Emilio Salomone
Beta
Dependencies: ST_INTERFACES X_NUCLEO_COMMON
Fork of
X_NUCLEO_IKS01A2
by 
ST
Diff: Components/LSM6DSLSensor/LSM6DSLSensor.h
- Revision:
- 0:cad5dab2b21d
- Child:
- 1:bd2a01e81e6f
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/LSM6DSLSensor/LSM6DSLSensor.h Mon Nov 28 13:16:22 2016 +0000
@@ -0,0 +1,303 @@
+/**
+ ******************************************************************************
+ * @file LSM6DSLSensor.h
+ * @author AST
+ * @version V1.0.0
+ * @date 5 August 2016
+ * @brief Abstract Class of an LSM6DSL Inertial Measurement Unit (IMU) 6 axes
+ * sensor.
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ * 3. Neither the name of STMicroelectronics nor the names of its contributors
+ * may be used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+ */
+
+
+/* Prevent recursive inclusion -----------------------------------------------*/
+
+#ifndef __LSM6DSLSensor_H__
+#define __LSM6DSLSensor_H__
+
+
+/* Includes ------------------------------------------------------------------*/
+
+#include "DevI2C.h"
+#include "LSM6DSL_ACC_GYRO_driver.h"
+#include "MotionSensor.h"
+#include "GyroSensor.h"
+
+/* Defines -------------------------------------------------------------------*/
+
+#define LSM6DSL_ACC_SENSITIVITY_FOR_FS_2G 0.061 /**< Sensitivity value for 2 g full scale [mg/LSB] */
+#define LSM6DSL_ACC_SENSITIVITY_FOR_FS_4G 0.122 /**< Sensitivity value for 4 g full scale [mg/LSB] */
+#define LSM6DSL_ACC_SENSITIVITY_FOR_FS_8G 0.244 /**< Sensitivity value for 8 g full scale [mg/LSB] */
+#define LSM6DSL_ACC_SENSITIVITY_FOR_FS_16G 0.488 /**< Sensitivity value for 16 g full scale [mg/LSB] */
+
+#define LSM6DSL_GYRO_SENSITIVITY_FOR_FS_125DPS 04.375 /**< Sensitivity value for 125 dps full scale [mdps/LSB] */
+#define LSM6DSL_GYRO_SENSITIVITY_FOR_FS_245DPS 08.750 /**< Sensitivity value for 245 dps full scale [mdps/LSB] */
+#define LSM6DSL_GYRO_SENSITIVITY_FOR_FS_500DPS 17.500 /**< Sensitivity value for 500 dps full scale [mdps/LSB] */
+#define LSM6DSL_GYRO_SENSITIVITY_FOR_FS_1000DPS 35.000 /**< Sensitivity value for 1000 dps full scale [mdps/LSB] */
+#define LSM6DSL_GYRO_SENSITIVITY_FOR_FS_2000DPS 70.000 /**< Sensitivity value for 2000 dps full scale [mdps/LSB] */
+
+#define LSM6DSL_PEDOMETER_THRESHOLD_LOW 0x00 /**< Lowest value of pedometer threshold */
+#define LSM6DSL_PEDOMETER_THRESHOLD_MID_LOW 0x07
+#define LSM6DSL_PEDOMETER_THRESHOLD_MID 0x0F
+#define LSM6DSL_PEDOMETER_THRESHOLD_MID_HIGH 0x17
+#define LSM6DSL_PEDOMETER_THRESHOLD_HIGH 0x1F /**< Highest value of pedometer threshold */
+
+#define LSM6DSL_WAKE_UP_THRESHOLD_LOW 0x01 /**< Lowest value of wake up threshold */
+#define LSM6DSL_WAKE_UP_THRESHOLD_MID_LOW 0x0F
+#define LSM6DSL_WAKE_UP_THRESHOLD_MID 0x1F
+#define LSM6DSL_WAKE_UP_THRESHOLD_MID_HIGH 0x2F
+#define LSM6DSL_WAKE_UP_THRESHOLD_HIGH 0x3F /**< Highest value of wake up threshold */
+
+#define LSM6DSL_TAP_THRESHOLD_LOW 0x01 /**< Lowest value of wake up threshold */
+#define LSM6DSL_TAP_THRESHOLD_MID_LOW 0x08
+#define LSM6DSL_TAP_THRESHOLD_MID 0x10
+#define LSM6DSL_TAP_THRESHOLD_MID_HIGH 0x18
+#define LSM6DSL_TAP_THRESHOLD_HIGH 0x1F /**< Highest value of wake up threshold */
+
+#define LSM6DSL_TAP_SHOCK_TIME_LOW 0x00 /**< Lowest value of wake up threshold */
+#define LSM6DSL_TAP_SHOCK_TIME_MID_LOW 0x01
+#define LSM6DSL_TAP_SHOCK_TIME_MID_HIGH 0x02
+#define LSM6DSL_TAP_SHOCK_TIME_HIGH 0x03 /**< Highest value of wake up threshold */
+
+#define LSM6DSL_TAP_QUIET_TIME_LOW 0x00 /**< Lowest value of wake up threshold */
+#define LSM6DSL_TAP_QUIET_TIME_MID_LOW 0x01
+#define LSM6DSL_TAP_QUIET_TIME_MID_HIGH 0x02
+#define LSM6DSL_TAP_QUIET_TIME_HIGH 0x03 /**< Highest value of wake up threshold */
