Emilio Salomone / X_NUCLEO_IKS01A2

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Components/LSM6DSLSensor/LSM6DSLSensor.h@6:671fd10a51b7, 2017-03-14 (annotated)

Committer:
davide.aliprandi@st.com
Date:
Tue Mar 14 13:41:32 2017 +0100
Revision:
6:671fd10a51b7
Parent:
5:63b2b4c21092
Child:
9:038121268b07
Aligning to ARM mbed coding style.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
nikapov 0:cad5dab2b21d 1 /**
nikapov 0:cad5dab2b21d 2 ******************************************************************************
nikapov 0:cad5dab2b21d 3 * @file LSM6DSLSensor.h
cparata 1:bd2a01e81e6f 4 * @author CLab
nikapov 0:cad5dab2b21d 5 * @version V1.0.0
nikapov 0:cad5dab2b21d 6 * @date 5 August 2016
nikapov 0:cad5dab2b21d 7 * @brief Abstract Class of an LSM6DSL Inertial Measurement Unit (IMU) 6 axes
nikapov 0:cad5dab2b21d 8 * sensor.
nikapov 0:cad5dab2b21d 9 ******************************************************************************
nikapov 0:cad5dab2b21d 10 * @attention
nikapov 0:cad5dab2b21d 11 *
nikapov 0:cad5dab2b21d 12 * <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
nikapov 0:cad5dab2b21d 13 *
nikapov 0:cad5dab2b21d 14 * Redistribution and use in source and binary forms, with or without modification,
nikapov 0:cad5dab2b21d 15 * are permitted provided that the following conditions are met:
nikapov 0:cad5dab2b21d 16 * 1. Redistributions of source code must retain the above copyright notice,
nikapov 0:cad5dab2b21d 17 * this list of conditions and the following disclaimer.
nikapov 0:cad5dab2b21d 18 * 2. Redistributions in binary form must reproduce the above copyright notice,
nikapov 0:cad5dab2b21d 19 * this list of conditions and the following disclaimer in the documentation
nikapov 0:cad5dab2b21d 20 * and/or other materials provided with the distribution.
nikapov 0:cad5dab2b21d 21 * 3. Neither the name of STMicroelectronics nor the names of its contributors
nikapov 0:cad5dab2b21d 22 * may be used to endorse or promote products derived from this software
nikapov 0:cad5dab2b21d 23 * without specific prior written permission.
nikapov 0:cad5dab2b21d 24 *
nikapov 0:cad5dab2b21d 25 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
nikapov 0:cad5dab2b21d 26 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
nikapov 0:cad5dab2b21d 27 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
nikapov 0:cad5dab2b21d 28 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
nikapov 0:cad5dab2b21d 29 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
nikapov 0:cad5dab2b21d 30 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
nikapov 0:cad5dab2b21d 31 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
nikapov 0:cad5dab2b21d 32 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
nikapov 0:cad5dab2b21d 33 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
nikapov 0:cad5dab2b21d 34 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
nikapov 0:cad5dab2b21d 35 *
nikapov 0:cad5dab2b21d 36 ******************************************************************************
