Shih-Ho Hsieh
/
XYZ_sensor_Platform_SPI
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Fork of
XYZ_sensor_Platform
by 
Shih-Ho Hsieh
Revision 15:db753c75e53f, committed 2018-08-03
- Comitter:
- hober
- Date:
- Fri Aug 03 01:32:16 2018 +0000
- Parent:
- 14:1363e4b2fbac
- Commit message:
- Change AltIMU_10_v5 to magring board, and change transmit interface from I2C to SPI.
Changed in this revision
--- a/AltIMU_10_v5/ST_INTERFACES/Common/Component.h Mon Jul 02 07:41:35 2018 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,81 +0,0 @@
-/**
- ******************************************************************************
- * @file Component.h
- * @author AST
- * @version V1.0.0
- * @date April 13th, 2015
- * @brief This file contains the abstract class describing the interface of a
- * generic component.
- ******************************************************************************
- * @attention
- *
- * <h2><center>© 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.
- *
- ******************************************************************************
- */
-
-
-/* Define to prevent recursive inclusion -------------------------------------*/
-
-#ifndef __COMPONENT_CLASS_H
-#define __COMPONENT_CLASS_H
-
-
-/* Includes ------------------------------------------------------------------*/
-
-#include <stdint.h>
-
-
-/* Classes ------------------------------------------------------------------*/
-
-/**
- * An abstract class for Generic components.
- */
-class Component {
-public:
-
- /**
- * @brief Initializing the component.
- * @param[in] init pointer to device specific initalization structure.
- * @retval "0" in case of success, an error code otherwise.
- */
- virtual int init(void *init) = 0;
-
- /**
- * @brief Getting the ID of the component.
- * @param[out] id pointer to an allocated variable to store the ID into.
- * @retval "0" in case of success, an error code otherwise.
- */
- virtual int read_id(uint8_t *id) = 0;
-
- /**
- * @brief Destructor.
- */
- virtual ~Component() {};
-};
-
-#endif /* __COMPONENT_CLASS_H */
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
--- a/AltIMU_10_v5/ST_INTERFACES/Sensors/GyroSensor.h Mon Jul 02 07:41:35 2018 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,126 +0,0 @@
-/**
- ******************************************************************************
- * @file GyroSensor.h
- * @author AST / EST
- * @version V0.0.1
- * @date 13-April-2015
- * @brief This file contains the abstract class describing in general
- * the interfaces of a gyroscope
- ******************************************************************************
- * @attention
- *
- * <h2><center>© 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.
- *
- ******************************************************************************
- */
-
-
-/* Define to prevent from recursive inclusion --------------------------------*/
-
-#ifndef __GYRO_SENSOR_CLASS_H
-#define __GYRO_SENSOR_CLASS_H
-
-
-/* Includes ------------------------------------------------------------------*/
-
-#include <Component.h>
-
-
-/* Classes ------------------------------------------------------------------*/
-
-/**
- * An abstract class for a Gyroscope
- */
-class GyroSensor : public Component {
-public:
-
- /**
- * @brief Get current gyroscope angular rate X/Y/Z-axes values
- * in standard data units [mdps]
- * @param[out] p_data Pointer to where to store angular rates to.
- * p_data must point to an array of (at least) three elements, where:
- * p_data[0] corresponds to X-axis,
- * p_data[1] corresponds to Y-axis, and
- * p_data[2] corresponds to Z-axis.
- * @return 0 in case of success, an error code otherwise
- */
- virtual int get_g_axes(int32_t *p_data) = 0;
-
- /**
- * @brief Get current gyroscope raw data X/Y/Z-axes values
- * in device sepcific LSB units
- * @param[out] p_data Pointer to where to store gyroscope raw data to.
- * p_data must point to an array of (at least) three elements, where:
- * p_data[0] corresponds to X-axis,
- * p_data[1] corresponds to Y-axis, and
- * p_data[2] corresponds to Z-axis.
- * @return 0 in case of success, an error code otherwise
- */
- virtual int get_g_axes_raw(int16_t *p_data) = 0;
-
- /**
- * @brief Get gyroscope's current sensitivity [mdps/LSB]
- * @param[out] pf_data Pointer to where the gyroscope's sensitivity is stored to
- * @return 0 in case of success, an error code otherwise
- */
- virtual int get_g_sensitivity(float *pf_data) = 0;
-
- /**
- * @brief Get gyroscope's current output data rate [Hz]
- * @param[out] pf_data Pointer to where the gyroscope output data rate is stored to
- * @return 0 in case of success, an error code otherwise
- */
- virtual int get_g_odr(float *pf_data) = 0;
-
- /**
- * @brief Set gyroscope's output data rate
- * @param[in] odr New value for gyroscope's output data rate in [Hz]
- * @return 0 in case of success, an error code otherwise
- */
- virtual int set_g_odr(float odr) = 0;
-
- /**
- * @brief Get gyroscope's full scale value
- * i.e.\ min/max measurable value [dps]
- * @param[out] pf_data Pointer to where the gyroscope full scale value is stored to
- * @return 0 in case of success, an error code otherwise
- */
- virtual int get_g_fs(float *pf_data) = 0;
-
- /**
- * @brief Set gyroscope's full scale value
- * i.e.\ min/max measurable value
- * @param[in] fs New full scale value for gyroscope in [dps]
- * @return 0 in case of success, an error code otherwise
- */
- virtual int set_g_fs(float fs) = 0;
-
- /**
- * @brief Destructor.
