Garage Door Monitor and Opener

Dependencies:   X_NUCLEO_COMMON ST_INTERFACES

Introduction

This system implements a simple garage door opener and environmental monitor. The hardware connects to the internet using Wi-Fi then on to the Pelion Device Management Platform which provides device monitoring and secure firmware updates over the air (FOTA). Pelion Device Management provides a flexible set of REST APIs which we will use to communicate to a web application running on an EC-2 instance in AWS. The web application will serve a web page where we can monitor and control our garage..

This project is intended to work on the DISCO-L475VG-IOT01A from ST Microelectronics It implements a simple actuator to drive a relay to simulate pushing the "open" button on older style garage doors which do not use a rolling code interface.

The system is designed to be mounted over the door so that the on board time of flight sensor can be used to detect if the door is open or closed.

The system also monitors temperature, humidity and barometric pressure.

https://os.mbed.com/media/uploads/JimCarver/garageopener.jpg

Hardware Requirements:

DISCO-L475G-IOT01A https://os.mbed.com/platforms/ST-Discovery-L475E-IOT01A/

Seeed Studio Grove Relay module https://www.seeedstudio.com/Grove-Relay.html

Seeed Studio Grove cable, I used this one: https://www.seeedstudio.com/Grove-4-pin-Male-Jumper-to-Grove-4-pin-Conversion-Cable-5-PCs-per-Pack.html

Connect to the PMOD connector like this:

https://os.mbed.com/media/uploads/JimCarver/opener.jpg

This shows how I installed so that the time of flight sensor can detect when the door is open

https://os.mbed.com/media/uploads/JimCarver/opener1.jpg https://os.mbed.com/media/uploads/JimCarver/opener2.jpg

To use the project:

You will also need a Pelion developers account.

I suggest you first use the Pelion quick state to become familiar with Pelion Device Management. https://os.mbed.com/guides/connect-device-to-pelion/1/?board=ST-Discovery-L475E-IOT01A

Web Interface

For my web interface I am running node-red under Ubuntu in an EC2 instance on AWS. This can run for 12 month within the constraints of their free tier. Here is a tutorial: https://nodered.org/docs/getting-started/aws

You will also need to install several node-red add ons:

sudo npm install -g node-red-dashboard

sudo npm install -g node-red-contrib-mbed-cloud

sudo npm istall -g node-red-contrib-moment

After starting node-red import the contents of GarageFlow.txt from the project, pin the flow into the page.

To enable your web app to access your Pelion account you need an API key.

First you will neet to use your Pelion account to create an API key.

https://os.mbed.com/media/uploads/JimCarver/api_portal.jpg

Now we need to apply that API key to your Node-Red flow.

https://os.mbed.com/media/uploads/JimCarver/api_node-red.jpg

Committer:
JimCarver
Date:
Thu Dec 05 19:03:48 2019 +0000
Revision:
37:ec1124e5ec1f
Parent:
18:a15bfe7aaebd
Bug fix

Who changed what in which revision?

