Arkadi Rafalovich
Library I2C pins modification to fit nucleo 32 pins modules
Dependencies: ST_INTERFACES X_NUCLEO_COMMON
Dependents: STM32_MagneticLight
Fork of
X_NUCLEO_IKS01A1
by 
ST
Components/lsm6ds0/lsm6ds0_class.cpp@7:a2bb3d5e12e9, 2015-04-15 (annotated)
- Committer:
- Wolfgang Betz
- Date:
- Wed Apr 15 14:08:20 2015 +0200
- Revision:
- 7:a2bb3d5e12e9
- Child:
- 24:92cc9c6e4b2b
Added component LSM6DS0
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| Wolfgang Betz |
7:a2bb3d5e12e9 | 1 | /** |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 2 | ****************************************************************************** |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 3 | * @file lsm6ds0_class.cpp |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 4 | * @author AST / EST |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 5 | * @version V0.0.1 |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 6 | * @date 14-April-2015 |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 7 | * @brief Implementation file for the LSM6DS0 driver class |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 8 | ****************************************************************************** |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 9 | * @attention |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 10 | * |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 11 | * <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2> |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 12 | * |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 13 | * Redistribution and use in source and binary forms, with or without modification, |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 14 | * are permitted provided that the following conditions are met: |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 15 | * 1. Redistributions of source code must retain the above copyright notice, |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 16 | * this list of conditions and the following disclaimer. |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 17 | * 2. Redistributions in binary form must reproduce the above copyright notice, |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 18 | * this list of conditions and the following disclaimer in the documentation |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 19 | * and/or other materials provided with the distribution. |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 20 | * 3. Neither the name of STMicroelectronics nor the names of its contributors |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 21 | * may be used to endorse or promote products derived from this software |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 22 | * without specific prior written permission. |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 23 | * |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 24 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 25 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 26 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 27 | * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 28 | * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 29 | * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 30 | * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 31 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 32 | * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 33 | * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 34 | * |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 35 | ****************************************************************************** |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 36 | */ |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 37 | |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 38 | /* Includes ------------------------------------------------------------------*/ |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 39 | #include "mbed.h" |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 40 | #include "lsm6ds0_class.h" |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 41 | #include "lsm6ds0.h" |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 42 | #include "../../x_nucleo_iks01a1_targets.h" |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 43 | |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 44 | /* Methods -------------------------------------------------------------------*/ |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 45 | /* betzw - based on: |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 46 | X-CUBE-MEMS1/trunk/Drivers/BSP/Components/lsm6ds0/lsm6ds0.c: revision #184, |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 47 | X-CUBE-MEMS1/trunk: revision #293 |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 48 | */ |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 49 | /** |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 50 | * @brief Set LSM6DS0 Initialization |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 51 | * @param LSM6DS0_Init the configuration setting for the LSM6DS0 |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 52 | * @retval IMU_6AXES_OK in case of success, an error code otherwise |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 53 | */ |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 54 | IMU_6AXES_StatusTypeDef LSM6DS0::LSM6DS0_Init(IMU_6AXES_InitTypeDef *LSM6DS0_Init) |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 55 | { |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 56 | uint8_t tmp1 = 0x00; |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 57 | |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 58 | /* Configure the low level interface ---------------------------------------*/ |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 59 | if(LSM6DS0_IO_Init() != IMU_6AXES_OK) |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 60 | { |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 61 | return IMU_6AXES_ERROR; |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 62 | } |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 63 | |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 64 | /******* Gyroscope init *******/ |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 65 | |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 66 | if(LSM6DS0_IO_Read(&tmp1, LSM6DS0_XG_CTRL_REG1_G, 1) != IMU_6AXES_OK) |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 67 | { |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 68 | return IMU_6AXES_ERROR; |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 69 | } |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 70 | |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 71 | /* Output