Jim Carver / Mbed OS pelion-workshop

Workshop example

Dependencies:   X_NUCLEO_COMMON ST_INTERFACES

sensors/LSM6DSL/LSM6DSLSensor.h@35:42b3fba640b1, 2019-05-21 (annotated)

Committer:
JimCarver
Date:
Tue May 21 21:16:24 2019 +0000
Revision:
35:42b3fba640b1
Parent:
18:a15bfe7aaebd 
Simple version for workshop

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