UserRevisionLine numberNew contents of line
screamer 18:a15bfe7aaebd 1 /**
screamer 18:a15bfe7aaebd 2 ******************************************************************************
screamer 18:a15bfe7aaebd 3 * @file LSM6DSLSensor.h
screamer 18:a15bfe7aaebd 4 * @author CLab
screamer 18:a15bfe7aaebd 5 * @version V1.0.0
screamer 18:a15bfe7aaebd 6 * @date 5 August 2016
screamer 18:a15bfe7aaebd 7 * @brief Abstract Class of an LSM6DSL Inertial Measurement Unit (IMU) 6 axes
screamer 18:a15bfe7aaebd 8 * sensor.
screamer 18:a15bfe7aaebd 9 ******************************************************************************
screamer 18:a15bfe7aaebd 10 * @attention
screamer 18:a15bfe7aaebd 11 *
screamer 18:a15bfe7aaebd 12 * <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
screamer 18:a15bfe7aaebd 13 *
screamer 18:a15bfe7aaebd 14 * Redistribution and use in source and binary forms, with or without modification,
screamer 18:a15bfe7aaebd 15 * are permitted provided that the following conditions are met:
screamer 18:a15bfe7aaebd 16 * 1. Redistributions of source code must retain the above copyright notice,
screamer 18:a15bfe7aaebd 17 * this list of conditions and the following disclaimer.
screamer 18:a15bfe7aaebd 18 * 2. Redistributions in binary form must reproduce the above copyright notice,
screamer 18:a15bfe7aaebd 19 * this list of conditions and the following disclaimer in the documentation
screamer 18:a15bfe7aaebd 20 * and/or other materials provided with the distribution.
screamer 18:a15bfe7aaebd 21 * 3. Neither the name of STMicroelectronics nor the names of its contributors
screamer 18:a15bfe7aaebd 22 * may be used to endorse or promote products derived from this software
screamer 18:a15bfe7aaebd 23 * without specific prior written permission.
screamer 18:a15bfe7aaebd 24 *
screamer 18:a15bfe7aaebd 25 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
screamer 18:a15bfe7aaebd 26 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
screamer 18:a15bfe7aaebd 27 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
screamer 18:a15bfe7aaebd 28 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
screamer 18:a15bfe7aaebd 29 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
screamer 18:a15bfe7aaebd 30 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
screamer 18:a15bfe7aaebd 31 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
screamer 18:a15bfe7aaebd 32 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
screamer 18:a15bfe7aaebd 33 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
screamer 18:a15bfe7aaebd 34 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
screamer 18:a15bfe7aaebd 35 *
screamer 18:a15bfe7aaebd 36 ******************************************************************************
screamer 18:a15bfe7aaebd 37 */
screamer 18:a15bfe7aaebd 38
screamer 18:a15bfe7aaebd 39
screamer 18:a15bfe7aaebd 40 /* Prevent recursive inclusion -----------------------------------------------*/