nikapov 0:cad5dab2b21d 37 */
nikapov 0:cad5dab2b21d 38
nikapov 0:cad5dab2b21d 39
nikapov 0:cad5dab2b21d 40 /* Prevent recursive inclusion -----------------------------------------------*/
nikapov 0:cad5dab2b21d 41
nikapov 0:cad5dab2b21d 42 #ifndef __LSM6DSLSensor_H__
nikapov 0:cad5dab2b21d 43 #define __LSM6DSLSensor_H__
nikapov 0:cad5dab2b21d 44
nikapov 0:cad5dab2b21d 45
nikapov 0:cad5dab2b21d 46 /* Includes ------------------------------------------------------------------*/
nikapov 0:cad5dab2b21d 47
nikapov 0:cad5dab2b21d 48 #include "DevI2C.h"
davide.aliprandi@st.com 6:671fd10a51b7 49 #include "LSM6DSL_acc_gyro_driver.h"
nikapov 0:cad5dab2b21d 50 #include "MotionSensor.h"
nikapov 0:cad5dab2b21d 51 #include "GyroSensor.h"
nikapov 0:cad5dab2b21d 52
nikapov 0:cad5dab2b21d 53 /* Defines -------------------------------------------------------------------*/
nikapov 0:cad5dab2b21d 54
nikapov 0:cad5dab2b21d 55 #define LSM6DSL_ACC_SENSITIVITY_FOR_FS_2G 0.061 /**< Sensitivity value for 2 g full scale [mg/LSB] */
nikapov 0:cad5dab2b21d 56 #define LSM6DSL_ACC_SENSITIVITY_FOR_FS_4G 0.122 /**< Sensitivity value for 4 g full scale [mg/LSB] */
nikapov 0:cad5dab2b21d 57 #define LSM6DSL_ACC_SENSITIVITY_FOR_FS_8G 0.244 /**< Sensitivity value for 8 g full scale [mg/LSB] */
nikapov 0:cad5dab2b21d 58 #define LSM6DSL_ACC_SENSITIVITY_FOR_FS_16G 0.488 /**< Sensitivity value for 16 g full scale [mg/LSB] */
nikapov 0:cad5dab2b21d 59
nikapov 0:cad5dab2b21d 60 #define LSM6DSL_GYRO_SENSITIVITY_FOR_FS_125DPS 04.375 /**< Sensitivity value for 125 dps full scale [mdps/LSB] */
nikapov 0:cad5dab2b21d 61 #define LSM6DSL_GYRO_SENSITIVITY_FOR_FS_245DPS 08.750 /**< Sensitivity value for 245 dps full scale [mdps/LSB] */
nikapov 0:cad5dab2b21d 62 #define LSM6DSL_GYRO_SENSITIVITY_FOR_FS_500DPS 17.500 /**< Sensitivity value for 500 dps full scale [mdps/LSB] */
nikapov 0:cad5dab2b21d 63 #define LSM6DSL_GYRO_SENSITIVITY_FOR_FS_1000DPS 35.000 /**< Sensitivity value for 1000 dps full scale [mdps/LSB] */
nikapov 0:cad5dab2b21d 64 #define LSM6DSL_GYRO_SENSITIVITY_FOR_FS_2000DPS 70.000 /**< Sensitivity value for 2000 dps full scale [mdps/LSB] */
nikapov 0:cad5dab2b21d 65
nikapov 0:cad5dab2b21d 66 #define LSM6DSL_PEDOMETER_THRESHOLD_LOW 0x00 /**< Lowest value of pedometer threshold */
nikapov 0:cad5dab2b21d 67 #define LSM6DSL_PEDOMETER_THRESHOLD_MID_LOW 0x07
nikapov 0:cad5dab2b21d 68 #define LSM6DSL_PEDOMETER_THRESHOLD_MID 0x0F
nikapov 0:cad5dab2b21d 69 #define LSM6DSL_PEDOMETER_THRESHOLD_MID_HIGH 0x17
nikapov 0:cad5dab2b21d 70 #define LSM6DSL_PEDOMETER_THRESHOLD_HIGH 0x1F /**< Highest value of pedometer threshold */
nikapov 0:cad5dab2b21d 71
nikapov 0:cad5dab2b21d 72 #define LSM6DSL_WAKE_UP_THRESHOLD_LOW 0x01 /**< Lowest value of wake up threshold */
nikapov 0:cad5dab2b21d 73 #define LSM6DSL_WAKE_UP_THRESHOLD_MID_LOW 0x0F
nikapov 0:cad5dab2b21d 74 #define LSM6DSL_WAKE_UP_THRESHOLD_MID 0x1F
nikapov 0:cad5dab2b21d 75 #define LSM6DSL_WAKE_UP_THRESHOLD_MID_HIGH 0x2F