Data Rate selection */ |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 72 | tmp1 &= ~(LSM6DS0_G_ODR_MASK); |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 73 | tmp1 |= LSM6DS0_Init->G_OutputDataRate; |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 74 | |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 75 | /* Full scale selection */ |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 76 | tmp1 &= ~(LSM6DS0_G_FS_MASK); |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 77 | tmp1 |= LSM6DS0_Init->G_FullScale; |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 78 | |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 79 | if(LSM6DS0_IO_Write(&tmp1, LSM6DS0_XG_CTRL_REG1_G, 1) != IMU_6AXES_OK) |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 80 | { |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 81 | return IMU_6AXES_ERROR; |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 82 | } |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 83 | |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 84 | if(LSM6DS0_IO_Read(&tmp1, LSM6DS0_XG_CTRL_REG4, 1) != IMU_6AXES_OK) |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 85 | { |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 86 | return IMU_6AXES_ERROR; |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 87 | } |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 88 | |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 89 | /* Enable X axis selection */ |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 90 | tmp1 &= ~(LSM6DS0_G_XEN_MASK); |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 91 | tmp1 |= LSM6DS0_Init->G_X_Axis; |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 92 | |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 93 | /* Enable Y axis selection */ |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 94 | tmp1 &= ~(LSM6DS0_G_YEN_MASK); |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 95 | tmp1 |= LSM6DS0_Init->G_Y_Axis; |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 96 | |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 97 | /* Enable Z axis selection */ |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 98 | tmp1 &= ~(LSM6DS0_G_ZEN_MASK); |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 99 | tmp1 |= LSM6DS0_Init->G_Z_Axis; |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 100 | |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 101 | if(LSM6DS0_IO_Write(&tmp1, LSM6DS0_XG_CTRL_REG4, 1) != IMU_6AXES_OK) |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 102 | { |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 103 | return IMU_6AXES_ERROR; |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 104 | } |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 105 | |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 106 | /******************************/ |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 107 | |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 108 | /***** Accelerometer init *****/ |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 109 | |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 110 | if(LSM6DS0_IO_Read(&tmp1, LSM6DS0_XG_CTRL_REG6_XL, 1) != IMU_6AXES_OK) |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 111 | { |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 112 | return IMU_6AXES_ERROR; |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 113 | } |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 114 | |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 115 | /* Output Data Rate selection */ |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 116 | tmp1 &= ~(LSM6DS0_XL_ODR_MASK); |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 117 | tmp1 |= LSM6DS0_Init->X_OutputDataRate; |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 118 | |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 119 | /* Full scale selection */ |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 120 | tmp1 &= ~(LSM6DS0_XL_FS_MASK); |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 121 | tmp1 |= LSM6DS0_Init->X_FullScale; |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 122 | |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 123 | if(LSM6DS0_IO_Write(&tmp1, LSM6DS0_XG_CTRL_REG6_XL, 1) != IMU_6AXES_OK) |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 124 | { |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 125 | return IMU_6AXES_ERROR; |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 126 | } |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 127 | |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 128 | if(LSM6DS0_IO_Read(&tmp1, LSM6DS0_XG_CTRL_REG5_XL, 1) != IMU_6AXES_OK) |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 129 | { |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 130 | return IMU_6AXES_ERROR; |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 131 | } |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 132 | |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 133 | /* Enable X axis selection */ |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 134 | tmp1 &= ~(LSM6DS0_XL_XEN_MASK); |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 135 | tmp1 |= LSM6DS0_Init->X_X_Axis; |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 136 | |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 137 | /* Enable Y axis selection */ |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 138 | tmp1 &= ~(LSM6DS0_XL_YEN_MASK); |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 139 | tmp1 |= LSM6DS0_Init->X_Y_Axis; |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 140 | |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 141 | /* Enable Z axis selection */ |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 142 | tmp1 &= ~(LSM6DS0_XL_ZEN_MASK); |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 143 | tmp1 |= LSM6DS0_Init->X_Z_Axis; |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 144 | |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 145 | if(LSM6DS0_IO_Write(&tmp1, LSM6DS0_XG_CTRL_REG5_XL, 1) != IMU_6AXES_OK) |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 146 | { |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 147 | return IMU_6AXES_ERROR; |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 148 | } |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 149 | |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 150 | /* Configure interrupt lines */ |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 151 | LSM6DS0_IO_ITConfig(); |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 152 | |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 153 | return IMU_6AXES_OK; |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 