Diff: Components/lsm6ds0/lsm6ds0_class.cpp

Revision:

7:a2bb3d5e12e9

Child:

24:92cc9c6e4b2b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/lsm6ds0/lsm6ds0_class.cpp	Wed Apr 15 14:08:20 2015 +0200
@@ -0,0 +1,400 @@
+/**
+ ******************************************************************************
+ * @file    lsm6ds0_class.cpp
+ * @author  AST / EST
+ * @version V0.0.1
+ * @date    14-April-2015
+ * @brief   Implementation file for the LSM6DS0 driver class
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>&copy; COPYRIGHT(c) 2015 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.
+ *
+ ******************************************************************************
+*/
+
+/* Includes ------------------------------------------------------------------*/
+#include "mbed.h"
+#include "lsm6ds0_class.h"
+#include "lsm6ds0.h"
+#include "../../x_nucleo_iks01a1_targets.h"
+
+/* Methods -------------------------------------------------------------------*/
+/* betzw - based on:
+           X-CUBE-MEMS1/trunk/Drivers/BSP/Components/lsm6ds0/lsm6ds0.c: revision #184,
+           X-CUBE-MEMS1/trunk: revision #293
+*/
+/**
+ * @brief  Set LSM6DS0 Initialization
+ * @param  LSM6DS0_Init the configuration setting for the LSM6DS0
+ * @retval IMU_6AXES_OK in case of success, an error code otherwise
+ */
+IMU_6AXES_StatusTypeDef LSM6DS0::LSM6DS0_Init(IMU_6AXES_InitTypeDef *LSM6DS0_Init)
+{
+    uint8_t tmp1 = 0x00;
+
+    /* Configure the low level interface ---------------------------------------*/
+    if(LSM6DS0_IO_Init() != IMU_6AXES_OK)
+    {
+      return IMU_6AXES_ERROR;
+    }
+
+    /******* Gyroscope init *******/
+
+    if(LSM6DS0_IO_Read(&tmp1, LSM6DS0_XG_CTRL_REG1_G, 1) != IMU_6AXES_OK)
+    {
+      return IMU_6AXES_ERROR;
+    }
+
+    /* Output Data Rate selection */
+    tmp1 &= ~(LSM6DS0_G_ODR_MASK);
+    tmp1 |= LSM6DS0_Init->G_OutputDataRate;
+
+    /* Full scale selection */
+    tmp1 &= ~(LSM6DS0_G_FS_MASK);
+    tmp1 |= LSM6DS0_Init->G_FullScale;
+
+    if(LSM6DS0_IO_Write(&tmp1, LSM6DS0_XG_CTRL_REG1_G, 1) != IMU_6AXES_OK)
+    {
+      return IMU_6AXES_ERROR;
+    }
+
+    if(LSM6DS0_IO_Read(&tmp1, LSM6DS0_XG_CTRL_REG4, 1) != IMU_6AXES_OK)
+    {
+      return IMU_6AXES_ERROR;
+    }
+
+    /* Enable X axis selection */
+    tmp1 &= ~(LSM6DS0_G_XEN_MASK);
+    tmp1 |= LSM6DS0_Init->G_X_Axis;
+
+    /* Enable Y axis selection */
+    tmp1 &= ~(LSM6DS0_G_YEN_MASK);
+    tmp1 |= LSM6DS0_Init->G_Y_Axis;
+
+    /* Enable Z axis selection */
+    tmp1 &= ~(LSM6DS0_G_ZEN_MASK);
+    tmp1 |= LSM6DS0_Init->G_Z_Axis;
+
+    if(LSM6DS0_IO_Write(&tmp1, LSM6DS0_XG_CTRL_REG4, 1) != IMU_6AXES_OK)
