qiutao zhang
/
X_NUCLEO_IKS01A1
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X_NUCLEO_IKS01A1
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Revision 52:54553fd15b50, committed 2015-06-10
- Comitter:
- Wolfgang Betz
- Date:
- Wed Jun 10 16:44:54 2015 +0200
- Parent:
- 50:f507d4465c31
- Child:
- 53:b5b1a3f7388c
- Child:
- 54:2a676c734b30
- Commit message:
- Enable free fall detection
Changed in this revision
--- a/Components/lsm6ds3/lsm6ds3_class.h Mon Jun 08 18:04:19 2015 +0200
+++ b/Components/lsm6ds3/lsm6ds3_class.h Wed Jun 10 16:44:54 2015 +0200
@@ -53,7 +53,8 @@
/** Constructor
* @param i2c device I2C to be used for communication
*/
- LSM6DS3(DevI2C &i2c) : GyroSensor(), MotionSensor(), dev_i2c(i2c) {
+ LSM6DS3(DevI2C &i2c, PinName irq_pin) : GyroSensor(), MotionSensor(),
+ dev_i2c(i2c), free_fall(irq_pin) {
}
/** Destructor
@@ -137,6 +138,27 @@
IMU_6AXES_StatusTypeDef Get_Status_Free_Fall_Detection(uint8_t *status) {
return LSM6DS3_Get_Status_Free_Fall_Detection(status);
}
+
+ /** Attach a function to call when a free fall is detected
+ *
+ * @param fptr A pointer to a void function, or 0 to set as none
+ */
+ void Attach_Free_Fall_Detection_IRQ(void (*fptr)(void)) {
+ free_fall.mode(PullNone); /* be precise about pin mode */
+ free_fall.rise(fptr);
+ }
+
+ /** Enable Free Fall IRQ
+ */
+ void Enable_Free_Fall_Detection_IRQ(void) {
+ free_fall.enable_irq();
+ }
+
+ /** Disable free Fall IRQ
+ */
+ void Disable_Free_Fall_Detection_IRQ(void) {
+ free_fall.disable_irq();
+ }
protected:
/*** Methods ***/
@@ -171,7 +193,7 @@
*/
void LSM6DS3_IO_ITConfig(void)
{
- /* To be implemented */
+ /* done in constructor */
}
/**
@@ -227,6 +249,9 @@
/*** Instance Variables ***/
/* IO Device */
DevI2C &dev_i2c;
+
+ /* Free Fall Detection IRQ */
+ InterruptIn free_fall;
};
#endif // __LSM6DS3_CLASS_H
--- a/x_nucleo_iks01a1.cpp Mon Jun 08 18:04:19 2015 +0200
+++ b/x_nucleo_iks01a1.cpp Wed Jun 10 16:44:54 2015 +0200
@@ -52,7 +52,7 @@
magnetometer(new LIS3MDL(*dev_i2c)),
pressure_sensor(new LPS25H(*dev_i2c)),
gyro_lsm6ds0(new LSM6DS0(*dev_i2c)),
- gyro_lsm6ds3(new LSM6DS3(*dev_i2c))
+ gyro_lsm6ds3(new LSM6DS3(*dev_i2c, IKS01A1_PIN_FF))
{
}
--- a/x_nucleo_iks01a1_targets.h Mon Jun 08 18:04:19 2015 +0200 +++ b/x_nucleo_iks01a1_targets.h Wed Jun 10 16:44:54 2015 +0200 @@ -46,4 +46,7 @@ #define IKS01A1_PIN_I2C_SCL (D15) #define IKS01A1_PIN_I2C_SDA (D14) +/* Free Fall Detection IRQ */ +#define IKS01A1_PIN_FF (A2) + #endif // _X_NUCLEO_IKS01A1_TARGETS_H_