LSM6DSLSensor.h

00001 /**
00002  ******************************************************************************
00003  * @file    LSM6DSLSensor.h
00004  * @author  AST
00005  * @version V1.0.0
00006  * @date    7 September 2017
00007  * @brief   Abstract Class of an LSM6DSL Inertial Measurement Unit (IMU) 6 axes
00008  *          sensor.
00009  ******************************************************************************
00010  * @attention
00011  *
00012  * <h2><center>&copy; COPYRIGHT(c) 2017 STMicroelectronics</center></h2>
00013  *
00014  * Redistribution and use in source and binary forms, with or without modification,
00015  * are permitted provided that the following conditions are met:
00016  *   1. Redistributions of source code must retain the above copyright notice,
00017  *      this list of conditions and the following disclaimer.
00018  *   2. Redistributions in binary form must reproduce the above copyright notice,
00019  *      this list of conditions and the following disclaimer in the documentation
00020  *      and/or other materials provided with the distribution.
00021  *   3. Neither the name of STMicroelectronics nor the names of its contributors
00022  *      may be used to endorse or promote products derived from this software
00023  *      without specific prior written permission.
00024  *
00025  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00026  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00027  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00028  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
00029  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
00030  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
00031  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00032  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
00033  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
00034  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00035  *
00036  ******************************************************************************
00037  */
00038 
00039 
00040 /* Prevent recursive inclusion -----------------------------------------------*/
00041 
00042 #ifndef __LSM6DSLSensor_H__
00043 #define __LSM6DSLSensor_H__
00044 
00045 
00046 /* Includes ------------------------------------------------------------------*/
00047 
00048 #include "common_define.h"
00049 #include "LSM6DSL_ACC_GYRO_Driver.h"
00050 
00051 /* Defines -------------------------------------------------------------------*/
00052 
00053 #define LSM6DSL_ACC_SENSITIVITY_FOR_FS_2G   0.061  /**< Sensitivity value for 2 g full scale [mg/LSB] */
00054 #define LSM6DSL_ACC_SENSITIVITY_FOR_FS_4G   0.122  /**< Sensitivity value for 4 g full scale [mg/LSB] */
00055 #define LSM6DSL_ACC_SENSITIVITY_FOR_FS_8G   0.244  /**< Sensitivity value for 8 g full scale [mg/LSB] */
00056 #define LSM6DSL_ACC_SENSITIVITY_FOR_FS_16G  0.488  /**< Sensitivity value for 16 g full scale [mg/LSB] */
00057 
00058 #define LSM6DSL_GYRO_SENSITIVITY_FOR_FS_125DPS   04.375  /**< Sensitivity value for 125 dps full scale [mdps/LSB] */
00059 #define LSM6DSL_GYRO_SENSITIVITY_FOR_FS_245DPS   08.750  /**< Sensitivity value for 245 dps full scale [mdps/LSB] */
00060 #define LSM6DSL_GYRO_SENSITIVITY_FOR_FS_500DPS   17.500  /**< Sensitivity value for 500 dps full scale [mdps/LSB] */