nikapov 0:cad5dab2b21d 76 #define LSM6DSL_WAKE_UP_THRESHOLD_HIGH 0x3F /**< Highest value of wake up threshold */
nikapov 0:cad5dab2b21d 77
nikapov 0:cad5dab2b21d 78 #define LSM6DSL_TAP_THRESHOLD_LOW 0x01 /**< Lowest value of wake up threshold */
nikapov 0:cad5dab2b21d 79 #define LSM6DSL_TAP_THRESHOLD_MID_LOW 0x08
nikapov 0:cad5dab2b21d 80 #define LSM6DSL_TAP_THRESHOLD_MID 0x10
nikapov 0:cad5dab2b21d 81 #define LSM6DSL_TAP_THRESHOLD_MID_HIGH 0x18
nikapov 0:cad5dab2b21d 82 #define LSM6DSL_TAP_THRESHOLD_HIGH 0x1F /**< Highest value of wake up threshold */
nikapov 0:cad5dab2b21d 83
nikapov 0:cad5dab2b21d 84 #define LSM6DSL_TAP_SHOCK_TIME_LOW 0x00 /**< Lowest value of wake up threshold */
nikapov 0:cad5dab2b21d 85 #define LSM6DSL_TAP_SHOCK_TIME_MID_LOW 0x01
nikapov 0:cad5dab2b21d 86 #define LSM6DSL_TAP_SHOCK_TIME_MID_HIGH 0x02
nikapov 0:cad5dab2b21d 87 #define LSM6DSL_TAP_SHOCK_TIME_HIGH 0x03 /**< Highest value of wake up threshold */
nikapov 0:cad5dab2b21d 88
nikapov 0:cad5dab2b21d 89 #define LSM6DSL_TAP_QUIET_TIME_LOW 0x00 /**< Lowest value of wake up threshold */
nikapov 0:cad5dab2b21d 90 #define LSM6DSL_TAP_QUIET_TIME_MID_LOW 0x01
nikapov 0:cad5dab2b21d 91 #define LSM6DSL_TAP_QUIET_TIME_MID_HIGH 0x02
nikapov 0:cad5dab2b21d 92 #define LSM6DSL_TAP_QUIET_TIME_HIGH 0x03 /**< Highest value of wake up threshold */
nikapov 0:cad5dab2b21d 93
nikapov 0:cad5dab2b21d 94 #define LSM6DSL_TAP_DURATION_TIME_LOW 0x00 /**< Lowest value of wake up threshold */
nikapov 0:cad5dab2b21d 95 #define LSM6DSL_TAP_DURATION_TIME_MID_LOW 0x04
nikapov 0:cad5dab2b21d 96 #define LSM6DSL_TAP_DURATION_TIME_MID 0x08
nikapov 0:cad5dab2b21d 97 #define LSM6DSL_TAP_DURATION_TIME_MID_HIGH 0x0C
nikapov 0:cad5dab2b21d 98 #define LSM6DSL_TAP_DURATION_TIME_HIGH 0x0F /**< Highest value of wake up threshold */
nikapov 0:cad5dab2b21d 99
nikapov 0:cad5dab2b21d 100 /* Typedefs ------------------------------------------------------------------*/
nikapov 0:cad5dab2b21d 101
nikapov 0:cad5dab2b21d 102 typedef enum
nikapov 0:cad5dab2b21d 103 {
nikapov 0:cad5dab2b21d 104 LSM6DSL_INT1_PIN,
nikapov 0:cad5dab2b21d 105 LSM6DSL_INT2_PIN
nikapov 0:cad5dab2b21d 106 } LSM6DSL_Interrupt_Pin_t;
nikapov 0:cad5dab2b21d 107
nikapov 0:cad5dab2b21d 108 typedef struct
nikapov 0:cad5dab2b21d 109 {
nikapov 0:cad5dab2b21d 110 unsigned int FreeFallStatus : 1;
nikapov 0:cad5dab2b21d 111 unsigned int TapStatus : 1;
nikapov 0:cad5dab2b21d 112 unsigned int DoubleTapStatus : 1;
nikapov 0:cad5dab2b21d 113 unsigned int WakeUpStatus : 1;
nikapov 0:cad5dab2b21d 114 unsigned int StepStatus : 1;
nikapov 0:cad5dab2b21d 115 unsigned int TiltStatus : 1;
nikapov 0:cad5dab2b21d 116 unsigned int D6DOrientationStatus : 1;
nikapov 0:cad5dab2b21d 117 } LSM6DSL_Event_Status_t;
nikapov 0:cad5dab2b21d 118
nikapov 0:cad5dab2b21d 119 /* Class Declaration ---------------------------------------------------------*/
nikapov 0:cad5dab2b21d 120
nikapov 0:cad5dab2b21d 121 /**
nikapov 0:cad5dab2b21d 122 * Abstract class of an LSM6DSL Inertial Measurement Unit (IMU) 6 axes
nikapov 0:cad5dab2b21d 123 * sensor.