+    {
+      return IMU_6AXES_ERROR;
+    }
+
+    /******************************/
+
+    /***** Accelerometer init *****/
+
+    if(LSM6DS0_IO_Read(&tmp1, LSM6DS0_XG_CTRL_REG6_XL, 1) != IMU_6AXES_OK)
+    {
+      return IMU_6AXES_ERROR;
+    }
+
+    /* Output Data Rate selection */
+    tmp1 &= ~(LSM6DS0_XL_ODR_MASK);
+    tmp1 |= LSM6DS0_Init->X_OutputDataRate;
+
+    /* Full scale selection */
+    tmp1 &= ~(LSM6DS0_XL_FS_MASK);
+    tmp1 |= LSM6DS0_Init->X_FullScale;
+
+    if(LSM6DS0_IO_Write(&tmp1, LSM6DS0_XG_CTRL_REG6_XL, 1) != IMU_6AXES_OK)
+    {
+      return IMU_6AXES_ERROR;
+    }
+
+    if(LSM6DS0_IO_Read(&tmp1, LSM6DS0_XG_CTRL_REG5_XL, 1) != IMU_6AXES_OK)
+    {
+      return IMU_6AXES_ERROR;
+    }
+
+    /* Enable X axis selection */
+    tmp1 &= ~(LSM6DS0_XL_XEN_MASK);
+    tmp1 |= LSM6DS0_Init->X_X_Axis;
+
+    /* Enable Y axis selection */
+    tmp1 &= ~(LSM6DS0_XL_YEN_MASK);
+    tmp1 |= LSM6DS0_Init->X_Y_Axis;
+
+    /* Enable Z axis selection */
+    tmp1 &= ~(LSM6DS0_XL_ZEN_MASK);
+    tmp1 |= LSM6DS0_Init->X_Z_Axis;
+
+    if(LSM6DS0_IO_Write(&tmp1, LSM6DS0_XG_CTRL_REG5_XL, 1) != IMU_6AXES_OK)
+    {
+      return IMU_6AXES_ERROR;
+    }
+    
+    /* Configure interrupt lines */
+    LSM6DS0_IO_ITConfig();
+    
+    return IMU_6AXES_OK;
+
+    /******************************/
+}
+
+
+/**
+ * @brief  Read ID of LSM6DS0 Accelerometer and Gyroscope
+ * @param  xg_id the pointer where the ID of the device is stored
+ * @retval IMU_6AXES_OK in case of success, an error code otherwise
+ */
+IMU_6AXES_StatusTypeDef LSM6DS0::LSM6DS0_Read_XG_ID(uint8_t *xg_id)
+{
+    if(!xg_id)
+    { 
+      return IMU_6AXES_ERROR; 
+    }
+ 
+    return LSM6DS0_IO_Read(xg_id, LSM6DS0_XG_WHO_AM_I_ADDR, 1);
+}
+
+
+/**
+ * @brief  Read raw data from LSM6DS0 Accelerometer output register
+ * @param  pData the pointer where the accelerometer raw data are stored
+ * @retval IMU_6AXES_OK in case of success, an error code otherwise
+ */
+IMU_6AXES_StatusTypeDef LSM6DS0::LSM6DS0_X_GetAxesRaw(int16_t *pData)
+{
+    uint8_t tempReg[2] = {0,0};
+
+    if(LSM6DS0_IO_Read(&tempReg[0], (LSM6DS0_XG_OUT_X_L_XL | LSM6DS0_I2C_MULTIPLEBYTE_CMD), 2) != IMU_6AXES_OK)
+    {
+      return IMU_6AXES_ERROR;
+    }
+
+    pData[0] = ((((int16_t)tempReg[1]) << 8)+(int16_t)tempReg[0]);
+
+    if(LSM6DS0_IO_Read(&tempReg[0], (LSM6DS0_XG_OUT_Y_L_XL | LSM6DS0_I2C_MULTIPLEBYTE_CMD), 2) != IMU_6AXES_OK)
+    {
+      return IMU_6AXES_ERROR;
+    }
+
+    pData[1] = ((((int16_t)tempReg[1]) << 8)+(int16_t)tempReg[0]);
+
