Diff: Components/lsm6ds3/lsm6ds3_class.h

Revision:

44:d757094f6229

Child:

46:badcff0675e8

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/lsm6ds3/lsm6ds3_class.h	Mon Jun 08 15:36:36 2015 +0200
@@ -0,0 +1,232 @@
+/**
+ ******************************************************************************
+ * @file    lsm6ds3_class.h
+ * @author  AST / EST
+ * @version V0.0.1
+ * @date    14-April-2015
+ * @brief   Header file for component LSM6DS3
+ ******************************************************************************
+ * @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.
+ *
+ ******************************************************************************
+*/
+
+#ifndef __LSM6DS3_CLASS_H
+#define __LSM6DS3_CLASS_H
+
+/* Includes ------------------------------------------------------------------*/
+#include "mbed.h"
+#include "DevI2C.h"
+#include "../Interfaces/GyroSensor.h"
+#include "../Interfaces/MotionSensor.h"
+#include "lsm6ds3.h"
+
+/* Classes -------------------------------------------------------------------*/
+/** Class representing a LSM6DS3 sensor component
+ */
+class LSM6DS3 : public GyroSensor, public MotionSensor {
+ public:
+	/** Constructor
+	 * @param i2c device I2C to be used for communication
+	 */
+        LSM6DS3(DevI2C &i2c) : GyroSensor(), MotionSensor(), dev_i2c(i2c) {
+	}
+	
+	/** Destructor
+	 */
+        virtual ~LSM6DS3() {}
+	
+	/*** Interface Methods ***/
+	virtual int Init(void *init_struct) {
+		return LSM6DS3_Init((IMU_6AXES_InitTypeDef*)init_struct);
+	}
+
+	virtual int ReadID(uint8_t *xg_id) {
+		return LSM6DS3_Read_XG_ID(xg_id);
+	}
+
+	virtual int Get_X_Axes(int32_t *pData) {
+		return LSM6DS3_X_GetAxes(pData);
+	}
+
+	virtual int Get_X_AxesRaw(int16_t *pData) {
+		return LSM6DS3_X_GetAxesRaw(pData);
+	}
+
+	virtual int Get_G_Axes(int32_t *pData) {
+		return LSM6DS3_G_GetAxes(pData);
+	}
+
+	virtual int Get_G_AxesRaw(int16_t *pData) {
+		return LSM6DS3_G_GetAxesRaw(pData);
+	}
+
+	virtual int Get_X_ODR(float *odr) {
+		return LSM6DS3_X_Get_ODR(odr);
+	}
+
+	virtual int Set_X_ODR(float odr) {
+		return LSM6DS3_X_Set_ODR(odr);
+	}
+
+	virtual int Get_X_Sensitivity(float *pfData) {
+		return LSM6DS3_X_GetSensitivity(pfData);
+	}
+
+	virtual int Get_X_FS(float *fullScale) {
+		return LSM6DS3_X_Get_FS(fullScale);
+	}
+
+	virtual int Set_X_FS(float fullScale) {
+		return LSM6DS3_X_Set_FS(fullScale);
+	}
+
+	virtual int Get_G_ODR(float *odr) {
+		return LSM6DS3_G_Get_ODR(odr);
+	}
+
+	virtual int Set_G_ODR(float odr) {
+		return LSM6DS3_G_Set_ODR(odr);
+	}
+
+	virtual int Get_G_Sensitivity(float *pfData) {
+		return LSM6DS3_G_GetSensitivity(pfData);
+	}
+
+	virtual int Get_G_FS(float *fullScale) {
+		return LSM6DS3_G_Get_FS(fullScale);
+	}
+
+	virtual int Set_G_FS(float fullScale) {
+		return LSM6DS3_G_Set_FS(fullScale);
+	}
+
+	/* Additional Public Methods */
+	IMU_6AXES_StatusTypeDef Enable_Free_Fall_Detection(void) {
+		return LSM6DS3_Enable_Free_Fall_Detection();
+	}
+
+	IMU_6AXES_StatusTypeDef Disable_Free_Fall_Detection(void) {
+		return LSM6DS3_Disable_Free_Fall_Detection();
+	}
+
+	IMU_6AXES_StatusTypeDef Get_Status_Free_Fall_Detection(uint8_t *status) {
+		return LSM6DS3_Get_Status_Free_Fall_Detection(status);
+	}
+
+ protected:
+	/*** Methods ***/
+	IMU_6AXES_StatusTypeDef LSM6DS3_Init(IMU_6AXES_InitTypeDef *LSM6DS3_Init);