154 | |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 155 | /******************************/ |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 156 | } |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 157 | |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 158 | |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 159 | /** |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 160 | * @brief Read ID of LSM6DS0 Accelerometer and Gyroscope |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 161 | * @param xg_id the pointer where the ID of the device is stored |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 162 | * @retval IMU_6AXES_OK in case of success, an error code otherwise |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 163 | */ |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 164 | IMU_6AXES_StatusTypeDef LSM6DS0::LSM6DS0_Read_XG_ID(uint8_t *xg_id) |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 165 | { |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 166 | if(!xg_id) |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 167 | { |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 168 | return IMU_6AXES_ERROR; |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 169 | } |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 170 | |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 171 | return LSM6DS0_IO_Read(xg_id, LSM6DS0_XG_WHO_AM_I_ADDR, 1); |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 172 | } |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 173 | |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 174 | |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 175 | /** |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 176 | * @brief Read raw data from LSM6DS0 Accelerometer output register |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 177 | * @param pData the pointer where the accelerometer raw data are stored |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 178 | * @retval IMU_6AXES_OK in case of success, an error code otherwise |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 179 | */ |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 180 | IMU_6AXES_StatusTypeDef LSM6DS0::LSM6DS0_X_GetAxesRaw(int16_t *pData) |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 181 | { |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 182 | uint8_t tempReg[2] = {0,0}; |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 183 | |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 184 | if(LSM6DS0_IO_Read(&tempReg[0], (LSM6DS0_XG_OUT_X_L_XL | LSM6DS0_I2C_MULTIPLEBYTE_CMD), 2) != IMU_6AXES_OK) |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 185 | { |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 186 | return IMU_6AXES_ERROR; |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 187 | } |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 188 | |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 189 | pData[0] = ((((int16_t)tempReg[1]) << 8)+(int16_t)tempReg[0]); |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 190 | |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 191 | if(LSM6DS0_IO_Read(&tempReg[0], (LSM6DS0_XG_OUT_Y_L_XL | LSM6DS0_I2C_MULTIPLEBYTE_CMD), 2) != IMU_6AXES_OK) |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 192 | { |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 193 | return IMU_6AXES_ERROR; |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 194 | } |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 195 | |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 196 | pData[1] = ((((int16_t)tempReg[1]) << 8)+(int16_t)tempReg[0]); |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 197 | |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 198 | if(LSM6DS0_IO_Read(&tempReg[0], (LSM6DS0_XG_OUT_Z_L_XL | LSM6DS0_I2C_MULTIPLEBYTE_CMD), 2) != IMU_6AXES_OK) |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 199 | { |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 200 | return IMU_6AXES_ERROR; |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 201 | } |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 202 | |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 203 | pData[2] = ((((int16_t)tempReg[1]) << 8)+(int16_t)tempReg[0]); |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 204 | |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 205 | return IMU_6AXES_OK; |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 206 | } |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 207 | |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 208 | |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 209 | /** |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 210 | * @brief Read data from LSM6DS0 Accelerometer and calculate linear acceleration in mg |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 211 | * @param pData the pointer where the accelerometer data are stored |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 212 | * @retval IMU_6AXES_OK in case of success, an error code otherwise |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 213 | */ |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 214 | IMU_6AXES_StatusTypeDef LSM6DS0::LSM6DS0_X_GetAxes(int32_t *pData) |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 215 | { |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 216 | uint8_t tempReg = 0x00; |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 217 | int16_t pDataRaw[3]; |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 218 | float sensitivity = 0; |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 219 | |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 220 | if(LSM6DS0_X_GetAxesRaw(pDataRaw) != IMU_6AXES_OK) |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 221 | { |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 222 | return IMU_6AXES_ERROR; |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 223 | } |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 224 | |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 225 | if(LSM6DS0_IO_Read(&tempReg, LSM6DS0_XG_CTRL_REG6_XL, 1) != IMU_6AXES_OK) |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 226 | { |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 227 | return IMU_6AXES_ERROR; |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 228 | } |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 229 | |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 230 | tempReg &= LSM6DS0_XL_FS_MASK; |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 231 | |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 232 | switch(tempReg) |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 233 | { |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 