screamer 18:a15bfe7aaebd 41
screamer 18:a15bfe7aaebd 42 #ifndef __LSM6DSLSensor_H__
screamer 18:a15bfe7aaebd 43 #define __LSM6DSLSensor_H__
screamer 18:a15bfe7aaebd 44
screamer 18:a15bfe7aaebd 45
screamer 18:a15bfe7aaebd 46 /* Includes ------------------------------------------------------------------*/
screamer 18:a15bfe7aaebd 47
screamer 18:a15bfe7aaebd 48 #include "DevI2C.h"
screamer 18:a15bfe7aaebd 49 #include "LSM6DSL_acc_gyro_driver.h"
screamer 18:a15bfe7aaebd 50 #include "MotionSensor.h"
screamer 18:a15bfe7aaebd 51 #include "GyroSensor.h"
screamer 18:a15bfe7aaebd 52 #include <assert.h>
screamer 18:a15bfe7aaebd 53
screamer 18:a15bfe7aaebd 54 /* Defines -------------------------------------------------------------------*/
screamer 18:a15bfe7aaebd 55
screamer 18:a15bfe7aaebd 56 #define LSM6DSL_ACC_SENSITIVITY_FOR_FS_2G 0.061 /**< Sensitivity value for 2 g full scale [mg/LSB] */
screamer 18:a15bfe7aaebd 57 #define LSM6DSL_ACC_SENSITIVITY_FOR_FS_4G 0.122 /**< Sensitivity value for 4 g full scale [mg/LSB] */
screamer 18:a15bfe7aaebd 58 #define LSM6DSL_ACC_SENSITIVITY_FOR_FS_8G 0.244 /**< Sensitivity value for 8 g full scale [mg/LSB] */
screamer 18:a15bfe7aaebd 59 #define LSM6DSL_ACC_SENSITIVITY_FOR_FS_16G 0.488 /**< Sensitivity value for 16 g full scale [mg/LSB] */
screamer 18:a15bfe7aaebd 60
screamer 18:a15bfe7aaebd 61 #define LSM6DSL_GYRO_SENSITIVITY_FOR_FS_125DPS 04.375 /**< Sensitivity value for 125 dps full scale [mdps/LSB] */
screamer 18:a15bfe7aaebd 62 #define LSM6DSL_GYRO_SENSITIVITY_FOR_FS_245DPS 08.750 /**< Sensitivity value for 245 dps full scale [mdps/LSB] */
screamer 18:a15bfe7aaebd 63 #define LSM6DSL_GYRO_SENSITIVITY_FOR_FS_500DPS 17.500 /**< Sensitivity value for 500 dps full scale [mdps/LSB] */
screamer 18:a15bfe7aaebd 64 #define LSM6DSL_GYRO_SENSITIVITY_FOR_FS_1000DPS 35.000 /**< Sensitivity value for 1000 dps full scale [mdps/LSB] */
screamer 18:a15bfe7aaebd 65 #define LSM6DSL_GYRO_SENSITIVITY_FOR_FS_2000DPS 70.000 /**< Sensitivity value for 2000 dps full scale [mdps/LSB] */
screamer 18:a15bfe7aaebd 66
screamer 18:a15bfe7aaebd 67 #define LSM6DSL_PEDOMETER_THRESHOLD_LOW 0x00 /**< Lowest value of pedometer threshold */
screamer 18:a15bfe7aaebd 68 #define LSM6DSL_PEDOMETER_THRESHOLD_MID_LOW 0x07
screamer 18:a15bfe7aaebd 69 #define LSM6DSL_PEDOMETER_THRESHOLD_MID 0x0F
screamer 18:a15bfe7aaebd 70 #define LSM6DSL_PEDOMETER_THRESHOLD_MID_HIGH 0x17
screamer 18:a15bfe7aaebd 71 #define LSM6DSL_PEDOMETER_THRESHOLD_HIGH 0x1F /**< Highest value of pedometer threshold */
screamer 18:a15bfe7aaebd 72
screamer 18:a15bfe7aaebd 73 #define LSM6DSL_WAKE_UP_THRESHOLD_LOW 0x01 /**< Lowest value of wake up threshold */
screamer 18:a15bfe7aaebd 74 #define LSM6DSL_WAKE_UP_THRESHOLD_MID_LOW 0x0F
screamer 18:a15bfe7aaebd 75 #define LSM6DSL_WAKE_UP_THRESHOLD_MID 0x1F
screamer 18:a15bfe7aaebd 76 #define LSM6DSL_WAKE_UP_THRESHOLD_MID_HIGH 0x2F
screamer 18:a15bfe7aaebd 77 #define LSM6DSL_WAKE_UP_THRESHOLD_HIGH 0x3F /**< Highest value of wake up threshold */