+	IMU_6AXES_StatusTypeDef LSM6DS3_Read_XG_ID(uint8_t *xg_id);
+	IMU_6AXES_StatusTypeDef LSM6DS3_X_GetAxes(int32_t *pData);
+	IMU_6AXES_StatusTypeDef LSM6DS3_X_GetAxesRaw(int16_t *pData);
+	IMU_6AXES_StatusTypeDef LSM6DS3_G_GetAxes(int32_t *pData);
+	IMU_6AXES_StatusTypeDef LSM6DS3_G_GetAxesRaw(int16_t *pData);
+	IMU_6AXES_StatusTypeDef LSM6DS3_X_Get_ODR( float *odr );
+	IMU_6AXES_StatusTypeDef LSM6DS3_X_Set_ODR( float odr );
+	IMU_6AXES_StatusTypeDef LSM6DS3_X_GetSensitivity( float *pfData );
+	IMU_6AXES_StatusTypeDef LSM6DS3_X_Get_FS( float *fullScale );
+	IMU_6AXES_StatusTypeDef LSM6DS3_X_Set_FS( float fullScale );
+	IMU_6AXES_StatusTypeDef LSM6DS3_G_Get_ODR( float *odr );
+	IMU_6AXES_StatusTypeDef LSM6DS3_G_Set_ODR( float odr );
+	IMU_6AXES_StatusTypeDef LSM6DS3_G_GetSensitivity( float *pfData );
+	IMU_6AXES_StatusTypeDef LSM6DS3_G_Get_FS( float *fullScale );
+	IMU_6AXES_StatusTypeDef LSM6DS3_G_Set_FS( float fullScale );
+	IMU_6AXES_StatusTypeDef LSM6DS3_Enable_Free_Fall_Detection( void );
+	IMU_6AXES_StatusTypeDef LSM6DS3_Disable_Free_Fall_Detection( void );
+	IMU_6AXES_StatusTypeDef LSM6DS3_Get_Status_Free_Fall_Detection( uint8_t *status );
+
+	IMU_6AXES_StatusTypeDef LSM6DS3_Common_Sensor_Enable(void);
+	IMU_6AXES_StatusTypeDef LSM6DS3_X_Set_Axes_Status(uint8_t enableX, uint8_t enableY, uint8_t enableZ);
+	IMU_6AXES_StatusTypeDef LSM6DS3_G_Set_Axes_Status(uint8_t enableX, uint8_t enableY, uint8_t enableZ);
+
+	/**
+	 * @brief  Configures LSM6DS3 interrupt lines for NUCLEO boards
+	 * @param  None
+	 * @retval None
+	 */
+	void LSM6DS3_IO_ITConfig(void)
+	{
+		/* To be implemented */
+	}
+
+	/**
+	 * @brief  Configures LSM6DS3 I2C interface
+	 * @param  None
+	 * @retval IMU_6AXES_OK in case of success, an error code otherwise
+	 */
+	IMU_6AXES_StatusTypeDef LSM6DS3_IO_Init(void)
+	{
+		return IMU_6AXES_OK; /* done in constructor */
+	}
+
+	/**
+	 * @brief utility function to read data from STC3115
+	 * @param  pBuffer: pointer to data to be read.
+	 * @param  RegisterAddr: specifies internal address register to read from.
+	 * @param  NumByteToRead: number of bytes to be read.
+	 * @retval IMU_6AXES_OK if ok, IMU_6AXES_ERROR if an I2C error has occured
+	 */
+	IMU_6AXES_StatusTypeDef LSM6DS3_IO_Read(uint8_t* pBuffer, 
+					      uint8_t RegisterAddr, uint16_t NumByteToRead)
+	{
+		int ret = dev_i2c.i2c_read(pBuffer,
+					   LSM6DS3_XG_MEMS_ADDRESS,
+					   RegisterAddr,
+					   NumByteToRead);
+		if(ret != 0) {
+			return IMU_6AXES_ERROR;
+		}
+		return IMU_6AXES_OK;
+	}
+	
+	/**
+	 * @brief utility function to write data to STC3115
+	 * @param  pBuffer: pointer to buffer to be filled.
+	 * @param  RegisterAddr: specifies internal address register to read from.
+	 * @param  NumByteToWrite: number of bytes to write.
+	 * @retval 0 if ok, -1 if an I2C error has occured
+	 */
+	IMU_6AXES_StatusTypeDef LSM6DS3_IO_Write(uint8_t* pBuffer, 
+					       uint8_t RegisterAddr, uint16_t NumByteToWrite)
+	{
+		int ret = dev_i2c.i2c_write(pBuffer,
+					    LSM6DS3_XG_MEMS_ADDRESS,
+					    RegisterAddr,
+					    NumByteToWrite);
+		if(ret != 0) {
+			return IMU_6AXES_ERROR;
+		}
+		return IMU_6AXES_OK;
+	}
+	
+	/*** Instance Variables ***/
+	/* IO Device */
+	DevI2C &dev_i2c;
+};
+
+#endif // __LSM6DS3_CLASS_H