- */
- virtual ~GyroSensor() {};
-};
-
-#endif /* __GYRO_SENSOR_CLASS_H */
--- a/AltIMU_10_v5/ST_INTERFACES/Sensors/HumiditySensor.h Mon Jul 02 07:41:35 2018 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,72 +0,0 @@
-/**
- ******************************************************************************
- * @file HumiditySensor.h
- * @author AST / EST
- * @version V0.0.1
- * @date 13-April-2015
- * @brief This file contains the abstract class describing in general
- * the interfaces of a humidity sensor
- ******************************************************************************
- * @attention
- *
- * <h2><center>© 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.
- *
- ******************************************************************************
- */
-
-
-/* Define to prevent from recursive inclusion --------------------------------*/
-
-#ifndef __HUMIDITY_SENSOR_CLASS_H
-#define __HUMIDITY_SENSOR_CLASS_H
-
-
-/* Includes ------------------------------------------------------------------*/
-
-#include <Component.h>
-
-
-/* Classes ------------------------------------------------------------------*/
-
-/**
- * An abstract class for Humidity sensors
- */
-class HumiditySensor : public Component {
-public:
-
- /**
- * @brief Get current humidity [%]
- * @param[out] pf_data Pointer to where to store humidity to
- * @return 0 in case of success, an error code otherwise
- */
- virtual int get_humidity(float *pf_data) = 0;
-
- /**
- * @brief Destructor.
- */
- virtual ~HumiditySensor() {};
-};
-
-#endif /* __HUMIDITY_SENSOR_CLASS_H */
--- a/AltIMU_10_v5/ST_INTERFACES/Sensors/LightSensor.h Mon Jul 02 07:41:35 2018 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,72 +0,0 @@
-/**
- ******************************************************************************
- * @file LightSensor.h
- * @author AST / EST
- * @version V0.0.1
- * @date 13-April-2015
- * @brief This file contains the abstract class describing in general
- * the interfaces of an ambient light sensor (ALS)
- ******************************************************************************
- * @attention
- *
- * <h2><center>© 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.
- *
- ******************************************************************************
- */
-
-
-/* Define to prevent from recursive inclusion --------------------------------*/
-
-#ifndef __LIGHT_SENSOR_CLASS_H
-#define __LIGHT_SENSOR_CLASS_H
-
-
-/* Includes ------------------------------------------------------------------*/
-
-#include <Component.h>
-
-
-/* Classes ------------------------------------------------------------------*/
-
-/**
- * An abstract class for ambient light sensors
- */
-class LightSensor : public Component {
-public:
-
- /**
- * @brief Get current light [lux]
- * @param[out] pi_data Pointer to where to store light to
- * @return 0 in case of success, an error code otherwise
- */
- virtual int get_lux(uint32_t *pi_data) = 0;
-
- /**
- * @brief Destructor.
- */
- virtual ~LightSensor() {};
-};
-
-#endif /* __LIGHT_SENSOR_CLASS_H */
--- a/AltIMU_10_v5/ST_INTERFACES/Sensors/MagneticSensor.h Mon Jul 02 07:41:35 2018 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,89 +0,0 @@
-/**
- ******************************************************************************
- * @file MagneticSensor.h
- * @author AST / EST
- * @version V0.0.1
- * @date 13-April-2015
- * @brief This file contains the abstract class describing in general
- * the interfaces of a magnetometer
- ******************************************************************************
- * @attention
- *
- * <h2><center>© 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.
- *
- ******************************************************************************
- */
-
-
-/* Define to prevent from recursive inclusion --------------------------------*/
-
-#ifndef __MAGNETIC_SENSOR_CLASS_H
-#define __MAGNETIC_SENSOR_CLASS_H
-
-
-/* Includes ------------------------------------------------------------------*/
-
-#include <Component.h>
-
-
-/* Classes ------------------------------------------------------------------*/
-
-/**
- * An abstract class for a magnetometer
- */
-class MagneticSensor : public Component {
-public:
-
- /**
- * @brief Get current magnetometer magnetic X/Y/Z-axes values
- * in standard data units [mgauss]
- * @param[out] p_data Pointer to where to store magnetic values to.
- * p_data must point to an array of (at least) three elements, where:
- * p_data[0] corresponds to X-axis,
- * p_data[1] corresponds to Y-axis, and
- * p_data[2] corresponds to Z-axis.