+    if(LSM6DS0_IO_Read(&tempReg[0], (LSM6DS0_XG_OUT_Z_L_XL | LSM6DS0_I2C_MULTIPLEBYTE_CMD), 2) != IMU_6AXES_OK)
+    {
+      return IMU_6AXES_ERROR;
+    }
+
+    pData[2] = ((((int16_t)tempReg[1]) << 8)+(int16_t)tempReg[0]);
+    
+    return IMU_6AXES_OK;
+}
+
+
+/**
+ * @brief  Read data from LSM6DS0 Accelerometer and calculate linear acceleration in mg
+ * @param  pData the pointer where the accelerometer data are stored
+ * @retval IMU_6AXES_OK in case of success, an error code otherwise
+ */
+IMU_6AXES_StatusTypeDef LSM6DS0::LSM6DS0_X_GetAxes(int32_t *pData)
+{
+    uint8_t tempReg = 0x00;
+    int16_t pDataRaw[3];
+    float sensitivity = 0;
+
+    if(LSM6DS0_X_GetAxesRaw(pDataRaw) != IMU_6AXES_OK)
+    {
+      return IMU_6AXES_ERROR;
+    }
+
+    if(LSM6DS0_IO_Read(&tempReg, LSM6DS0_XG_CTRL_REG6_XL, 1) != IMU_6AXES_OK)
+    {
+      return IMU_6AXES_ERROR;
+    }
+
+    tempReg &= LSM6DS0_XL_FS_MASK;
+
+    switch(tempReg)
+    {
+      case LSM6DS0_XL_FS_2G:
+        sensitivity = 0.061;
+        break;
+      case LSM6DS0_XL_FS_4G:
+        sensitivity = 0.122;
+        break;
+      case LSM6DS0_XL_FS_8G:
+        sensitivity = 0.244;
+        break;
+    }
+
+    pData[0] = (int32_t)(pDataRaw[0] * sensitivity);
+    pData[1] = (int32_t)(pDataRaw[1] * sensitivity);
+    pData[2] = (int32_t)(pDataRaw[2] * sensitivity);
+    
+    return IMU_6AXES_OK;
+}
+
+
+/**
+ * @brief  Read raw data from LSM6DS0 Gyroscope output register
+ * @param  pData the pointer where the gyroscope raw data are stored
+ * @retval IMU_6AXES_OK in case of success, an error code otherwise
+ */
+IMU_6AXES_StatusTypeDef LSM6DS0::LSM6DS0_G_GetAxesRaw(int16_t *pData)
+{
+    uint8_t tempReg[2] = {0,0};
+
+    if(LSM6DS0_IO_Read(&tempReg[0], (LSM6DS0_XG_OUT_X_L_G | LSM6DS0_I2C_MULTIPLEBYTE_CMD), 2) != IMU_6AXES_OK)
+    {
+      return IMU_6AXES_ERROR;
+    }
+
+    pData[0] = ((((int16_t)tempReg[1]) << 8)+(int16_t)tempReg[0]);
+
+    if(LSM6DS0_IO_Read(&tempReg[0], (LSM6DS0_XG_OUT_Y_L_G | LSM6DS0_I2C_MULTIPLEBYTE_CMD), 2) != IMU_6AXES_OK)
+    {
+      return IMU_6AXES_ERROR;
+    }
+
+    pData[1] = ((((int16_t)tempReg[1]) << 8)+(int16_t)tempReg[0]);
+
+    if(LSM6DS0_IO_Read(&tempReg[0], (LSM6DS0_XG_OUT_Z_L_G | LSM6DS0_I2C_MULTIPLEBYTE_CMD), 2) != IMU_6AXES_OK)
+    {
+      return IMU_6AXES_ERROR;
+    }
+
+    pData[2] = ((((int16_t)tempReg[1]) << 8)+(int16_t)tempReg[0]);
+    
+    return IMU_6AXES_OK;
+}
+
+
+/**
+ * @brief  Read data from LSM6DS0 Gyroscope and calculate angular rate in mdps
+ * @param  pData the pointer where the gyroscope data are stored
+ * @retval IMU_6AXES_OK in case of success, an error code otherwise