+
+#define LSM6DSL_TAP_DURATION_TIME_LOW 0x00 /**< Lowest value of wake up threshold */
+#define LSM6DSL_TAP_DURATION_TIME_MID_LOW 0x04
+#define LSM6DSL_TAP_DURATION_TIME_MID 0x08
+#define LSM6DSL_TAP_DURATION_TIME_MID_HIGH 0x0C
+#define LSM6DSL_TAP_DURATION_TIME_HIGH 0x0F /**< Highest value of wake up threshold */
+
+/* Typedefs ------------------------------------------------------------------*/
+
+typedef enum
+{
+ LSM6DSL_INT1_PIN,
+ LSM6DSL_INT2_PIN
+} LSM6DSL_Interrupt_Pin_t;
+
+typedef struct
+{
+ unsigned int FreeFallStatus : 1;
+ unsigned int TapStatus : 1;
+ unsigned int DoubleTapStatus : 1;
+ unsigned int WakeUpStatus : 1;
+ unsigned int StepStatus : 1;
+ unsigned int TiltStatus : 1;
+ unsigned int D6DOrientationStatus : 1;
+} LSM6DSL_Event_Status_t;
+
+/* Class Declaration ---------------------------------------------------------*/
+
+/**
+ * Abstract class of an LSM6DSL Inertial Measurement Unit (IMU) 6 axes
+ * sensor.
+ */
+class LSM6DSLSensor : public MotionSensor, public GyroSensor
+{
+ public:
+ LSM6DSLSensor(DevI2C &i2c, PinName INT1_pin, PinName INT2_pin);
+ LSM6DSLSensor(DevI2C &i2c, PinName INT1_pin, PinName INT2_pin, uint8_t address);
+ virtual int Init(void *init);
+ virtual int ReadID(uint8_t *id);
+ virtual int Get_X_Axes(int32_t *pData);
+ virtual int Get_G_Axes(int32_t *pData);
+ virtual int Get_X_Sensitivity(float *pfData);
+ virtual int Get_G_Sensitivity(float *pfData);
+ virtual int Get_X_AxesRaw(int16_t *pData);
+ virtual int Get_G_AxesRaw(int16_t *pData);
+ virtual int Get_X_ODR(float *odr);
+ virtual int Get_G_ODR(float *odr);
+ virtual int Set_X_ODR(float odr);
+ virtual int Set_G_ODR(float odr);
+ virtual int Get_X_FS(float *fullScale);
+ virtual int Get_G_FS(float *fullScale);
+ virtual int Set_X_FS(float fullScale);
+ virtual int Set_G_FS(float fullScale);
+ int Enable_X(void);
+ int Enable_G(void);
+ int Disable_X(void);
+ int Disable_G(void);
+ int Enable_Free_Fall_Detection(void);
+ int Enable_Free_Fall_Detection(LSM6DSL_Interrupt_Pin_t pin);
+ int Disable_Free_Fall_Detection(void);
+ int Set_Free_Fall_Threshold(uint8_t thr);
+ int Enable_Pedometer(void);
+ int Disable_Pedometer(void);
+ int Get_Step_Counter(uint16_t *step_count);
+ int Reset_Step_Counter(void);
+ int Set_Pedometer_Threshold(uint8_t thr);
+ int Enable_Tilt_Detection(void);
+ int Enable_Tilt_Detection(LSM6DSL_Interrupt_Pin_t pin);
+ int Disable_Tilt_Detection(void);
+ int Enable_Wake_Up_Detection(void);
+ int Enable_Wake_Up_Detection(LSM6DSL_Interrupt_Pin_t pin);
+ int Disable_Wake_Up_Detection(void);
+ int Set_Wake_Up_Threshold(uint8_t thr);
+ int Enable_Single_Tap_Detection(void);
+ int Enable_Single_Tap_Detection(LSM6DSL_Interrupt_Pin_t pin);
+ int Disable_Single_Tap_Detection(void);
+ int Enable_Double_Tap_Detection(void);
+ int Enable_Double_Tap_Detection(LSM6DSL_Interrupt_Pin_t pin);
+ int Disable_Double_Tap_Detection(void);
+ int Set_Tap_Threshold(uint8_t thr);
+ int Set_Tap_Shock_Time(uint8_t time);
+ int Set_Tap_Quiet_Time(uint8_t time);
+ int Set_Tap_Duration_Time(uint8_t time);
+ int Enable_6D_Orientation(void);
+ int Enable_6D_Orientation(LSM6DSL_Interrupt_Pin_t pin);
+ int Disable_6D_Orientation(void);
+ int Get_6D_Orientation_XL(uint8_t *xl);
+ int Get_6D_Orientation_XH(uint8_t *xh);
+ int Get_6D_Orientation_YL(uint8_t *yl);
+ int Get_6D_Orientation_YH(uint8_t *yh);
+ int Get_6D_Orientation_ZL(uint8_t *zl);
+ int Get_6D_Orientation_ZH(uint8_t *zh);
+ int Get_Event_Status(LSM6DSL_Event_Status_t *status);
+ int ReadReg(uint8_t reg, uint8_t *data);
+ int WriteReg(uint8_t reg, uint8_t data);
+
+ /**
+ * @brief Attaching an interrupt handler to the INT1 interrupt.