screamer 18:a15bfe7aaebd 78
screamer 18:a15bfe7aaebd 79 #define LSM6DSL_TAP_THRESHOLD_LOW 0x01 /**< Lowest value of wake up threshold */
screamer 18:a15bfe7aaebd 80 #define LSM6DSL_TAP_THRESHOLD_MID_LOW 0x08
screamer 18:a15bfe7aaebd 81 #define LSM6DSL_TAP_THRESHOLD_MID 0x10
screamer 18:a15bfe7aaebd 82 #define LSM6DSL_TAP_THRESHOLD_MID_HIGH 0x18
screamer 18:a15bfe7aaebd 83 #define LSM6DSL_TAP_THRESHOLD_HIGH 0x1F /**< Highest value of wake up threshold */
screamer 18:a15bfe7aaebd 84
screamer 18:a15bfe7aaebd 85 #define LSM6DSL_TAP_SHOCK_TIME_LOW 0x00 /**< Lowest value of wake up threshold */
screamer 18:a15bfe7aaebd 86 #define LSM6DSL_TAP_SHOCK_TIME_MID_LOW 0x01
screamer 18:a15bfe7aaebd 87 #define LSM6DSL_TAP_SHOCK_TIME_MID_HIGH 0x02
screamer 18:a15bfe7aaebd 88 #define LSM6DSL_TAP_SHOCK_TIME_HIGH 0x03 /**< Highest value of wake up threshold */
screamer 18:a15bfe7aaebd 89
screamer 18:a15bfe7aaebd 90 #define LSM6DSL_TAP_QUIET_TIME_LOW 0x00 /**< Lowest value of wake up threshold */
screamer 18:a15bfe7aaebd 91 #define LSM6DSL_TAP_QUIET_TIME_MID_LOW 0x01
screamer 18:a15bfe7aaebd 92 #define LSM6DSL_TAP_QUIET_TIME_MID_HIGH 0x02
screamer 18:a15bfe7aaebd 93 #define LSM6DSL_TAP_QUIET_TIME_HIGH 0x03 /**< Highest value of wake up threshold */
screamer 18:a15bfe7aaebd 94
screamer 18:a15bfe7aaebd 95 #define LSM6DSL_TAP_DURATION_TIME_LOW 0x00 /**< Lowest value of wake up threshold */
screamer 18:a15bfe7aaebd 96 #define LSM6DSL_TAP_DURATION_TIME_MID_LOW 0x04
screamer 18:a15bfe7aaebd 97 #define LSM6DSL_TAP_DURATION_TIME_MID 0x08
screamer 18:a15bfe7aaebd 98 #define LSM6DSL_TAP_DURATION_TIME_MID_HIGH 0x0C
screamer 18:a15bfe7aaebd 99 #define LSM6DSL_TAP_DURATION_TIME_HIGH 0x0F /**< Highest value of wake up threshold */
screamer 18:a15bfe7aaebd 100
screamer 18:a15bfe7aaebd 101 /* Typedefs ------------------------------------------------------------------*/
screamer 18:a15bfe7aaebd 102
screamer 18:a15bfe7aaebd 103 typedef enum
screamer 18:a15bfe7aaebd 104 {
screamer 18:a15bfe7aaebd 105 LSM6DSL_INT1_PIN,
screamer 18:a15bfe7aaebd 106 LSM6DSL_INT2_PIN
screamer 18:a15bfe7aaebd 107 } LSM6DSL_Interrupt_Pin_t;
screamer 18:a15bfe7aaebd 108
screamer 18:a15bfe7aaebd 109 typedef struct
screamer 18:a15bfe7aaebd 110 {
screamer 18:a15bfe7aaebd 111 unsigned int FreeFallStatus : 1;
screamer 18:a15bfe7aaebd 112 unsigned int TapStatus : 1;
screamer 18:a15bfe7aaebd 113 unsigned int DoubleTapStatus : 1;
screamer 18:a15bfe7aaebd 114 unsigned int WakeUpStatus : 1;
screamer 18:a15bfe7aaebd 115 unsigned int StepStatus : 1;
screamer 18:a15bfe7aaebd 116 unsigned int TiltStatus : 1;
screamer 18:a15bfe7aaebd 117 unsigned int D6DOrientationStatus : 1;
screamer 18:a15bfe7aaebd 118 } LSM6DSL_Event_Status_t;
screamer 18:a15bfe7aaebd 119
screamer 18:a15bfe7aaebd 120 /* Class Declaration ---------------------------------------------------------*/
screamer 18:a15bfe7aaebd 121
screamer 18:a15bfe7aaebd 122 /**