- * @return 0 in case of success, an error code otherwise
- */
- virtual int get_m_axes(int32_t *p_data) = 0;
-
- /**
- * @brief Get current magnetometer raw data X/Y/Z-axes values
- * in device sepcific LSB units
- * @param[out] p_data Pointer to where to store magnetometer raw data to.
- * p_data must point to an array of (at least) three elements, where:
- * p_data[0] corresponds to X-axis,
- * p_data[1] corresponds to Y-axis, and
- * p_data[2] corresponds to Z-axis.
- * @return 0 in case of success, an error code otherwise
- */
- virtual int get_m_axes_raw(int16_t *p_data) = 0;
-
- /**
- * @brief Destructor.
- */
- virtual ~MagneticSensor() {};
-};
-
-#endif /* __MAGNETIC_SENSOR_CLASS_H */
--- a/AltIMU_10_v5/ST_INTERFACES/Sensors/MotionSensor.h Mon Jul 02 07:41:35 2018 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,126 +0,0 @@
-/**
- ******************************************************************************
- * @file MotionSensor.h
- * @author AST / EST
- * @version V0.0.1
- * @date 13-April-2015
- * @brief This file contains the abstract class describing in general
- * the interfaces of an accelerometer
- ******************************************************************************
- * @attention
- *
- * <h2><center>© 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.
- *
- ******************************************************************************
- */
-
-
-/* Define to prevent from recursive inclusion --------------------------------*/
-
-#ifndef __MOTION_SENSOR_CLASS_H
-#define __MOTION_SENSOR_CLASS_H
-
-
-/* Includes ------------------------------------------------------------------*/
-
-#include <Component.h>
-
-
-/* Classes ------------------------------------------------------------------*/
-
-/**
- * An abstract class for an Accelerometer
- */
-class MotionSensor : public Component {
-public:
-
- /**
- * @brief Get current accelerometer linear acceleration X/Y/Z-axes values
- * in standard data units [mg]
- * @param[out] p_data Pointer to where to store linear accelerations to.
- * p_data must point to an array of (at least) three elements, where:
- * p_data[0] corresponds to X-axis,
- * p_data[1] corresponds to Y-axis, and
- * p_data[2] corresponds to Z-axis.
- * @return 0 in case of success, an error code otherwise
- */
- virtual int get_x_axes(int32_t *p_data) = 0;
-
- /**
- * @brief Get current accelerometer raw data X/Y/Z-axes values
- * in device sepcific LSB units
- * @param[out] p_data Pointer to where to store accelerometer raw data to.
- * p_data must point to an array of (at least) three elements, where:
- * p_data[0] corresponds to X-axis,
- * p_data[1] corresponds to Y-axis, and
- * p_data[2] corresponds to Z-axis.
- * @return 0 in case of success, an error code otherwise
- */
- virtual int get_x_axes_raw(int16_t *p_data) = 0;
-
- /**
- * @brief Get accelerometer's current sensitivity [mg/LSB]
- * @param[out] pf_data Pointer to where the accelerometer's sensitivity is stored to
- * @return 0 in case of success, an error code otherwise
- */
- virtual int get_x_sensitivity(float *pf_data) = 0;
-
- /**
- * @brief Get accelerometer's current output data rate [Hz]
- * @param[out] pf_data Pointer to where the accelerometer output data rate is stored to
- * @return 0 in case of success, an error code otherwise
- */
- virtual int get_x_odr(float *pf_data) = 0;
-
- /**
- * @brief Set accelerometer's output data rate
- * @param[in] odr New value for accelerometer's output data rate in [Hz]
- * @return 0 in case of success, an error code otherwise
- */
- virtual int set_x_odr(float odr) = 0;
-
- /**
- * @brief Get accelerometer's full scale value
- * i.e.\ min/max measurable value [g]
- * @param[out] pf_data Pointer to where the accelerometer full scale value is stored to
- * @return 0 in case of success, an error code otherwise
- */
- virtual int get_x_fs(float *pf_data) = 0;
-
- /**
- * @brief Set accelerometer's full scale value
- * i.e.\ min/max measurable value
- * @param[in] fs New full scale value for accelerometer in [g]
- * @return 0 in case of success, an error code otherwise
- */
- virtual int set_x_fs(float fs) = 0;
-
- /**
- * @brief Destructor.
- */
- virtual ~MotionSensor() {};
-};
-
-#endif /* __MOTION_SENSOR_CLASS_H */
--- a/AltIMU_10_v5/ST_INTERFACES/Sensors/PressureSensor.h Mon Jul 02 07:41:35 2018 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,72 +0,0 @@
-/**
- ******************************************************************************
- * @file PressureSensor.h
- * @author AST / EST
- * @version V0.0.1
- * @date 13-April-2015
- * @brief This file contains the abstract class describing in general
- * the interfaces of a pressure sensor
- ******************************************************************************
- * @attention
- *
- * <h2><center>© 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.