nikapov 0:cad5dab2b21d 124 */
nikapov 0:cad5dab2b21d 125 class LSM6DSLSensor : public MotionSensor, public GyroSensor
nikapov 0:cad5dab2b21d 126 {
nikapov 0:cad5dab2b21d 127 public:
nikapov 0:cad5dab2b21d 128 LSM6DSLSensor(DevI2C &i2c, PinName INT1_pin, PinName INT2_pin);
nikapov 0:cad5dab2b21d 129 LSM6DSLSensor(DevI2C &i2c, PinName INT1_pin, PinName INT2_pin, uint8_t address);
davide.aliprandi@st.com 6:671fd10a51b7 130 virtual int init(void *init);
davide.aliprandi@st.com 6:671fd10a51b7 131 virtual int read_id(uint8_t *id);
davide.aliprandi@st.com 6:671fd10a51b7 132 virtual int get_x_axes(int32_t *pData);
davide.aliprandi@st.com 6:671fd10a51b7 133 virtual int get_g_axes(int32_t *pData);
davide.aliprandi@st.com 6:671fd10a51b7 134 virtual int get_x_sensitivity(float *pfData);
davide.aliprandi@st.com 6:671fd10a51b7 135 virtual int get_g_sensitivity(float *pfData);
davide.aliprandi@st.com 6:671fd10a51b7 136 virtual int get_x_axesRaw(int16_t *pData);
davide.aliprandi@st.com 6:671fd10a51b7 137 virtual int get_g_axesRaw(int16_t *pData);
davide.aliprandi@st.com 6:671fd10a51b7 138 virtual int get_x_odr(float *odr);
davide.aliprandi@st.com 6:671fd10a51b7 139 virtual int get_g_odr(float *odr);
davide.aliprandi@st.com 6:671fd10a51b7 140 virtual int set_x_odr(float odr);
davide.aliprandi@st.com 6:671fd10a51b7 141 virtual int set_g_odr(float odr);
davide.aliprandi@st.com 6:671fd10a51b7 142 virtual int get_x_fs(float *fullScale);
davide.aliprandi@st.com 6:671fd10a51b7 143 virtual int get_g_fs(float *fullScale);
davide.aliprandi@st.com 6:671fd10a51b7 144 virtual int set_x_fs(float fullScale);
davide.aliprandi@st.com 6:671fd10a51b7 145 virtual int set_g_fs(float fullScale);
davide.aliprandi@st.com 6:671fd10a51b7 146 int enable_x(void);
davide.aliprandi@st.com 6:671fd10a51b7 147 int enable_g(void);
davide.aliprandi@st.com 6:671fd10a51b7 148 int disable_x(void);
davide.aliprandi@st.com 6:671fd10a51b7 149 int disable_g(void);
davide.aliprandi@st.com 6:671fd10a51b7 150 int enable_free_fall_detection(LSM6DSL_Interrupt_Pin_t pin = LSM6DSL_INT1_PIN);
davide.aliprandi@st.com 6:671fd10a51b7 151 int disable_free_fall_detection(void);
davide.aliprandi@st.com 6:671fd10a51b7 152 int set_free_fall_threshold(uint8_t thr);
davide.aliprandi@st.com 6:671fd10a51b7 153 int enable_pedometer(void);
davide.aliprandi@st.com 6:671fd10a51b7 154 int disable_pedometer(void);
davide.aliprandi@st.com 6:671fd10a51b7 155 int get_step_counter(uint16_t *step_count);
davide.aliprandi@st.com 6:671fd10a51b7 156 int reset_step_counter(void);