00061 #define LSM6DSL_GYRO_SENSITIVITY_FOR_FS_1000DPS  35.000  /**< Sensitivity value for 1000 dps full scale [mdps/LSB] */
00062 #define LSM6DSL_GYRO_SENSITIVITY_FOR_FS_2000DPS  70.000  /**< Sensitivity value for 2000 dps full scale [mdps/LSB] */
00063 
00064 #define LSM6DSL_PEDOMETER_THRESHOLD_LOW       0x00  /**< Lowest  value of pedometer threshold */
00065 #define LSM6DSL_PEDOMETER_THRESHOLD_MID_LOW   0x07
00066 #define LSM6DSL_PEDOMETER_THRESHOLD_MID       0x0F
00067 #define LSM6DSL_PEDOMETER_THRESHOLD_MID_HIGH  0x17
00068 #define LSM6DSL_PEDOMETER_THRESHOLD_HIGH      0x1F  /**< Highest value of pedometer threshold */
00069 
00070 #define LSM6DSL_WAKE_UP_THRESHOLD_LOW       0x01  /**< Lowest  value of wake up threshold */
00071 #define LSM6DSL_WAKE_UP_THRESHOLD_MID_LOW   0x0F
00072 #define LSM6DSL_WAKE_UP_THRESHOLD_MID       0x1F
00073 #define LSM6DSL_WAKE_UP_THRESHOLD_MID_HIGH  0x2F
00074 #define LSM6DSL_WAKE_UP_THRESHOLD_HIGH      0x3F  /**< Highest value of wake up threshold */
00075 
00076 #define LSM6DSL_TAP_THRESHOLD_LOW       0x01  /**< Lowest  value of wake up threshold */
00077 #define LSM6DSL_TAP_THRESHOLD_MID_LOW   0x08
00078 #define LSM6DSL_TAP_THRESHOLD_MID       0x10
00079 #define LSM6DSL_TAP_THRESHOLD_MID_HIGH  0x18
00080 #define LSM6DSL_TAP_THRESHOLD_HIGH      0x1F  /**< Highest value of wake up threshold */
00081 
00082 #define LSM6DSL_TAP_SHOCK_TIME_LOW       0x00  /**< Lowest  value of wake up threshold */
00083 #define LSM6DSL_TAP_SHOCK_TIME_MID_LOW   0x01
00084 #define LSM6DSL_TAP_SHOCK_TIME_MID_HIGH  0x02
00085 #define LSM6DSL_TAP_SHOCK_TIME_HIGH      0x03  /**< Highest value of wake up threshold */
00086 
00087 #define LSM6DSL_TAP_QUIET_TIME_LOW       0x00  /**< Lowest  value of wake up threshold */
00088 #define LSM6DSL_TAP_QUIET_TIME_MID_LOW   0x01
00089 #define LSM6DSL_TAP_QUIET_TIME_MID_HIGH  0x02
00090 #define LSM6DSL_TAP_QUIET_TIME_HIGH      0x03  /**< Highest value of wake up threshold */
00091 
00092 #define LSM6DSL_TAP_DURATION_TIME_LOW       0x00  /**< Lowest  value of wake up threshold */
00093 #define LSM6DSL_TAP_DURATION_TIME_MID_LOW   0x04
00094 #define LSM6DSL_TAP_DURATION_TIME_MID       0x08
00095 #define LSM6DSL_TAP_DURATION_TIME_MID_HIGH  0x0C
00096 #define LSM6DSL_TAP_DURATION_TIME_HIGH      0x0F  /**< Highest value of wake up threshold */
00097 
00098 /* Typedefs ------------------------------------------------------------------*/
00099 typedef enum
00100 {
00101   LSM6DSL_STATUS_OK = 0,
00102   LSM6DSL_STATUS_ERROR,
00103   LSM6DSL_STATUS_TIMEOUT,
00104   LSM6DSL_STATUS_NOT_IMPLEMENTED
00105 } LSM6DSLStatusTypeDef;
00106 
00107 typedef enum
00108 {
00109   LSM6DSL_INT1_PIN,
00110   LSM6DSL_INT2_PIN
00111 } LSM6DSL_Interrupt_Pin_t;
00112 
00113 typedef struct
00114 {
00115   unsigned int FreeFallStatus : 1;
00116   unsigned int TapStatus : 1;
00117   unsigned int DoubleTapStatus : 1;
00118   unsigned int WakeUpStatus : 1;
00119   unsigned int StepStatus : 1;
00120   unsigned int TiltStatus : 1;
00121   unsigned int D6DOrientationStatus : 1;
00122 } LSM6DSL_Event_Status_t;
00123 
00124 /* Class Declaration ---------------------------------------------------------*/
00125 
00126 /**
00127  * Abstract class of an LSM6DSL Inertial Measurement Unit (IMU) 6 axes
00128  * sensor.