- *
- ******************************************************************************
- */
-
-
-/* Define to prevent from recursive inclusion --------------------------------*/
-
-#ifndef __PRESSURE_SENSOR_CLASS_H
-#define __PRESSURE_SENSOR_CLASS_H
-
-
-/* Includes ------------------------------------------------------------------*/
-
-#include <Component.h>
-
-
-/* Classes ------------------------------------------------------------------*/
-
-/**
- * An abstract class for a Pressure Sensor
- */
-class PressureSensor : public Component {
-public:
-
- /**
- * @brief Get current pressure [mbar]
- * @param[out] pf_data Pointer to where to store pressure to
- * @return 0 in case of success, an error code otherwise
- */
- virtual int get_pressure(float *pf_data) = 0;
-
- /**
- * @brief Destructor.
- */
- virtual ~PressureSensor() {};
-};
-
-#endif /* __PRESSURE_SENSOR_CLASS_H */
--- a/AltIMU_10_v5/ST_INTERFACES/Sensors/RangeSensor.h Mon Jul 02 07:41:35 2018 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,72 +0,0 @@
-/**
- ******************************************************************************
- * @file RangeSensor.h
- * @author AST / EST
- * @version V0.0.1
- * @date 13-April-2015
- * @brief This file contains the abstract class describing in general
- * the interfaces of a range sensor
- ******************************************************************************
- * @attention
- *
- * <h2><center>© 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.
- *
- ******************************************************************************
- */
-
-
-/* Define to prevent from recursive inclusion --------------------------------*/
-
-#ifndef __RANGE_SENSOR_CLASS_H
-#define __RANGE_SENSOR_CLASS_H
-
-
-/* Includes ------------------------------------------------------------------*/
-
-#include <Component.h>
-
-
-/* Classes ------------------------------------------------------------------*/
-
-/**
- * An abstract class for range sensors
- */
-class RangeSensor : public Component {
-public:
-
- /**
- * @brief Get current range [mm]
- * @param[out] pi_data Pointer to where to store range to
- * @return 0 in case of success, an error code otherwise
- */
- virtual int get_distance(uint32_t *pi_data) = 0;
-
- /**
- * @brief Destructor.
- */
- virtual ~RangeSensor() {};
-};
-
-#endif /* __RANGE_SENSOR_CLASS_H */
--- a/AltIMU_10_v5/ST_INTERFACES/Sensors/TempSensor.h Mon Jul 02 07:41:35 2018 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,91 +0,0 @@
-/**
- ******************************************************************************
- * @file TempSensor.h
- * @author AST / EST
- * @version V0.0.1
- * @date 13-April-2015
- * @brief This file contains the abstract class describing in general
- * the interfaces of a temperature sensor
- ******************************************************************************
- * @attention
- *
- * <h2><center>© 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.
- *
- ******************************************************************************
- */
-
-
-/* Define to prevent from recursive inclusion --------------------------------*/
-
-#ifndef __TEMP_SENSOR_CLASS_H
-#define __TEMP_SENSOR_CLASS_H
-
-
-/* Includes ------------------------------------------------------------------*/
-
-#include <Component.h>
-
-
-/* Classes ------------------------------------------------------------------*/
-
-/**
- * An abstract class for Temperature sensors
- */
-class TempSensor : public Component {
-public:
-
- /**
- * @brief Get current temperature in degrees Celsius [°C]
- * @param[out] pf_data Pointer to where to store temperature to
- * @return 0 in case of success, an error code otherwise
- */
- virtual int get_temperature(float *pf_data) = 0;
-
- /**
- * @brief Get current temperature in degrees Fahrenheit [°F]
- * @param[out] pf_data Pointer to where to store temperature to
- * @return 0 in case of success, an error code otherwise
- */
- virtual int get_fahrenheit(float *pf_data) {
- float celsius;
- int ret;
-
- ret = get_temperature(&celsius);
- if (ret) {
- return ret;
- }
-
- *pf_data = ((celsius * 1.8f) + 32.0f);
-
- return 0;
- }
-
- /**
- * @brief Destructor.
- */
- virtual ~TempSensor() {};
-};
-
-#endif /* __TEMP_SENSOR_CLASS_H */
--- a/AltIMU_10_v5/X_NUCLEO_COMMON/DevI2C/DevI2C.h Mon Jul 02 07:41:35 2018 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,122 +0,0 @@
-/**
- ******************************************************************************
- * @file DevI2C.h
- * @author AST / EST
- * @version V1.1.0
- * @date 21-January-2016
- * @brief Header file for a special I2C class DevI2C which provides some
- * helper function for on-board communication
- ******************************************************************************
- * @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.
- *
- ******************************************************************************
- */
-
-/* Define to prevent from recursive inclusion --------------------------------*/
-#ifndef __DEV_I2C_H
-#define __DEV_I2C_H
-
-/* Includes ------------------------------------------------------------------*/
-#include "mbed.h"
-#include "pinmap.h"
-
-/* Classes -------------------------------------------------------------------*/
-/** Helper class DevI2C providing functions for multi-register I2C communication
- * common for a series of I2C devices
- */
-class DevI2C : public I2C
-{
-public:
- /** Create a DevI2C Master interface, connected to the specified pins
- *
- * @param sda I2C data line pin
- * @param scl I2C clock line pin
- */
- DevI2C(PinName sda, PinName scl) : I2C(sda, scl) {}
-
- /**
- * @brief Writes a buffer towards the I2C peripheral device.