davide.aliprandi@st.com 6:671fd10a51b7 157 int set_pedometer_threshold(uint8_t thr);
davide.aliprandi@st.com 6:671fd10a51b7 158 int enable_tilt_detection(LSM6DSL_Interrupt_Pin_t pin = LSM6DSL_INT1_PIN);
davide.aliprandi@st.com 6:671fd10a51b7 159 int disable_tilt_detection(void);
davide.aliprandi@st.com 6:671fd10a51b7 160 int enable_wake_up_detection(LSM6DSL_Interrupt_Pin_t pin = LSM6DSL_INT2_PIN);
davide.aliprandi@st.com 6:671fd10a51b7 161 int disable_wake_up_detection(void);
davide.aliprandi@st.com 6:671fd10a51b7 162 int set_wake_up_threshold(uint8_t thr);
davide.aliprandi@st.com 6:671fd10a51b7 163 int enable_single_tap_detection(LSM6DSL_Interrupt_Pin_t pin = LSM6DSL_INT1_PIN);
davide.aliprandi@st.com 6:671fd10a51b7 164 int disable_single_tap_detection(void);
davide.aliprandi@st.com 6:671fd10a51b7 165 int enable_double_tap_detection(LSM6DSL_Interrupt_Pin_t pin = LSM6DSL_INT1_PIN);
davide.aliprandi@st.com 6:671fd10a51b7 166 int disable_double_tap_detection(void);
davide.aliprandi@st.com 6:671fd10a51b7 167 int set_tap_threshold(uint8_t thr);
davide.aliprandi@st.com 6:671fd10a51b7 168 int set_tap_shock_time(uint8_t time);
davide.aliprandi@st.com 6:671fd10a51b7 169 int set_tap_quiet_time(uint8_t time);
davide.aliprandi@st.com 6:671fd10a51b7 170 int set_tap_duration_time(uint8_t time);
davide.aliprandi@st.com 6:671fd10a51b7 171 int enable_6d_orientation(LSM6DSL_Interrupt_Pin_t pin = LSM6DSL_INT1_PIN);
davide.aliprandi@st.com 6:671fd10a51b7 172 int disable_6d_orientation(void);
davide.aliprandi@st.com 6:671fd10a51b7 173 int get_6d_orientation_xl(uint8_t *xl);
davide.aliprandi@st.com 6:671fd10a51b7 174 int get_6d_orientation_xh(uint8_t *xh);
davide.aliprandi@st.com 6:671fd10a51b7 175 int get_6d_orientation_yl(uint8_t *yl);
davide.aliprandi@st.com 6:671fd10a51b7 176 int get_6d_orientation_yh(uint8_t *yh);
davide.aliprandi@st.com 6:671fd10a51b7 177 int get_6d_orientation_zl(uint8_t *zl);
davide.aliprandi@st.com 6:671fd10a51b7 178 int get_6d_orientation_zh(uint8_t *zh);
davide.aliprandi@st.com 6:671fd10a51b7 179 int get_event_status(LSM6DSL_Event_Status_t *status);
davide.aliprandi@st.com 6:671fd10a51b7 180 int read_reg(uint8_t reg, uint8_t *data);
davide.aliprandi@st.com 6:671fd10a51b7 181 int write_reg(uint8_t reg, uint8_t data);
nikapov 0:cad5dab2b21d 182
nikapov 0:cad5dab2b21d 183 /**
nikapov 0:cad5dab2b21d 184 * @brief Attaching an interrupt handler to the INT1 interrupt.
nikapov 0:cad5dab2b21d 185 * @param fptr An interrupt handler.
nikapov 0:cad5dab2b21d 186 * @retval None.