00129  */
00130 
00131 
00132 
00133 
00134 class LSM6DSLSensor
00135 {
00136   public:
00137     LSM6DSLSensor                                     (TwoWire *i2c);
00138     LSM6DSLSensor                                     (TwoWire *i2c, uint8_t address);
00139     LSM6DSLStatusTypeDef Enable_X                     (void);
00140     LSM6DSLStatusTypeDef Enable_G                     (void);
00141     LSM6DSLStatusTypeDef Disable_X                    (void);
00142     LSM6DSLStatusTypeDef Disable_G                    (void);
00143     LSM6DSLStatusTypeDef ReadID                       (uint8_t *p_id);
00144     LSM6DSLStatusTypeDef Get_X_Axes                   (int32_t *pData);
00145     LSM6DSLStatusTypeDef Get_G_Axes                   (int32_t *pData);
00146     LSM6DSLStatusTypeDef Get_X_Sensitivity            (float *pfData);
00147     LSM6DSLStatusTypeDef Get_G_Sensitivity            (float *pfData);
00148     LSM6DSLStatusTypeDef Get_X_AxesRaw                (int16_t *pData);
00149     LSM6DSLStatusTypeDef Get_G_AxesRaw                (int16_t *pData);
00150     LSM6DSLStatusTypeDef Get_X_ODR                    (float *odr);
00151     LSM6DSLStatusTypeDef Get_G_ODR                    (float *odr);
00152     LSM6DSLStatusTypeDef Set_X_ODR                    (float odr);
00153     LSM6DSLStatusTypeDef Set_G_ODR                    (float odr);
00154     LSM6DSLStatusTypeDef Get_X_FS                     (float *fullScale);
00155     LSM6DSLStatusTypeDef Get_G_FS                     (float *fullScale);
00156     LSM6DSLStatusTypeDef Set_X_FS                     (float fullScale);
00157     LSM6DSLStatusTypeDef Set_G_FS                     (float fullScale);
00158     LSM6DSLStatusTypeDef Enable_Free_Fall_Detection   (void);
00159     LSM6DSLStatusTypeDef Enable_Free_Fall_Detection   (LSM6DSL_Interrupt_Pin_t int_pin);
00160     LSM6DSLStatusTypeDef Disable_Free_Fall_Detection  (void);
00161     LSM6DSLStatusTypeDef Set_Free_Fall_Threshold      (uint8_t thr);
00162     LSM6DSLStatusTypeDef Enable_Pedometer             (void);
00163     LSM6DSLStatusTypeDef Disable_Pedometer            (void);
00164     LSM6DSLStatusTypeDef Get_Step_Counter             (uint16_t *step_count);
00165     LSM6DSLStatusTypeDef Reset_Step_Counter           (void);
00166     LSM6DSLStatusTypeDef Set_Pedometer_Threshold      (uint8_t thr);
00167     LSM6DSLStatusTypeDef Enable_Tilt_Detection        (void);
00168     LSM6DSLStatusTypeDef Enable_Tilt_Detection        (LSM6DSL_Interrupt_Pin_t int_pin);
00169     LSM6DSLStatusTypeDef Disable_Tilt_Detection       (void);
00170     LSM6DSLStatusTypeDef Enable_Wake_Up_Detection     (void);
00171     LSM6DSLStatusTypeDef Enable_Wake_Up_Detection     (LSM6DSL_Interrupt_Pin_t int_pin);
00172     LSM6DSLStatusTypeDef Disable_Wake_Up_Detection    (void);
00173     LSM6DSLStatusTypeDef Set_Wake_Up_Threshold        (uint8_t thr);
00174     LSM6DSLStatusTypeDef Enable_Single_Tap_Detection  (void);
00175     LSM6DSLStatusTypeDef Enable_Single_Tap_Detection  (LSM6DSL_Interrupt_Pin_t int_pin);
00176     LSM6DSLStatusTypeDef Disable_Single_Tap_Detection (void);
00177     LSM6DSLStatusTypeDef Enable_Double_Tap_Detection  (void);
00178     LSM6DSLStatusTypeDef Enable_Double_Tap_Detection  (LSM6DSL_Interrupt_Pin_t int_pin);
00179     LSM6DSLStatusTypeDef Disable_Double_Tap_Detection (void);
00180     LSM6DSLStatusTypeDef Set_Tap_Threshold            (uint8_t thr);
00181     LSM6DSLStatusTypeDef Set_Tap_Shock_Time           (uint8_t time);
00182     LSM6DSLStatusTypeDef Set_Tap_Quiet_Time           (uint8_t time);
00183     LSM6DSLStatusTypeDef Set_Tap_Duration_Time        (uint8_t time);
00184     LSM6DSLStatusTypeDef Enable_6D_Orientation        (void);
00185     LSM6DSLStatusTypeDef Enable_6D_Orientation        (LSM6DSL_Interrupt_Pin_t int_pin);
00186     LSM6DSLStatusTypeDef Disable_6D_Orientation       (void);
00187     LSM6DSLStatusTypeDef Get_6D_Orientation_XL        (uint8_t *xl);
00188     LSM6DSLStatusTypeDef Get_6D_Orientation_XH        (uint8_t *xh);
00189     LSM6DSLStatusTypeDef Get_6D_Orientation_YL        (uint8_t *yl);
00190     LSM6DSLStatusTypeDef Get_6D_Orientation_YH        (uint8_t *yh);
00191     LSM6DSLStatusTypeDef Get_6D_Orientation_ZL        (uint8_t *zl);
00192     LSM6DSLStatusTypeDef Get_6D_Orientation_ZH        (uint8_t *zh);
00193     LSM6DSLStatusTypeDef Get_Event_Status             (LSM6DSL_Event_Status_t *status);
00194     LSM6DSLStatusTypeDef ReadReg                      (uint8_t reg, uint8_t *data);
00195     LSM6DSLStatusTypeDef WriteReg                     (uint8_t reg, uint8_t data);
00196     
00197     /**
00198      * @brief Utility function to read data.