- * @param pBuffer pointer to the byte-array data to send
- * @param DeviceAddr specifies the peripheral device slave address.
- * @param RegisterAddr specifies the internal address register
- * where to start writing to (must be correctly masked).
- * @param NumByteToWrite number of bytes to be written.
- * @retval 0 if ok,
- * @retval -1 if an I2C error has occured, or
- * @retval -2 on temporary buffer overflow (i.e. NumByteToWrite was too high)
- * @note On some devices if NumByteToWrite is greater
- * than one, the RegisterAddr must be masked correctly!
- */
- int i2c_write(uint8_t* pBuffer, uint8_t DeviceAddr, uint8_t RegisterAddr,
- uint16_t NumByteToWrite) {
- int ret;
- uint8_t tmp[TEMP_BUF_SIZE];
-
- if(NumByteToWrite >= TEMP_BUF_SIZE) return -2;
-
- /* First, send device address. Then, send data and STOP condition */
- tmp[0] = RegisterAddr;
- memcpy(tmp+1, pBuffer, NumByteToWrite);
-
- ret = write(DeviceAddr, (const char*)tmp, NumByteToWrite+1, false);
-
- if(ret) return -1;
- return 0;
- }
-
- /**
- * @brief Reads a buffer from the I2C peripheral device.
- * @param pBuffer pointer to the byte-array to read data in to
- * @param DeviceAddr specifies the peripheral device slave address.
- * @param RegisterAddr specifies the internal address register
- * where to start reading from (must be correctly masked).
- * @param NumByteToRead number of bytes to be read.
- * @retval 0 if ok,
- * @retval -1 if an I2C error has occured
- * @note On some devices if NumByteToWrite is greater
- * than one, the RegisterAddr must be masked correctly!
- */
- int i2c_read(uint8_t* pBuffer, uint8_t DeviceAddr, uint8_t RegisterAddr,
- uint16_t NumByteToRead) {
- int ret;
-
- /* Send device address, with no STOP condition */
- ret = write(DeviceAddr, (const char*)&RegisterAddr, 1, true);
- if(!ret) {
- /* Read data, with STOP condition */
- ret = read(DeviceAddr, (char*)pBuffer, NumByteToRead, false);
- }
-
- if(ret) return -1;
- return 0;
- }
-
-private:
- static const unsigned int TEMP_BUF_SIZE = 32;
-};
-
-#endif /* __DEV_I2C_H */
--- a/AltIMU_10_v5/altimu_10_v5.cpp Mon Jul 02 07:41:35 2018 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,236 +0,0 @@
-/**
- ******************************************************************************
- * @file altimu_10_v5.cpp
- * @author AST / EST
- * @version V0.0.1
- * @date 08-October-2014
- * @brief Implementation file for the AltIMU_10_v5 singleton class
- ******************************************************************************
- * @attention
- *
- * <h2><center>© COPYRIGHT(c) 2014 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 "altimu_10_v5.h"
-
-/* Static variables ----------------------------------------------------------*/
-AltIMU_10_v5* AltIMU_10_v5::_instance = NULL;
-
-
-/* Methods -------------------------------------------------------------------*/
-/**
- * @brief Constructor
- */
-AltIMU_10_v5::AltIMU_10_v5(DevI2C *ext_i2c) : dev_i2c(ext_i2c),
- magnetometer(new LIS3MDL(*dev_i2c)),
- pt_sensor(new LPS25H(*dev_i2c)),
- gyro_lsm6ds33(new LSM6DS33(*dev_i2c))
-{
-}
-
-/**
- * @brief Get singleton instance
- * @return a pointer to the initialized singleton instance of class AltIMU_10_v5.
- * A return value of NULL indicates an out of memory situation.
- * @param[in] ext_i2c (optional) pointer to an instance of DevI2C to be used
- * for communication on the expansion board.
- * Defaults to NULL.
- * Taken into account only on the very first call of one of the 'Instance' functions.
- * If not provided a new DevI2C will be created with standard
- * configuration parameters.
- * The used DevI2C object gets saved in instance variable dev_i2c.
- * @param[in] ff_irq_pin (optional) PinName of the pin associated to asynchronous
- * (i.e. interrupt based) free fall detection in case a LSM6DS33 3D
- * Acceleromenter and 3D Gyroscope is mounted on top of the DIL 24-pin socket.
- * Defaults to F746ZG_PIN_FF.
- * Taken into account only on the very first call of one of the 'Instance' functions.
- * A value of 'NC' will avoid instantiation of the LSM6DS33 even if present.