nikapov 0:cad5dab2b21d 187 */
davide.aliprandi@st.com 6:671fd10a51b7 188 void attach_int1_irq(void (*fptr)(void))
nikapov 0:cad5dab2b21d 189 {
nikapov 0:cad5dab2b21d 190 INT1_irq.rise(fptr);
nikapov 0:cad5dab2b21d 191 }
nikapov 0:cad5dab2b21d 192
nikapov 0:cad5dab2b21d 193 /**
nikapov 0:cad5dab2b21d 194 * @brief Enabling the INT1 interrupt handling.
nikapov 0:cad5dab2b21d 195 * @param None.
nikapov 0:cad5dab2b21d 196 * @retval None.
nikapov 0:cad5dab2b21d 197 */
davide.aliprandi@st.com 6:671fd10a51b7 198 void enable_int1_irq(void)
nikapov 0:cad5dab2b21d 199 {
nikapov 0:cad5dab2b21d 200 INT1_irq.enable_irq();
nikapov 0:cad5dab2b21d 201 }
nikapov 0:cad5dab2b21d 202
nikapov 0:cad5dab2b21d 203 /**
nikapov 0:cad5dab2b21d 204 * @brief Disabling the INT1 interrupt handling.
nikapov 0:cad5dab2b21d 205 * @param None.
nikapov 0:cad5dab2b21d 206 * @retval None.
nikapov 0:cad5dab2b21d 207 */
davide.aliprandi@st.com 6:671fd10a51b7 208 void disable_int1_irq(void)
nikapov 0:cad5dab2b21d 209 {
nikapov 0:cad5dab2b21d 210 INT1_irq.disable_irq();
nikapov 0:cad5dab2b21d 211 }
nikapov 0:cad5dab2b21d 212
nikapov 0:cad5dab2b21d 213 /**
nikapov 0:cad5dab2b21d 214 * @brief Attaching an interrupt handler to the INT2 interrupt.
nikapov 0:cad5dab2b21d 215 * @param fptr An interrupt handler.
nikapov 0:cad5dab2b21d 216 * @retval None.
nikapov 0:cad5dab2b21d 217 */
davide.aliprandi@st.com 6:671fd10a51b7 218 void attach_int2_irq(void (*fptr)(void))
nikapov 0:cad5dab2b21d 219 {
nikapov 0:cad5dab2b21d 220 INT2_irq.rise(fptr);
nikapov 0:cad5dab2b21d 221 }
nikapov 0:cad5dab2b21d 222
nikapov 0:cad5dab2b21d 223 /**
nikapov 0:cad5dab2b21d 224 * @brief Enabling the INT2 interrupt handling.
nikapov 0:cad5dab2b21d 225 * @param None.
nikapov 0:cad5dab2b21d 226 * @retval None.
nikapov 0:cad5dab2b21d 227 */
davide.aliprandi@st.com 6:671fd10a51b7 228 void enable_int2_irq(void)
nikapov 0:cad5dab2b21d 229 {
nikapov 0:cad5dab2b21d 230 INT2_irq.enable_irq();
nikapov 0:cad5dab2b21d 231 }
nikapov 0:cad5dab2b21d 232
nikapov 0:cad5dab2b21d 233 /**
nikapov 0:cad5dab2b21d 234 * @brief Disabling the INT2 interrupt handling.
nikapov 0:cad5dab2b21d 235 * @param None.
nikapov 0:cad5dab2b21d 236 * @retval None.
nikapov 0:cad5dab2b21d 237 */
davide.aliprandi@st.com 6:671fd10a51b7 238 void disable_int2_irq(void)
nikapov 0:cad5dab2b21d 239 {
nikapov 0:cad5dab2b21d 240 INT2_irq.disable_irq();
nikapov 0:cad5dab2b21d 241 }
nikapov 0:cad5dab2b21d 242
nikapov 0:cad5dab2b21d 243 /**
nikapov 0:cad5dab2b21d 244 * @brief Utility function to read data.
nikapov 0:cad5dab2b21d 245 * @param pBuffer: pointer to data to be read.
nikapov 0:cad5dab2b21d 246 * @param RegisterAddr: specifies internal address register to be read.
nikapov 0:cad5dab2b21d 247 * @param NumByteToRead: number of bytes to be read.
