LSM6DSLSensor.h

00001 /**
00002  ******************************************************************************
00003  * @file    LSM6DSLSensor.h
00004  * @author  CLab
00005  * @version V1.0.0
00006  * @date    5 August 2016
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) 2016 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 "DevI2C.h"
00049 #include "LSM6DSL_acc_gyro_driver.h"
00050 #include "MotionSensor.h"
00051 #include "GyroSensor.h"
00052 #include <assert.h>
00053 
00054 /* Defines -------------------------------------------------------------------*/
00055 
00056 #define LSM6DSL_ACC_SENSITIVITY_FOR_FS_2G   0.061  /**< Sensitivity value for 2 g full scale [mg/LSB] */
00057 #define LSM6DSL_ACC_SENSITIVITY_FOR_FS_4G   0.122  /**< Sensitivity value for 4 g full scale [mg/LSB] */
00058 #define LSM6DSL_ACC_SENSITIVITY_FOR_FS_8G   0.244  /**< Sensitivity value for 8 g full scale [mg/LSB] */
00059 #define LSM6DSL_ACC_SENSITIVITY_FOR_FS_16G  0.488  /**< Sensitivity value for 16 g full scale [mg/LSB] */
00060 
00061 #define LSM6DSL_GYRO_SENSITIVITY_FOR_FS_125DPS   04.375  /**< Sensitivity value for 125 dps full scale [mdps/LSB] */
00062 #define LSM6DSL_GYRO_SENSITIVITY_FOR_FS_245DPS   08.750  /**< Sensitivity value for 245 dps full scale [mdps/LSB] */
00063 #define LSM6DSL_GYRO_SENSITIVITY_FOR_FS_500DPS   17.500  /**< Sensitivity value for 500 dps full scale [mdps/LSB] */
00064 #define LSM6DSL_GYRO_SENSITIVITY_FOR_FS_1000DPS  35.000  /**< Sensitivity value for 1000 dps full scale [mdps/LSB] */
00065 #define LSM6DSL_GYRO_SENSITIVITY_FOR_FS_2000DPS  70.000  /**< Sensitivity value for 2000 dps full scale [mdps/LSB] */
00066 
00067 #define LSM6DSL_PEDOMETER_THRESHOLD_LOW       0x00  /**< Lowest  value of pedometer threshold */
00068 #define LSM6DSL_PEDOMETER_THRESHOLD_MID_LOW   0x07
00069 #define LSM6DSL_PEDOMETER_THRESHOLD_MID       0x0F
00070 #define LSM6DSL_PEDOMETER_THRESHOLD_MID_HIGH  0x17
00071 #define LSM6DSL_PEDOMETER_THRESHOLD_HIGH      0x1F  /**< Highest value of pedometer threshold */
00072 
00073 #define LSM6DSL_WAKE_UP_THRESHOLD_LOW       0x01  /**< Lowest  value of wake up threshold */
00074 #define LSM6DSL_WAKE_UP_THRESHOLD_MID_LOW   0x0F
00075 #define LSM6DSL_WAKE_UP_THRESHOLD_MID       0x1F
00076 #define LSM6DSL_WAKE_UP_THRESHOLD_MID_HIGH  0x2F
00077 #define LSM6DSL_WAKE_UP_THRESHOLD_HIGH      0x3F  /**< Highest value of wake up threshold */
00078 
00079 #define LSM6DSL_TAP_THRESHOLD_LOW       0x01  /**< Lowest  value of wake up threshold */
00080 #define LSM6DSL_TAP_THRESHOLD_MID_LOW   0x08
00081 #define LSM6DSL_TAP_THRESHOLD_MID       0x10
00082 #define LSM6DSL_TAP_THRESHOLD_MID_HIGH  0x18
00083 #define LSM6DSL_TAP_THRESHOLD_HIGH      0x1F  /**< Highest value of wake up threshold */
00084 
00085 #define LSM6DSL_TAP_SHOCK_TIME_LOW       0x00  /**< Lowest  value of wake up threshold */
00086 #define LSM6DSL_TAP_SHOCK_TIME_MID_LOW   0x01
00087 #define LSM6DSL_TAP_SHOCK_TIME_MID_HIGH  0x02
00088 #define LSM6DSL_TAP_SHOCK_TIME_HIGH      0x03  /**< Highest value of wake up threshold */