+ */
+IMU_6AXES_StatusTypeDef LSM6DS0::LSM6DS0_G_GetAxes(int32_t *pData)
+{
+    uint8_t tempReg = 0x00;
+    int16_t pDataRaw[3];
+    float sensitivity = 0;
+
+    if(LSM6DS0_G_GetAxesRaw(pDataRaw) != IMU_6AXES_OK)
+    {
+      return IMU_6AXES_ERROR;
+    }
+
+    if(LSM6DS0_IO_Read(&tempReg, LSM6DS0_XG_CTRL_REG1_G, 1) != IMU_6AXES_OK)
+    {
+      return IMU_6AXES_ERROR;
+    }
+
+    tempReg &= LSM6DS0_G_FS_MASK;
+
+    switch(tempReg)
+    {
+      case LSM6DS0_G_FS_245:
+        sensitivity = 8.75;
+        break;
+      case LSM6DS0_G_FS_500:
+        sensitivity = 17.50;
+        break;
+      case LSM6DS0_G_FS_2000:
+        sensitivity = 70;
+        break;
+    }
+
+    pData[0] = (int32_t)(pDataRaw[0] * sensitivity);
+    pData[1] = (int32_t)(pDataRaw[1] * sensitivity);
+    pData[2] = (int32_t)(pDataRaw[2] * sensitivity);
+    
+    return IMU_6AXES_OK;
+}
+
+/**
+ * @brief  Read Accelero Sensitivity
+ * @param  pfData the pointer where the accelerometer sensitivity is stored
+ * @retval IMU_6AXES_OK in case of success, an error code otherwise
+ */
+IMU_6AXES_StatusTypeDef LSM6DS0::LSM6DS0_X_GetSensitivity( float *pfData )
+{
+    /*Here we have to add the check if the parameters are valid*/
+    uint8_t tempReg = 0x00;
+    
+    if(LSM6DS0_IO_Read( &tempReg, LSM6DS0_XG_CTRL_REG6_XL, 1 ) != IMU_6AXES_OK)
+    {
+      return IMU_6AXES_ERROR;
+    }
+    
+    tempReg &= LSM6DS0_XL_FS_MASK;
+    
+    switch( tempReg )
+    {
+      case LSM6DS0_XL_FS_2G:
+        *pfData = 0.061;
+        break;
+      case LSM6DS0_XL_FS_4G:
+        *pfData = 0.122;
+        break;
+      case LSM6DS0_XL_FS_8G:
+        *pfData = 0.244;
+        break;
+      default:
+        break;
+    }
+    
+    return IMU_6AXES_OK;
+}
+
+
+
+/**
+ * @brief  Read Gyro Sensitivity
+ * @param  pfData the pointer where the gyroscope sensitivity is stored
+ * @retval IMU_6AXES_OK in case of success, an error code otherwise
+*/
+IMU_6AXES_StatusTypeDef LSM6DS0::LSM6DS0_G_GetSensitivity( float *pfData )
+{
+    /*Here we have to add the check if the parameters are valid*/
+    uint8_t tempReg = 0x00;
+    
+    if(LSM6DS0_IO_Read( &tempReg, LSM6DS0_XG_CTRL_REG1_G, 1 ) != IMU_6AXES_OK)
+    {
+      return IMU_6AXES_ERROR;
+    }
+    
+    tempReg &= LSM6DS0_G_FS_MASK;
+    
+    switch( tempReg )
+    {
+      case LSM6DS0_G_FS_245:
+        *pfData = 8.75;
+        break;
+      case LSM6DS0_G_FS_500:
+        *pfData = 17.50;
+        break;
+      case LSM6DS0_G_FS_2000:
+        *pfData = 70;
+        break;
+      default:
+        break;
+    }
+    
+    return IMU_6AXES_OK;
+}