nikapov 0:cad5dab2b21d 248 * @retval 0 if ok, an error code otherwise.
nikapov 0:cad5dab2b21d 249 */
davide.aliprandi@st.com 6:671fd10a51b7 250 uint8_t io_read(uint8_t* pBuffer, uint8_t RegisterAddr, uint16_t NumByteToRead)
nikapov 0:cad5dab2b21d 251 {
nikapov 0:cad5dab2b21d 252 return (uint8_t) dev_i2c.i2c_read(pBuffer, address, RegisterAddr, NumByteToRead);
nikapov 0:cad5dab2b21d 253 }
nikapov 0:cad5dab2b21d 254
nikapov 0:cad5dab2b21d 255 /**
nikapov 0:cad5dab2b21d 256 * @brief Utility function to write data.
nikapov 0:cad5dab2b21d 257 * @param pBuffer: pointer to data to be written.
nikapov 0:cad5dab2b21d 258 * @param RegisterAddr: specifies internal address register to be written.
nikapov 0:cad5dab2b21d 259 * @param NumByteToWrite: number of bytes to write.
nikapov 0:cad5dab2b21d 260 * @retval 0 if ok, an error code otherwise.
nikapov 0:cad5dab2b21d 261 */
davide.aliprandi@st.com 6:671fd10a51b7 262 uint8_t io_write(uint8_t* pBuffer, uint8_t RegisterAddr, uint16_t NumByteToWrite)
nikapov 0:cad5dab2b21d 263 {
nikapov 0:cad5dab2b21d 264 return (uint8_t) dev_i2c.i2c_write(pBuffer, address, RegisterAddr, NumByteToWrite);
nikapov 0:cad5dab2b21d 265 }
nikapov 0:cad5dab2b21d 266
nikapov 0:cad5dab2b21d 267 private:
davide.aliprandi@st.com 6:671fd10a51b7 268 int set_x_odr_when_enabled(float odr);
davide.aliprandi@st.com 6:671fd10a51b7 269 int set_g_odr_when_enabled(float odr);
davide.aliprandi@st.com 6:671fd10a51b7 270 int set_x_odr_when_disabled(float odr);
davide.aliprandi@st.com 6:671fd10a51b7 271 int set_g_odr_when_disabled(float odr);
nikapov 0:cad5dab2b21d 272
nikapov 0:cad5dab2b21d 273 /* Helper classes. */
nikapov 0:cad5dab2b21d 274 DevI2C &dev_i2c;
nikapov 0:cad5dab2b21d 275
nikapov 0:cad5dab2b21d 276 InterruptIn INT1_irq;
nikapov 0:cad5dab2b21d 277 InterruptIn INT2_irq;
nikapov 0:cad5dab2b21d 278
nikapov 0:cad5dab2b21d 279 /* Configuration */
nikapov 0:cad5dab2b21d 280 uint8_t address;
nikapov 0:cad5dab2b21d 281
nikapov 0:cad5dab2b21d 282 uint8_t X_isEnabled;
nikapov 0:cad5dab2b21d 283 float X_Last_ODR;
nikapov 0:cad5dab2b21d 284 uint8_t G_isEnabled;
nikapov 0:cad5dab2b21d 285 float G_Last_ODR;
nikapov 0:cad5dab2b21d 286 };
nikapov 0:cad5dab2b21d 287
nikapov 0:cad5dab2b21d 288 #ifdef __cplusplus
nikapov 0:cad5dab2b21d 289 extern "C" {
nikapov 0:cad5dab2b21d 290 #endif
davide.aliprandi@st.com 6:671fd10a51b7 291 uint8_t LSM6DSL_io_write( void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite );
davide.aliprandi@st.com 6:671fd10a51b7 292 uint8_t LSM6DSL_io_read( void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead );
nikapov 0:cad5dab2b21d 293 #ifdef __cplusplus
nikapov 0:cad5dab2b21d 294 }
nikapov 0:cad5dab2b21d 295 #endif
nikapov 0:cad5dab2b21d 296
nikapov 0:cad5dab2b21d 297 #endif