00089 
00090 #define LSM6DSL_TAP_QUIET_TIME_LOW       0x00  /**< Lowest  value of wake up threshold */
00091 #define LSM6DSL_TAP_QUIET_TIME_MID_LOW   0x01
00092 #define LSM6DSL_TAP_QUIET_TIME_MID_HIGH  0x02
00093 #define LSM6DSL_TAP_QUIET_TIME_HIGH      0x03  /**< Highest value of wake up threshold */
00094 
00095 #define LSM6DSL_TAP_DURATION_TIME_LOW       0x00  /**< Lowest  value of wake up threshold */
00096 #define LSM6DSL_TAP_DURATION_TIME_MID_LOW   0x04
00097 #define LSM6DSL_TAP_DURATION_TIME_MID       0x08
00098 #define LSM6DSL_TAP_DURATION_TIME_MID_HIGH  0x0C
00099 #define LSM6DSL_TAP_DURATION_TIME_HIGH      0x0F  /**< Highest value of wake up threshold */
00100 
00101 /* Typedefs ------------------------------------------------------------------*/
00102 
00103 typedef enum
00104 {
00105   LSM6DSL_INT1_PIN,
00106   LSM6DSL_INT2_PIN
00107 } LSM6DSL_Interrupt_Pin_t;
00108 
00109 typedef struct
00110 {
00111   unsigned int FreeFallStatus : 1;
00112   unsigned int TapStatus : 1;
00113   unsigned int DoubleTapStatus : 1;
00114   unsigned int WakeUpStatus : 1;
00115   unsigned int StepStatus : 1;
00116   unsigned int TiltStatus : 1;
00117   unsigned int D6DOrientationStatus : 1;
00118 } LSM6DSL_Event_Status_t;
00119 
00120 /* Class Declaration ---------------------------------------------------------*/
00121    
00122 /**
00123  * Abstract class of an LSM6DSL Inertial Measurement Unit (IMU) 6 axes
00124  * sensor.
00125  */
00126 class LSM6DSLSensor : public MotionSensor, public GyroSensor
00127 {
00128   public:
00129     enum SPI_type_t {SPI3W, SPI4W};      
00130     LSM6DSLSensor(SPI *spi, PinName cs_pin, PinName INT1_pin=NC, PinName INT2_pin=NC, SPI_type_t spi_type=SPI4W);  
00131     LSM6DSLSensor(DevI2C *i2c, uint8_t address=LSM6DSL_ACC_GYRO_I2C_ADDRESS_HIGH, PinName INT1_pin=NC, PinName INT2_pin=NC);
00132     virtual int init(void *init);
00133     virtual int read_id(uint8_t *id);
00134     virtual int get_x_axes(int32_t *pData);
00135     virtual int get_g_axes(int32_t *pData);
00136     virtual int get_x_sensitivity(float *pfData);
00137     virtual int get_g_sensitivity(float *pfData);
00138     virtual int get_x_axes_raw(int16_t *pData);
00139     virtual int get_g_axes_raw(int16_t *pData);
00140     virtual int get_x_odr(float *odr);
00141     virtual int get_g_odr(float *odr);
00142     virtual int set_x_odr(float odr);
00143     virtual int set_g_odr(float odr);
00144     virtual int get_x_fs(float *fullScale);
00145     virtual int get_g_fs(float *fullScale);
00146     virtual int set_x_fs(float fullScale);
00147     virtual int set_g_fs(float fullScale);
00148     int enable_x(void);
00149     int enable_g(void);
00150     int disable_x(void);
00151     int disable_g(void);
00152     int enable_free_fall_detection(LSM6DSL_Interrupt_Pin_t pin = LSM6DSL_INT1_PIN);
00153     int disable_free_fall_detection(void);
00154     int set_free_fall_threshold(uint8_t thr);
00155     int enable_pedometer(void);
