
-    ret = dev_i2c.i2c_read(&tmp1, LSM6DS0_XG_MEMS_ADDRESS, LSM6DS0_XG_CTRL_REG1_G, 1);
-
-    /* Output Data Rate selection */
-    tmp1 &= ~(LSM6DS0_G_ODR_MASK);
-    tmp1 |= LSM6DS0_G_ODR_119HZ;
-
-    /* Full scale selection */
-    tmp1 &= ~(LSM6DS0_G_FS_MASK);
-    tmp1 |= LSM6DS0_G_FS_2000;
-
-    //IMU_6AXES_IO_Write(&tmp1, LSM6DS0_XG_MEMS_ADDRESS, LSM6DS0_XG_CTRL_REG1_G, 1);
-    ret = dev_i2c.i2c_write(&tmp1, LSM6DS0_XG_MEMS_ADDRESS, LSM6DS0_XG_CTRL_REG1_G, 1);
-
-    //IMU_6AXES_IO_Read(&tmp1, LSM6DS0_XG_MEMS_ADDRESS, LSM6DS0_XG_CTRL_REG4, 1);
-    ret = dev_i2c.i2c_read(&tmp1, LSM6DS0_XG_MEMS_ADDRESS, LSM6DS0_XG_CTRL_REG4, 1);
-
-    /* Enable X axis selection */
-    tmp1 &= ~(LSM6DS0_G_XEN_MASK);
-    tmp1 |= LSM6DS0_G_XEN_ENABLE;
-
-    /* Enable Y axis selection */
-    tmp1 &= ~(LSM6DS0_G_YEN_MASK);
-    tmp1 |= LSM6DS0_G_YEN_ENABLE;
-
-    /* Enable Z axis selection */
-    tmp1 &= ~(LSM6DS0_G_ZEN_MASK);
-    tmp1 |= LSM6DS0_G_ZEN_ENABLE;
-
-    //IMU_6AXES_IO_Write(&tmp1, LSM6DS0_XG_MEMS_ADDRESS, LSM6DS0_XG_CTRL_REG4, 1);
-    ret = dev_i2c.i2c_write(&tmp1, LSM6DS0_XG_MEMS_ADDRESS, LSM6DS0_XG_CTRL_REG4, 1);
-
-/******************************/
-
-/***** Accelerometer init *****/
-
-    //IMU_6AXES_IO_Read(&tmp1, LSM6DS0_XG_MEMS_ADDRESS, LSM6DS0_XG_CTRL_REG6_XL, 1);
-    ret = dev_i2c.i2c_read(&tmp1, LSM6DS0_XG_MEMS_ADDRESS, LSM6DS0_XG_CTRL_REG6_XL, 1);
-
-    /* Output Data Rate selection */
-    tmp1 &= ~(LSM6DS0_XL_ODR_MASK);
-    tmp1 |= LSM6DS0_XL_ODR_119HZ;
-
-    /* Full scale selection */
-    tmp1 &= ~(LSM6DS0_XL_FS_MASK);
-    tmp1 |= LSM6DS0_XL_FS_2G;
-
-    //IMU_6AXES_IO_Write(&tmp1, LSM6DS0_XG_MEMS_ADDRESS, LSM6DS0_XG_CTRL_REG6_XL, 1);
-    ret = dev_i2c.i2c_write(&tmp1, LSM6DS0_XG_MEMS_ADDRESS, LSM6DS0_XG_CTRL_REG6_XL, 1);
-
-
-    //IMU_6AXES_IO_Read(&tmp1, LSM6DS0_XG_MEMS_ADDRESS, LSM6DS0_XG_CTRL_REG5_XL, 1);
-    ret = dev_i2c.i2c_read(&tmp1, LSM6DS0_XG_MEMS_ADDRESS, LSM6DS0_XG_CTRL_REG5_XL, 1);
-
-    /* Enable X axis selection */
-    tmp1 &= ~(LSM6DS0_XL_XEN_MASK);
-    tmp1 |= LSM6DS0_XL_XEN_ENABLE;
-
-    /* Enable Y axis selection */
-    tmp1 &= ~(LSM6DS0_XL_YEN_MASK);
-    tmp1 |= LSM6DS0_XL_YEN_ENABLE;
-
-    /* Enable Z axis selection */
-    tmp1 &= ~(LSM6DS0_XL_ZEN_MASK);
-    tmp1 |= LSM6DS0_XL_ZEN_ENABLE;
-
-    //IMU_6AXES_IO_Write(&tmp1, LSM6DS0_XG_MEMS_ADDRESS, LSM6DS0_XG_CTRL_REG5_XL, 1);
-    ret = dev_i2c.i2c_write(&tmp1, LSM6DS0_XG_MEMS_ADDRESS, LSM6DS0_XG_CTRL_REG5_XL, 1);
-
-/******************************/
-        
-    if(ReadID() == I_AM_LSM6DS0_XG)
-    {
-        LSM6DS0Initialized = 1;
-        //ret = HUM_TEMP_OK;
-    }
-    
-    return;
-}
-
-