- */
-AltIMU_10_v5* AltIMU_10_v5::Instance(DevI2C *ext_i2c) {
- if(_instance == NULL) {
- if(ext_i2c == NULL)
- ext_i2c = new DevI2C(F746ZG_PIN_I2C_SDA, F746ZG_PIN_I2C_SCL);
-
- if(ext_i2c != NULL)
- _instance = new AltIMU_10_v5(ext_i2c);
-
- if(_instance != NULL) {
- bool ret = _instance->Init();
- if(!ret) {
- error("Failed to init AltIMU_10_v5 expansion board!\n");
- }
- }
- }
-
- return _instance;
-}
-
-/**
- * @brief Get singleton instance
- * @return a pointer to the initialized singleton instance of class AltIMU_10_v5.
- * A return value of NULL indicates an out of memory situation.
- * @param[in] sda I2C data line pin.
- * Taken into account only on the very first call of one of the 'Instance' functions.
- * A new DevI2C will be created based on parameters 'sda' and 'scl'.
- * The used DevI2C object gets saved in instance variable dev_i2c.
- * @param[in] scl I2C clock line pin.
- * Taken into account only on the very first call of one of the 'Instance' functions.
- * A new DevI2C will be created based on parameters 'sda' and 'scl'.
- * The used DevI2C object gets saved in instance variable dev_i2c.
- * @param[in] ff_irq_pin (optional) PinName of the pin associated to asynchronous
- * (i.e. interrupt based) free fall detection in case a LSM6DS33 3D
- * Acceleromenter and 3D Gyroscope is mounted on top of the DIL 24-pin socket.
- * Defaults to NC.
- * Taken into account only on the very first call of one of the 'Instance' functions.
- * A value of 'NC' will avoid instantiation of the LSM6DS33 even if present.
- */
-AltIMU_10_v5* AltIMU_10_v5::Instance(PinName sda, PinName scl) {
- if(_instance == NULL) {
- DevI2C *ext_i2c = new DevI2C(sda, scl);
-
- if(ext_i2c != NULL)
- _instance = new AltIMU_10_v5(ext_i2c);
-
- if(_instance != NULL) {
- bool ret = _instance->Init();
- if(!ret) {
- error("Failed to init AltIMU_10_v5 expansion board!\n");
- }
- }
- }
-
- return _instance;
-}
-
-
-/**
- * @brief Initialize the singleton's magnetometer
- * @retval true if initialization successful,
- * @retval false otherwise
- */
-bool AltIMU_10_v5::Init_LIS3MDL(void) {
- uint8_t m_id = 0;
- MAGNETO_InitTypeDef InitStructure;
-
- /* Check presence */
- if((magnetometer->read_id(&m_id) != MAGNETO_OK) ||
- (m_id != I_AM_LIS3MDL_M))
- {
- delete magnetometer;
- magnetometer = NULL;
- return true;
- }
-
- /* Configure sensor */
- InitStructure.M_FullScale = 4.0f;
- InitStructure.M_OperatingMode = LIS3MDL_M_MD_CONTINUOUS;
- InitStructure.M_XYOperativeMode = LIS3MDL_M_OM_HP;
- InitStructure.M_OutputDataRate = 1000.0f;
-
- if(magnetometer->init(&InitStructure) != MAGNETO_OK)
- {
- return false;
- }
-
- return true;
-}
-
-/**
- * @brief Initialize the singleton's pressure sensor
- * @retval true if initialization successful,
- * @retval false otherwise
- */
-bool AltIMU_10_v5::Init_LPS25H(void) {
- uint8_t p_id = 0;
- PRESSURE_InitTypeDef InitStructure;
-
- /* Check presence */
- if((pt_sensor->read_id(&p_id) != PRESSURE_OK) ||
- (p_id != I_AM_LPS25H))
- {
- delete pt_sensor;
- pt_sensor = NULL;
- return true;
- }
-
- /* Configure sensor */
- InitStructure.OutputDataRate = LPS25H_ODR_1Hz;
- InitStructure.BlockDataUpdate = LPS25H_BDU_CONT;
- InitStructure.DiffEnable = LPS25H_DIFF_ENABLE;
- InitStructure.SPIMode = LPS25H_SPI_SIM_3W;
- InitStructure.PressureResolution = LPS25H_P_RES_AVG_32;
- InitStructure.TemperatureResolution = LPS25H_T_RES_AVG_16;
-
- if(pt_sensor->init(&InitStructure) != PRESSURE_OK)
- {
- return false;
- }
-
- return true;
-}
-
-/**
- * @brief Initialize the singleton's LSM6DS33 gyroscope
- * @retval true if initialization successful,
- * @retval false otherwise
- */
-bool AltIMU_10_v5::Init_LSM6DS33(void) {
- IMU_6AXES_InitTypeDef InitStructure;
- uint8_t xg_id = 0;
- bool status=true;
-
- /* Check presence */
- if((status=(gyro_lsm6ds33->read_id(&xg_id) != IMU_6AXES_OK)) ||
- (xg_id != I_AM_LSM6DS33_XG))
- {
- delete gyro_lsm6ds33;
- gyro_lsm6ds33 = NULL;
- return true;
- }
-
- /* Configure sensor */
- InitStructure.G_FullScale = 2000.0f; /* 2000DPS */
- InitStructure.G_OutputDataRate = 119.0f; /* 119HZ */
- InitStructure.G_X_Axis = 1; /* Enable */
- InitStructure.G_Y_Axis = 1; /* Enable */
- InitStructure.G_Z_Axis = 1; /* Enable */
-
- InitStructure.X_FullScale = 2.0f; /* 2G */
- InitStructure.X_OutputDataRate = 119.0f; /* 119HZ */
- InitStructure.X_X_Axis = 1; /* Enable */
- InitStructure.X_Y_Axis = 1; /* Enable */
- InitStructure.X_Z_Axis = 1; /* Enable */
-
- if(gyro_lsm6ds33->init(&InitStructure) != IMU_6AXES_OK)
- {
- return false;
- }
-
- return true;
-}
--- a/AltIMU_10_v5/altimu_10_v5.h Mon Jul 02 07:41:35 2018 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,126 +0,0 @@
-/**