00156     int disable_pedometer(void);
00157     int get_step_counter(uint16_t *step_count);
00158     int reset_step_counter(void);
00159     int set_pedometer_threshold(uint8_t thr);
00160     int enable_tilt_detection(LSM6DSL_Interrupt_Pin_t pin = LSM6DSL_INT1_PIN);
00161     int disable_tilt_detection(void);
00162     int enable_wake_up_detection(LSM6DSL_Interrupt_Pin_t pin = LSM6DSL_INT2_PIN);
00163     int disable_wake_up_detection(void);
00164     int set_wake_up_threshold(uint8_t thr);
00165     int enable_single_tap_detection(LSM6DSL_Interrupt_Pin_t pin = LSM6DSL_INT1_PIN);
00166     int disable_single_tap_detection(void);
00167     int enable_double_tap_detection(LSM6DSL_Interrupt_Pin_t pin = LSM6DSL_INT1_PIN);
00168     int disable_double_tap_detection(void);
00169     int set_tap_threshold(uint8_t thr);
00170     int set_tap_shock_time(uint8_t time);
00171     int set_tap_quiet_time(uint8_t time);
00172     int set_tap_duration_time(uint8_t time);
00173     int enable_6d_orientation(LSM6DSL_Interrupt_Pin_t pin = LSM6DSL_INT1_PIN);
00174     int disable_6d_orientation(void);
00175     int get_6d_orientation_xl(uint8_t *xl);
00176     int get_6d_orientation_xh(uint8_t *xh);
00177     int get_6d_orientation_yl(uint8_t *yl);
00178     int get_6d_orientation_yh(uint8_t *yh);
00179     int get_6d_orientation_zl(uint8_t *zl);
00180     int get_6d_orientation_zh(uint8_t *zh);
00181     int get_event_status(LSM6DSL_Event_Status_t *status);
00182     int read_reg(uint8_t reg, uint8_t *data);
00183     int write_reg(uint8_t reg, uint8_t data);
00184     
00185     /**
00186      * @brief  Attaching an interrupt handler to the INT1 interrupt.
00187      * @param  fptr An interrupt handler.
00188      * @retval None.
00189      */
00190     void attach_int1_irq(void (*fptr)(void))
00191     {
00192         _int1_irq.rise(fptr);
00193     }
00194 
00195     /**
00196      * @brief  Enabling the INT1 interrupt handling.
00197      * @param  None.
00198      * @retval None.
00199      */
00200     void enable_int1_irq(void)
00201     {
00202         _int1_irq.enable_irq();
00203     }
00204     
00205     /**
00206      * @brief  Disabling the INT1 interrupt handling.
00207      * @param  None.
00208      * @retval None.
00209      */
00210     void disable_int1_irq(void)
00211     {
00212         _int1_irq.disable_irq();
00213     }
00214     
00215     /**
00216      * @brief  Attaching an interrupt handler to the INT2 interrupt.
00217      * @param  fptr An interrupt handler.
00218      * @retval None.
00219      */
00220     void attach_int2_irq(void (*fptr)(void))
00221     {
00222         _int2_irq.rise(fptr);
00223     }
00224 
00225     /**
00226      * @brief  Enabling the INT2 interrupt handling.
00227      * @param  None.
00228      * @retval None.
00229      */
00230     void enable_int2_irq(void)
00231     {
00232         _int2_irq.enable_irq();
00233     }
00234     
00235     /**
00236      * @brief  Disabling the INT2 interrupt handling.