234 | case LSM6DS0_XL_FS_2G: |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 235 | sensitivity = 0.061; |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 236 | break; |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 237 | case LSM6DS0_XL_FS_4G: |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 238 | sensitivity = 0.122; |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 239 | break; |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 240 | case LSM6DS0_XL_FS_8G: |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 241 | sensitivity = 0.244; |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 242 | break; |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 243 | } |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 244 | |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 245 | pData[0] = (int32_t)(pDataRaw[0] * sensitivity); |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 246 | pData[1] = (int32_t)(pDataRaw[1] * sensitivity); |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 247 | pData[2] = (int32_t)(pDataRaw[2] * sensitivity); |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 248 | |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 249 | return IMU_6AXES_OK; |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 250 | } |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 251 | |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 252 | |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 253 | /** |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 254 | * @brief Read raw data from LSM6DS0 Gyroscope output register |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 255 | * @param pData the pointer where the gyroscope raw data are stored |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 256 | * @retval IMU_6AXES_OK in case of success, an error code otherwise |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 257 | */ |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 258 | IMU_6AXES_StatusTypeDef LSM6DS0::LSM6DS0_G_GetAxesRaw(int16_t *pData) |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 259 | { |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 260 | uint8_t tempReg[2] = {0,0}; |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 261 | |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 262 | if(LSM6DS0_IO_Read(&tempReg[0], (LSM6DS0_XG_OUT_X_L_G | LSM6DS0_I2C_MULTIPLEBYTE_CMD), 2) != IMU_6AXES_OK) |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 263 | { |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 264 | return IMU_6AXES_ERROR; |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 265 | } |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 266 | |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 267 | pData[0] = ((((int16_t)tempReg[1]) << 8)+(int16_t)tempReg[0]); |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 268 | |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 269 | if(LSM6DS0_IO_Read(&tempReg[0], (LSM6DS0_XG_OUT_Y_L_G | LSM6DS0_I2C_MULTIPLEBYTE_CMD), 2) != IMU_6AXES_OK) |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 270 | { |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 271 | return IMU_6AXES_ERROR; |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 272 | } |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 273 | |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 274 | pData[1] = ((((int16_t)tempReg[1]) << 8)+(int16_t)tempReg[0]); |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 275 | |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 276 | if(LSM6DS0_IO_Read(&tempReg[0], (LSM6DS0_XG_OUT_Z_L_G | LSM6DS0_I2C_MULTIPLEBYTE_CMD), 2) != IMU_6AXES_OK) |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 277 | { |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 278 | return IMU_6AXES_ERROR; |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 279 | } |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 280 | |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 281 | pData[2] = ((((int16_t)tempReg[1]) << 8)+(int16_t)tempReg[0]); |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 282 | |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 283 | return IMU_6AXES_OK; |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 284 | } |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 285 | |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 286 | |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 287 | /** |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 288 | * @brief Read data from LSM6DS0 Gyroscope and calculate angular rate in mdps |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 289 | * @param pData the pointer where the gyroscope data are stored |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 290 | * @retval IMU_6AXES_OK in case of success, an error code otherwise |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 291 | */ |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 292 | IMU_6AXES_StatusTypeDef LSM6DS0::LSM6DS0_G_GetAxes(int32_t *pData) |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 293 | { |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 294 | uint8_t tempReg = 0x00; |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 295 | int16_t pDataRaw[3]; |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 296 | float sensitivity = 0; |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 297 | |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 298 | if(LSM6DS0_G_GetAxesRaw(pDataRaw) != IMU_6AXES_OK) |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 299 | { |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 300 | return IMU_6AXES_ERROR; |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 301 | } |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 302 | |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 303 | if(LSM6DS0_IO_Read(&tempReg, LSM6DS0_XG_CTRL_REG1_G, 1) != IMU_6AXES_OK) |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 304 | { |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 305 | return IMU_6AXES_ERROR; |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 306 | } |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 307 | |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 308 | tempReg &= LSM6DS0_G_FS_MASK; |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 309 | |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 310 | switch(tempReg) |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 311 | { |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 312 | case LSM6DS0_G_FS_245: |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 313 | sensitivity = 8.75; |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 314 | break; |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 