screamer 18:a15bfe7aaebd 123 * Abstract class of an LSM6DSL Inertial Measurement Unit (IMU) 6 axes
screamer 18:a15bfe7aaebd 124 * sensor.
screamer 18:a15bfe7aaebd 125 */
screamer 18:a15bfe7aaebd 126 class LSM6DSLSensor : public MotionSensor, public GyroSensor
screamer 18:a15bfe7aaebd 127 {
screamer 18:a15bfe7aaebd 128 public:
screamer 18:a15bfe7aaebd 129 enum SPI_type_t {SPI3W, SPI4W};
screamer 18:a15bfe7aaebd 130 LSM6DSLSensor(SPI *spi, PinName cs_pin, PinName INT1_pin=NC, PinName INT2_pin=NC, SPI_type_t spi_type=SPI4W);
screamer 18:a15bfe7aaebd 131 LSM6DSLSensor(DevI2C *i2c, uint8_t address=LSM6DSL_ACC_GYRO_I2C_ADDRESS_HIGH, PinName INT1_pin=NC, PinName INT2_pin=NC);
screamer 18:a15bfe7aaebd 132 virtual int init(void *init);
screamer 18:a15bfe7aaebd 133 virtual int read_id(uint8_t *id);
screamer 18:a15bfe7aaebd 134 virtual int get_x_axes(int32_t *pData);
screamer 18:a15bfe7aaebd 135 virtual int get_g_axes(int32_t *pData);
screamer 18:a15bfe7aaebd 136 virtual int get_x_sensitivity(float *pfData);
screamer 18:a15bfe7aaebd 137 virtual int get_g_sensitivity(float *pfData);
screamer 18:a15bfe7aaebd 138 virtual int get_x_axes_raw(int16_t *pData);
screamer 18:a15bfe7aaebd 139 virtual int get_g_axes_raw(int16_t *pData);
screamer 18:a15bfe7aaebd 140 virtual int get_x_odr(float *odr);
screamer 18:a15bfe7aaebd 141 virtual int get_g_odr(float *odr);
screamer 18:a15bfe7aaebd 142 virtual int set_x_odr(float odr);
screamer 18:a15bfe7aaebd 143 virtual int set_g_odr(float odr);
screamer 18:a15bfe7aaebd 144 virtual int get_x_fs(float *fullScale);
screamer 18:a15bfe7aaebd 145 virtual int get_g_fs(float *fullScale);
screamer 18:a15bfe7aaebd 146 virtual int set_x_fs(float fullScale);
screamer 18:a15bfe7aaebd 147 virtual int set_g_fs(float fullScale);
screamer 18:a15bfe7aaebd 148 int enable_x(void);
screamer 18:a15bfe7aaebd 149 int enable_g(void);
screamer 18:a15bfe7aaebd 150 int disable_x(void);
screamer 18:a15bfe7aaebd 151 int disable_g(void);
screamer 18:a15bfe7aaebd 152 int enable_free_fall_detection(LSM6DSL_Interrupt_Pin_t pin = LSM6DSL_INT1_PIN);
screamer 18:a15bfe7aaebd 153 int disable_free_fall_detection(void);
screamer 18:a15bfe7aaebd 154 int set_free_fall_threshold(uint8_t thr);
screamer 18:a15bfe7aaebd 155 int enable_pedometer(void);
screamer 18:a15bfe7aaebd 156 int disable_pedometer(void);
screamer 18:a15bfe7aaebd 157 int get_step_counter(uint16_t *step_count);
screamer 18:a15bfe7aaebd 158 int reset_step_counter(void);
screamer 18:a15bfe7aaebd 159 int set_pedometer_threshold(uint8_t thr);
screamer 18:a15bfe7aaebd 160 int enable_tilt_detection(LSM6DSL_Interrupt_Pin_t pin = LSM6DSL_INT1_PIN);
screamer 18:a15bfe7aaebd 161 int disable_tilt_detection(void);
screamer 18:a15bfe7aaebd 162 int enable_wake_up_detection(LSM6DSL_Interrupt_Pin_t pin = LSM6DSL_INT2_PIN);
screamer 18:a15bfe7aaebd 163 int disable_wake_up_detection(void);
screamer 18:a15bfe7aaebd 164 int set_wake_up_threshold(uint8_t thr);