00237      * @param  None.
00238      * @retval None.
00239      */
00240     void disable_int2_irq(void)
00241     {
00242         _int2_irq.disable_irq();
00243     }
00244     
00245     /**
00246      * @brief Utility function to read data.
00247      * @param  pBuffer: pointer to data to be read.
00248      * @param  RegisterAddr: specifies internal address register to be read.
00249      * @param  NumByteToRead: number of bytes to be read.
00250      * @retval 0 if ok, an error code otherwise.
00251      */
00252     uint8_t io_read(uint8_t* pBuffer, uint8_t RegisterAddr, uint16_t NumByteToRead)
00253     {        
00254         if (_dev_spi) {
00255         /* Write Reg Address */
00256             _dev_spi->lock();
00257             _cs_pin = 0;           
00258             if (_spi_type == SPI4W) {            
00259                 _dev_spi->write(RegisterAddr | 0x80);
00260                 for (int i=0; i<NumByteToRead; i++) {
00261                     *(pBuffer+i) = _dev_spi->write(0x00);
00262                 }
00263             } else if (_spi_type == SPI3W){
00264                 /* Write RD Reg Address with RD bit*/
00265                 uint8_t TxByte = RegisterAddr | 0x80;    
00266                 _dev_spi->write((char *)&TxByte, 1, (char *)pBuffer, (int) NumByteToRead);
00267             }            
00268             _cs_pin = 1;
00269             _dev_spi->unlock(); 
00270             return 0;
00271         }                       
00272         if (_dev_i2c) return (uint8_t) _dev_i2c->i2c_read(pBuffer, _address, RegisterAddr, NumByteToRead);
00273         return 1;
00274     }
00275     
00276     /**
00277      * @brief Utility function to write data.
00278      * @param  pBuffer: pointer to data to be written.
00279      * @param  RegisterAddr: specifies internal address register to be written.
00280      * @param  NumByteToWrite: number of bytes to write.
00281      * @retval 0 if ok, an error code otherwise.
00282      */
00283     uint8_t io_write(uint8_t* pBuffer, uint8_t RegisterAddr, uint16_t NumByteToWrite)
00284     {
00285         int data;   
00286         if (_dev_spi) { 
00287             _dev_spi->lock();
00288             _cs_pin = 0;
00289             data = _dev_spi->write(RegisterAddr);                    
00290             _dev_spi->write((char *)pBuffer, (int) NumByteToWrite, NULL, 0);                     
00291             _cs_pin = 1;                    
00292             _dev_spi->unlock();
00293             return data;                    
00294         }        
00295         if (_dev_i2c) return (uint8_t) _dev_i2c->i2c_write(pBuffer, _address, RegisterAddr, NumByteToWrite);    
00296         return 1;
00297     }
00298 
00299   private:
00300     int set_x_odr_when_enabled(float odr);
00301     int set_g_odr_when_enabled(float odr);
00302     int set_x_odr_when_disabled(float odr);
00303     int set_g_odr_when_disabled(float odr);
00304 
00305     /* Helper classes. */
00306     DevI2C *_dev_i2c;
00307     SPI    *_dev_spi;
00308     SPI_type_t _spi_type;
00309     
00310     /* Configuration */
00311     uint8_t _address;
00312     DigitalOut  _cs_pin;        
00313     InterruptIn _int1_irq;
00314     InterruptIn _int2_irq;
00315     
00316     uint8_t _x_is_enabled;
00317     float _x_last_odr;
00318     uint8_t _g_is_enabled;
00319     float _g_last_odr;
00320 };
00321 
00322 #ifdef __cplusplus
00323  extern "C" {
00324 #endif
00325 uint8_t LSM6DSL_io_write( void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite );
00326 uint8_t LSM6DSL_io_read( void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead );
00327 #ifdef __cplusplus
00328   }
00329 #endif
00330 
00331 #endif