315 | case LSM6DS0_G_FS_500: |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 316 | sensitivity = 17.50; |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 317 | break; |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 318 | case LSM6DS0_G_FS_2000: |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 319 | sensitivity = 70; |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 320 | break; |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 321 | } |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 322 | |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 323 | pData[0] = (int32_t)(pDataRaw[0] * sensitivity); |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 324 | pData[1] = (int32_t)(pDataRaw[1] * sensitivity); |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 325 | pData[2] = (int32_t)(pDataRaw[2] * sensitivity); |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 326 | |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 327 | return IMU_6AXES_OK; |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 328 | } |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 329 | |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 330 | /** |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 331 | * @brief Read Accelero Sensitivity |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 332 | * @param pfData the pointer where the accelerometer sensitivity is stored |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 333 | * @retval IMU_6AXES_OK in case of success, an error code otherwise |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 334 | */ |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 335 | IMU_6AXES_StatusTypeDef LSM6DS0::LSM6DS0_X_GetSensitivity( float *pfData ) |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 336 | { |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 337 | /*Here we have to add the check if the parameters are valid*/ |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 338 | uint8_t tempReg = 0x00; |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 339 | |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 340 | if(LSM6DS0_IO_Read( &tempReg, LSM6DS0_XG_CTRL_REG6_XL, 1 ) != IMU_6AXES_OK) |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 341 | { |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 342 | return IMU_6AXES_ERROR; |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 343 | } |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 344 | |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 345 | tempReg &= LSM6DS0_XL_FS_MASK; |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 346 | |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 347 | switch( tempReg ) |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 348 | { |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 349 | case LSM6DS0_XL_FS_2G: |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 350 | *pfData = 0.061; |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 351 | break; |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 352 | case LSM6DS0_XL_FS_4G: |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 353 | *pfData = 0.122; |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 354 | break; |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 355 | case LSM6DS0_XL_FS_8G: |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 356 | *pfData = 0.244; |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 357 | break; |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 358 | default: |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 359 | break; |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 360 | } |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 361 | |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 362 | return IMU_6AXES_OK; |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 363 | } |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 364 | |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 365 | |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 366 | |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 367 | /** |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 368 | * @brief Read Gyro Sensitivity |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 369 | * @param pfData the pointer where the gyroscope sensitivity is stored |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 370 | * @retval IMU_6AXES_OK in case of success, an error code otherwise |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 371 | */ |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 372 | IMU_6AXES_StatusTypeDef LSM6DS0::LSM6DS0_G_GetSensitivity( float *pfData ) |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 373 | { |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 374 | /*Here we have to add the check if the parameters are valid*/ |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 375 | uint8_t tempReg = 0x00; |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 376 | |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 377 | if(LSM6DS0_IO_Read( &tempReg, LSM6DS0_XG_CTRL_REG1_G, 1 ) != IMU_6AXES_OK) |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 378 | { |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 379 | return IMU_6AXES_ERROR; |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 380 | } |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 381 | |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 382 | tempReg &= LSM6DS0_G_FS_MASK; |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 383 | |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 384 | switch( tempReg ) |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 385 | { |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 386 | case LSM6DS0_G_FS_245: |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 387 | *pfData = 8.75; |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 388 | break; |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 389 | case LSM6DS0_G_FS_500: |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 390 | *pfData = 17.50; |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 391 | break; |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 392 | case LSM6DS0_G_FS_2000: |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 393 | *pfData = 70; |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 394 | break; |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 395 | default: |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 396 | break; |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 397 | } |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 398 | |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 399 | return IMU_6AXES_OK; |
| Wolfgang Betz |
7:a2bb3d5e12e9 | 400 | } |