screamer 18:a15bfe7aaebd 165 int enable_single_tap_detection(LSM6DSL_Interrupt_Pin_t pin = LSM6DSL_INT1_PIN);
screamer 18:a15bfe7aaebd 166 int disable_single_tap_detection(void);
screamer 18:a15bfe7aaebd 167 int enable_double_tap_detection(LSM6DSL_Interrupt_Pin_t pin = LSM6DSL_INT1_PIN);
screamer 18:a15bfe7aaebd 168 int disable_double_tap_detection(void);
screamer 18:a15bfe7aaebd 169 int set_tap_threshold(uint8_t thr);
screamer 18:a15bfe7aaebd 170 int set_tap_shock_time(uint8_t time);
screamer 18:a15bfe7aaebd 171 int set_tap_quiet_time(uint8_t time);
screamer 18:a15bfe7aaebd 172 int set_tap_duration_time(uint8_t time);
screamer 18:a15bfe7aaebd 173 int enable_6d_orientation(LSM6DSL_Interrupt_Pin_t pin = LSM6DSL_INT1_PIN);
screamer 18:a15bfe7aaebd 174 int disable_6d_orientation(void);
screamer 18:a15bfe7aaebd 175 int get_6d_orientation_xl(uint8_t *xl);
screamer 18:a15bfe7aaebd 176 int get_6d_orientation_xh(uint8_t *xh);
screamer 18:a15bfe7aaebd 177 int get_6d_orientation_yl(uint8_t *yl);
screamer 18:a15bfe7aaebd 178 int get_6d_orientation_yh(uint8_t *yh);
screamer 18:a15bfe7aaebd 179 int get_6d_orientation_zl(uint8_t *zl);
screamer 18:a15bfe7aaebd 180 int get_6d_orientation_zh(uint8_t *zh);
screamer 18:a15bfe7aaebd 181 int get_event_status(LSM6DSL_Event_Status_t *status);
screamer 18:a15bfe7aaebd 182 int read_reg(uint8_t reg, uint8_t *data);
screamer 18:a15bfe7aaebd 183 int write_reg(uint8_t reg, uint8_t data);
screamer 18:a15bfe7aaebd 184
screamer 18:a15bfe7aaebd 185 /**
screamer 18:a15bfe7aaebd 186 * @brief Attaching an interrupt handler to the INT1 interrupt.
screamer 18:a15bfe7aaebd 187 * @param fptr An interrupt handler.
screamer 18:a15bfe7aaebd 188 * @retval None.
screamer 18:a15bfe7aaebd 189 */
screamer 18:a15bfe7aaebd 190 void attach_int1_irq(void (*fptr)(void))
screamer 18:a15bfe7aaebd 191 {
screamer 18:a15bfe7aaebd 192 _int1_irq.rise(fptr);
screamer 18:a15bfe7aaebd 193 }
screamer 18:a15bfe7aaebd 194
screamer 18:a15bfe7aaebd 195 /**
screamer 18:a15bfe7aaebd 196 * @brief Enabling the INT1 interrupt handling.
screamer 18:a15bfe7aaebd 197 * @param None.
screamer 18:a15bfe7aaebd 198 * @retval None.
screamer 18:a15bfe7aaebd 199 */
screamer 18:a15bfe7aaebd 200 void enable_int1_irq(void)
screamer 18:a15bfe7aaebd 201 {
screamer 18:a15bfe7aaebd 202 _int1_irq.enable_irq();
screamer 18:a15bfe7aaebd 203 }
screamer 18:a15bfe7aaebd 204
screamer 18:a15bfe7aaebd 205 /**
screamer 18:a15bfe7aaebd 206 * @brief Disabling the INT1 interrupt handling.
screamer 18:a15bfe7aaebd 207 * @param None.
screamer 18:a15bfe7aaebd 208 * @retval None.
screamer 18:a15bfe7aaebd 209 */
screamer 18:a15bfe7aaebd 210 void disable_int1_irq(void)
screamer 18:a15bfe7aaebd 211 {
screamer 18:a15bfe7aaebd 212 _int1_irq.disable_irq();
screamer 18:a15bfe7aaebd 213 }
screamer 18:a15bfe7aaebd 214
screamer 18:a15bfe7aaebd 215 /**
screamer 18:a15bfe7aaebd 216 * @brief Attaching an interrupt handler to the INT2 interrupt.
screamer 18:a15bfe7aaebd 217 * @param fptr An interrupt handler.