- ******************************************************************************
- * @file altimu_10_v5.h
- * @author AST / EST
- * @version V0.0.1
- * @date 13-April-2015
- * @brief Header file for class AltIMU_10_v5 representing a AltIMU-10 v5
- * expansion board
- ******************************************************************************
- * @attention
- *
- * <h2><center>© 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.
- *
- ******************************************************************************
- */
-
-/* Define to prevent from recursive inclusion --------------------------------*/
-#ifndef __ALTIMU_10_V5_H
-#define __ALTIMU_10_V5_H
-
-/* Includes ------------------------------------------------------------------*/
-#include "mbed.h"
-#include "altimu_10_v5_targets.h"
-#include "lis3mdl/lis3mdl_class.h"
-#include "lps25h/lps25h_class.h"
-#include "lsm6ds33/lsm6ds33_class.h"
-#include "DevI2C.h"
-
-/* Macros -------------------------------------------------------------------*/
-#define CALL_METH(obj, meth, param, ret) ((obj == NULL) ? \
- ((*(param) = (ret)), 0) : \
- ((obj)->meth(param)) \
- )
-
-/* Classes -------------------------------------------------------------------*/
-/** Class AltIMU_10_v5 is intended to represent the MEMS Inertial & Environmental
- * Nucleo Expansion Board with the same name.
- *
- * The expansion board is featuring basically four IPs:\n
- * -# a HTS221 Relative Humidity and Temperature Sensor\n
- * -# a LIS3MDL 3-Axis Magnetometer\n
- * -# a LPS25H MEMS Pressure Sensor (and Temperature Sensor)\n
- * -# and a LSM6DS33 3D Acceleromenter and 3D Gyroscope\n
- *
- * The expansion board features also a DIL 24-pin socket which makes it possible
- * to add further MEMS adapters and other sensors (e.g. UV index).
- *
- * It is intentionally implemented as a singleton because only one
- * AltIMU_10_v5 at a time might be deployed in a HW component stack.\n
- * In order to get the singleton instance you have to call class method `Instance()`,
- * e.g.:
- * @code
- * // Inertial & Environmental expansion board singleton instance
- * static AltIMU_10_v5 *<TODO>_expansion_board = AltIMU_10_v5::Instance();
- * @endcode
- */
-class AltIMU_10_v5
-{
- protected:
- AltIMU_10_v5(DevI2C *ext_i2c);
-
- ~AltIMU_10_v5(void) {
- /* should never be called */
- error("Trial to delete AltIMU_10_v5 singleton!\n");
- }
-
- /**
- * @brief Initialize the singleton's sensors to default settings
- * @retval true if initialization successful,
- * @retval false otherwise
- */
- bool Init(void) {
- return (Init_LIS3MDL() &&
- Init_LPS25H() &&
- Init_LSM6DS33());
- }
-
- bool Init_LIS3MDL(void);
- bool Init_LPS25H(void);
- bool Init_LSM6DS33(void);
-
- public:
- static AltIMU_10_v5* Instance(DevI2C *ext_i2c = NULL);
- static AltIMU_10_v5* Instance(PinName sda, PinName scl);
-
- DevI2C *dev_i2c;
-
- LIS3MDL *magnetometer;
- LPS25H *pt_sensor;
-
- GyroSensor *GetGyroscope(void) {
- return gyro_lsm6ds33;
- }
- MotionSensor *GetAccelerometer(void) {
- return gyro_lsm6ds33;
- }
- void setI2cFrequency(int hz){ dev_i2c->frequency(hz); }
- LSM6DS33 *gyro_lsm6ds33;
-
- private:
- static AltIMU_10_v5 *_instance;
-};
-
-#endif /* __ALTIMU_10_V5_H */
--- a/AltIMU_10_v5/altimu_10_v5_targets.h Mon Jul 02 07:41:35 2018 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,49 +0,0 @@ -/** - ****************************************************************************** - * @file altimu_10_v5_targets.h - * @author AST / EST - * @version V0.0.1 - * @date 14-April-2015 - * @brief This header file is intended to manage the differences between - * the different supported base-boards which might mount the - * ALTIMU_10_V5 MEMS Inertial & Environmental Nucleo Expansion Board. - ****************************************************************************** - * @attention - * - * <h2><center>© 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. - * - ****************************************************************************** - */ - -/* Define to prevent from recursive inclusion --------------------------------*/ -#ifndef _ALTIMU_10_V5_TARGETS_H_ -#define _ALTIMU_10_V5_TARGETS_H_ - -/*** I2C ***/ -/* Use Arduino I2C Connectors */ -#define F746ZG_PIN_I2C_SDA (D14) -#define F746ZG_PIN_I2C_SCL (D15) - -#endif // _ALTIMU_10_V5_TARGETS_H_
--- a/AltIMU_10_v5/components/Common/hum_temp.h Mon Jul 02 07:41:35 2018 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,151 +0,0 @@
-/**
- ******************************************************************************
- * @file hum_temp.h
- * @author MEMS Application Team
- * @version V1.2.0
- * @date 28-January-2015
- * @brief This header file contains the functions prototypes for the
- * humidity and temperature driver.