00199      * @param  pBuffer: pointer to data to be read.
00200      * @param  RegisterAddr: specifies internal address register to be read.
00201      * @param  NumByteToRead: number of bytes to be read.
00202      * @retval 0 if ok, an error code otherwise.
00203      */
00204     uint8_t IO_Read(uint8_t* pBuffer, uint8_t RegisterAddr, uint16_t NumByteToRead)
00205     {
00206       // dev_i2c->beginTransmission(((uint8_t)(((address) >> 1) & 0x7F)));
00207       // dev_i2c->write(RegisterAddr);
00208       // dev_i2c->endTransmission(false);
00209 
00210       // dev_i2c->requestFrom(((uint8_t)(((address) >> 1) & 0x7F)), (byte) NumByteToRead);
00211 
00212       // int i=0;
00213       // while (dev_i2c->available())
00214       // {
00215       //   pBuffer[i] = dev_i2c->read();
00216       //   i++;
00217       // }
00218       // if(LSM6DSL_ACC_GYRO_WHO_AM_I == RegisterAddr)
00219       // {
00220       //   printf("Get ID \r\n");
00221       // }
00222       // int status;
00223       // status = dev_i2c->write((int)address,(const char *)&RegisterAddr,1);
00224       // if(status == 0)
00225       // {
00226 
00227       // }
00228       // else
00229       // {
00230       //   printf("Error I2C \r\n");
00231       // }
00232       // status = dev_i2c->read((int)address,(char *)pBuffer,NumByteToRead);
00233       i2cRead(dev_i2c,address,pBuffer,RegisterAddr,NumByteToRead);
00234       return 0;
00235     }
00236     
00237     /**
00238      * @brief Utility function to write data.
00239      * @param  pBuffer: pointer to data to be written.
00240      * @param  RegisterAddr: specifies internal address register to be written.
00241      * @param  NumByteToWrite: number of bytes to write.
00242      * @retval 0 if ok, an error code otherwise.
00243      */
00244     uint8_t IO_Write(uint8_t* pBuffer, uint8_t RegisterAddr, uint16_t NumByteToWrite)
00245     {
00246       // dev_i2c->beginTransmission(((uint8_t)(((address) >> 1) & 0x7F)));
00247 
00248       // dev_i2c->write(RegisterAddr);
00249       // for (int i = 0 ; i < NumByteToWrite ; i++)
00250       //   dev_i2c->write(pBuffer[i]);
00251 
00252       // dev_i2c->endTransmission(true);
00253       // uint8_t temp_buffer[NumByteToWrite + 1];
00254       // temp_buffer[0] = RegisterAddr;
00255       // memcpy(temp_buffer + 1,pBuffer,NumByteToWrite);
00256       // dev_i2c->write((int)address,(const char *)temp_buffer,NumByteToWrite + 1);
00257       i2cWrite(dev_i2c,address,pBuffer,RegisterAddr,NumByteToWrite);
00258       return 0;
00259     }
00260 
00261   private:
00262     LSM6DSLStatusTypeDef Set_X_ODR_When_Enabled(float odr);
00263     LSM6DSLStatusTypeDef Set_G_ODR_When_Enabled(float odr);
00264     LSM6DSLStatusTypeDef Set_X_ODR_When_Disabled(float odr);
00265     LSM6DSLStatusTypeDef Set_G_ODR_When_Disabled(float odr);
00266 
00267     /* Helper classes. */
00268     TwoWire *dev_i2c;
00269 
00270     /* Configuration */
00271     uint8_t address;
00272 
00273     uint8_t X_isEnabled;
00274     float X_Last_ODR;
00275     uint8_t G_isEnabled;
00276     float G_Last_ODR;
00277 };
00278 
00279 #ifdef __cplusplus
00280 extern "C" {
00281 #endif
00282 uint8_t LSM6DSL_IO_Write( void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite );
00283 uint8_t LSM6DSL_IO_Read( void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead );
00284 #ifdef __cplusplus
00285 }
00286 #endif
00287 
00288 #endif