screamer 18:a15bfe7aaebd 218 * @retval None.
screamer 18:a15bfe7aaebd 219 */
screamer 18:a15bfe7aaebd 220 void attach_int2_irq(void (*fptr)(void))
screamer 18:a15bfe7aaebd 221 {
screamer 18:a15bfe7aaebd 222 _int2_irq.rise(fptr);
screamer 18:a15bfe7aaebd 223 }
screamer 18:a15bfe7aaebd 224
screamer 18:a15bfe7aaebd 225 /**
screamer 18:a15bfe7aaebd 226 * @brief Enabling the INT2 interrupt handling.
screamer 18:a15bfe7aaebd 227 * @param None.
screamer 18:a15bfe7aaebd 228 * @retval None.
screamer 18:a15bfe7aaebd 229 */
screamer 18:a15bfe7aaebd 230 void enable_int2_irq(void)
screamer 18:a15bfe7aaebd 231 {
screamer 18:a15bfe7aaebd 232 _int2_irq.enable_irq();
screamer 18:a15bfe7aaebd 233 }
screamer 18:a15bfe7aaebd 234
screamer 18:a15bfe7aaebd 235 /**
screamer 18:a15bfe7aaebd 236 * @brief Disabling the INT2 interrupt handling.
screamer 18:a15bfe7aaebd 237 * @param None.
screamer 18:a15bfe7aaebd 238 * @retval None.
screamer 18:a15bfe7aaebd 239 */
screamer 18:a15bfe7aaebd 240 void disable_int2_irq(void)
screamer 18:a15bfe7aaebd 241 {
screamer 18:a15bfe7aaebd 242 _int2_irq.disable_irq();
screamer 18:a15bfe7aaebd 243 }
screamer 18:a15bfe7aaebd 244
screamer 18:a15bfe7aaebd 245 /**
screamer 18:a15bfe7aaebd 246 * @brief Utility function to read data.
screamer 18:a15bfe7aaebd 247 * @param pBuffer: pointer to data to be read.
screamer 18:a15bfe7aaebd 248 * @param RegisterAddr: specifies internal address register to be read.
screamer 18:a15bfe7aaebd 249 * @param NumByteToRead: number of bytes to be read.
screamer 18:a15bfe7aaebd 250 * @retval 0 if ok, an error code otherwise.
screamer 18:a15bfe7aaebd 251 */
screamer 18:a15bfe7aaebd 252 uint8_t io_read(uint8_t* pBuffer, uint8_t RegisterAddr, uint16_t NumByteToRead)
screamer 18:a15bfe7aaebd 253 {
screamer 18:a15bfe7aaebd 254 if (_dev_spi) {
screamer 18:a15bfe7aaebd 255 /* Write Reg Address */
screamer 18:a15bfe7aaebd 256 _dev_spi->lock();
screamer 18:a15bfe7aaebd 257 _cs_pin = 0;
screamer 18:a15bfe7aaebd 258 if (_spi_type == SPI4W) {
screamer 18:a15bfe7aaebd 259 _dev_spi->write(RegisterAddr | 0x80);
screamer 18:a15bfe7aaebd 260 for (int i=0; i<NumByteToRead; i++) {
screamer 18:a15bfe7aaebd 261 *(pBuffer+i) = _dev_spi->write(0x00);
screamer 18:a15bfe7aaebd 262 }
screamer 18:a15bfe7aaebd 263 } else if (_spi_type == SPI3W){
screamer 18:a15bfe7aaebd 264 /* Write RD Reg Address with RD bit*/
screamer 18:a15bfe7aaebd 265 uint8_t TxByte = RegisterAddr | 0x80;
screamer 18:a15bfe7aaebd 266 _dev_spi->write((char *)&TxByte, 1, (char *)pBuffer, (int) NumByteToRead);
screamer 18:a15bfe7aaebd 267 }
screamer 18:a15bfe7aaebd 268 _cs_pin = 1;
screamer 18:a15bfe7aaebd 269 _dev_spi->unlock();
screamer 18:a15bfe7aaebd 270 return 0;
screamer 18:a15bfe7aaebd 271 }
screamer 18:a15bfe7aaebd 272 if (_dev_i2c) return (uint8_t) _dev_i2c->i2c_read(pBuffer, _address, RegisterAddr, NumByteToRead);
screamer 18:a15bfe7aaebd 273 return 1;
screamer 18:a15bfe7aaebd 274 }
screamer 18:a15bfe7aaebd 275
screamer 18:a15bfe7aaebd 276 /**