+ * @param fptr An interrupt handler.
+ * @retval None.
+ */
+ void AttachINT1IRQ(void (*fptr)(void))
+ {
+ INT1_irq.rise(fptr);
+ }
+
+ /**
+ * @brief Enabling the INT1 interrupt handling.
+ * @param None.
+ * @retval None.
+ */
+ void EnableINT1IRQ(void)
+ {
+ INT1_irq.enable_irq();
+ }
+
+ /**
+ * @brief Disabling the INT1 interrupt handling.
+ * @param None.
+ * @retval None.
+ */
+ void DisableINT1IRQ(void)
+ {
+ INT1_irq.disable_irq();
+ }
+
+ /**
+ * @brief Attaching an interrupt handler to the INT2 interrupt.
+ * @param fptr An interrupt handler.
+ * @retval None.
+ */
+ void AttachINT2IRQ(void (*fptr)(void))
+ {
+ INT2_irq.rise(fptr);
+ }
+
+ /**
+ * @brief Enabling the INT2 interrupt handling.
+ * @param None.
+ * @retval None.
+ */
+ void EnableINT2IRQ(void)
+ {
+ INT2_irq.enable_irq();
+ }
+
+ /**
+ * @brief Disabling the INT2 interrupt handling.
+ * @param None.
+ * @retval None.
+ */
+ void DisableINT2IRQ(void)
+ {
+ INT2_irq.disable_irq();
+ }
+
+ /**
+ * @brief Utility function to read data.
+ * @param pBuffer: pointer to data to be read.
+ * @param RegisterAddr: specifies internal address register to be read.
+ * @param NumByteToRead: number of bytes to be read.
+ * @retval 0 if ok, an error code otherwise.
+ */
+ uint8_t IO_Read(uint8_t* pBuffer, uint8_t RegisterAddr, uint16_t NumByteToRead)
+ {
+ return (uint8_t) dev_i2c.i2c_read(pBuffer, address, RegisterAddr, NumByteToRead);
+ }
+
+ /**
+ * @brief Utility function to write data.
+ * @param pBuffer: pointer to data to be written.
+ * @param RegisterAddr: specifies internal address register to be written.
+ * @param NumByteToWrite: number of bytes to write.
+ * @retval 0 if ok, an error code otherwise.
+ */
+ uint8_t IO_Write(uint8_t* pBuffer, uint8_t RegisterAddr, uint16_t NumByteToWrite)
+ {
+ return (uint8_t) dev_i2c.i2c_write(pBuffer, address, RegisterAddr, NumByteToWrite);
+ }
+
+ private:
+ int Set_X_ODR_When_Enabled(float odr);
+ int Set_G_ODR_When_Enabled(float odr);
+ int Set_X_ODR_When_Disabled(float odr);
+ int Set_G_ODR_When_Disabled(float odr);
+
+ /* Helper classes. */
+ DevI2C &dev_i2c;
+
+ InterruptIn INT1_irq;
+ InterruptIn INT2_irq;
+
+ /* Configuration */
+ uint8_t address;
+
+ uint8_t X_isEnabled;
+ float X_Last_ODR;
+ uint8_t G_isEnabled;
+ float G_Last_ODR;
+};
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+uint8_t LSM6DSL_IO_Write( void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite );
+uint8_t LSM6DSL_IO_Read( void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead );
+#ifdef __cplusplus
+ }
+#endif
+
+#endif