screamer 18:a15bfe7aaebd 277 * @brief Utility function to write data.
screamer 18:a15bfe7aaebd 278 * @param pBuffer: pointer to data to be written.
screamer 18:a15bfe7aaebd 279 * @param RegisterAddr: specifies internal address register to be written.
screamer 18:a15bfe7aaebd 280 * @param NumByteToWrite: number of bytes to write.
screamer 18:a15bfe7aaebd 281 * @retval 0 if ok, an error code otherwise.
screamer 18:a15bfe7aaebd 282 */
screamer 18:a15bfe7aaebd 283 uint8_t io_write(uint8_t* pBuffer, uint8_t RegisterAddr, uint16_t NumByteToWrite)
screamer 18:a15bfe7aaebd 284 {
screamer 18:a15bfe7aaebd 285 int data;
screamer 18:a15bfe7aaebd 286 if (_dev_spi) {
screamer 18:a15bfe7aaebd 287 _dev_spi->lock();
screamer 18:a15bfe7aaebd 288 _cs_pin = 0;
screamer 18:a15bfe7aaebd 289 data = _dev_spi->write(RegisterAddr);
screamer 18:a15bfe7aaebd 290 _dev_spi->write((char *)pBuffer, (int) NumByteToWrite, NULL, 0);
screamer 18:a15bfe7aaebd 291 _cs_pin = 1;
screamer 18:a15bfe7aaebd 292 _dev_spi->unlock();
screamer 18:a15bfe7aaebd 293 return data;
screamer 18:a15bfe7aaebd 294 }
screamer 18:a15bfe7aaebd 295 if (_dev_i2c) return (uint8_t) _dev_i2c->i2c_write(pBuffer, _address, RegisterAddr, NumByteToWrite);
screamer 18:a15bfe7aaebd 296 return 1;
screamer 18:a15bfe7aaebd 297 }
screamer 18:a15bfe7aaebd 298
screamer 18:a15bfe7aaebd 299 private:
screamer 18:a15bfe7aaebd 300 int set_x_odr_when_enabled(float odr);
screamer 18:a15bfe7aaebd 301 int set_g_odr_when_enabled(float odr);
screamer 18:a15bfe7aaebd 302 int set_x_odr_when_disabled(float odr);
screamer 18:a15bfe7aaebd 303 int set_g_odr_when_disabled(float odr);
screamer 18:a15bfe7aaebd 304
screamer 18:a15bfe7aaebd 305 /* Helper classes. */
screamer 18:a15bfe7aaebd 306 DevI2C *_dev_i2c;
screamer 18:a15bfe7aaebd 307 SPI *_dev_spi;
screamer 18:a15bfe7aaebd 308 SPI_type_t _spi_type;
screamer 18:a15bfe7aaebd 309
screamer 18:a15bfe7aaebd 310 /* Configuration */
screamer 18:a15bfe7aaebd 311 uint8_t _address;
screamer 18:a15bfe7aaebd 312 DigitalOut _cs_pin;
screamer 18:a15bfe7aaebd 313 InterruptIn _int1_irq;
screamer 18:a15bfe7aaebd 314 InterruptIn _int2_irq;
screamer 18:a15bfe7aaebd 315
screamer 18:a15bfe7aaebd 316 uint8_t _x_is_enabled;
screamer 18:a15bfe7aaebd 317 float _x_last_odr;
screamer 18:a15bfe7aaebd 318 uint8_t _g_is_enabled;
screamer 18:a15bfe7aaebd 319 float _g_last_odr;
screamer 18:a15bfe7aaebd 320 };
screamer 18:a15bfe7aaebd 321
screamer 18:a15bfe7aaebd 322 #ifdef __cplusplus
screamer 18:a15bfe7aaebd 323 extern "C" {
screamer 18:a15bfe7aaebd 324 #endif
screamer 18:a15bfe7aaebd 325 uint8_t LSM6DSL_io_write( void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite );
screamer 18:a15bfe7aaebd 326 uint8_t LSM6DSL_io_read( void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead );
screamer 18:a15bfe7aaebd 327 #ifdef __cplusplus
screamer 18:a15bfe7aaebd 328 }
screamer 18:a15bfe7aaebd 329 #endif
screamer 18:a15bfe7aaebd 330
screamer 18:a15bfe7aaebd 331 #endif