- ******************************************************************************
- * @attention
- *
- * <h2><center>© 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.
- *
- ******************************************************************************
- */
-
-
-/* Define to prevent recursive inclusion -------------------------------------*/
-#ifndef __HUM_TEMP_H
-#define __HUM_TEMP_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/* Includes ------------------------------------------------------------------*/
-#include <stdint.h>
-
-/** @addtogroup BSP
- * @{
- */
-
-/** @addtogroup Components
- * @{
- */
-
-/** @addtogroup HUM_TEMP
- * @{
- */
-
-/** @defgroup HUM_TEMP_Exported_Types
- * @{
- */
-
-/**
- * @brief Humidity and temperature init structure definition
- */
-typedef struct
-{
- uint8_t Power_Mode; /* Power-down/Sleep/Normal Mode */
- uint8_t Data_Update_Mode; /* continuous update/output registers not updated until MSB and LSB reading*/
- uint8_t Reboot_Mode; /* Normal Mode/Reboot memory content */
- uint8_t Humidity_Resolutin; /* Humidity Resolution */
- uint8_t Temperature_Resolution; /* Temperature Resolution */
- uint8_t OutputDataRate; /* One-shot / 1Hz / 7 Hz / 12.5 Hz */
-} HUM_TEMP_InitTypeDef;
-
-/**
- * @brief Humidity and temperature status enumerator definition
- */
-typedef enum
-{
- HUM_TEMP_OK = 0,
- HUM_TEMP_ERROR = 1,
- HUM_TEMP_TIMEOUT = 2,
- HUM_TEMP_NOT_IMPLEMENTED = 3
-} HUM_TEMP_StatusTypeDef;
-
-/**
- * @brief Humidity and temperature component id enumerator definition
- */
-typedef enum
-{
- HUM_TEMP_NONE_COMPONENT = 0,
- HUM_TEMP_HTS221_COMPONENT = 1
-} HUM_TEMP_ComponentTypeDef;
-
-/**
- * @brief Humidity and temperature driver extended structure definition
- */
-typedef struct
-{
- HUM_TEMP_ComponentTypeDef
- id; /* This id must be unique for each component belonging to this class that wants to extend common class */
- void *pData; /* This pointer is specific for each component */
-} HUM_TEMP_DrvExtTypeDef;
-
-/**
- * @brief Humidity and temperature driver structure definition
- */
-typedef struct
-{
- HUM_TEMP_StatusTypeDef (*Init)(HUM_TEMP_InitTypeDef *);
- HUM_TEMP_StatusTypeDef (*PowerOFF)(void);
- HUM_TEMP_StatusTypeDef (*ReadID)(uint8_t *);
- HUM_TEMP_StatusTypeDef (*Reset)(void);
- void (*ConfigIT)(uint16_t);
- void (*EnableIT)(uint8_t);
- void (*DisableIT)(uint8_t);
- uint8_t (*ITStatus)(uint16_t, uint16_t);
- void (*ClearIT)(uint16_t, uint16_t);
- HUM_TEMP_StatusTypeDef (*GetHumidity)(float *);
- HUM_TEMP_StatusTypeDef (*GetTemperature)(float *);
- HUM_TEMP_DrvExtTypeDef *extData;
-} HUM_TEMP_DrvTypeDef;
-
-/**
- * @}
- */
-
-/**
- * @}
- */
-
-/**
- * @}
- */
-
-/**
- * @}
- */
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* __HUM_TEMP_H */
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
--- a/AltIMU_10_v5/components/Common/imu_6axes.h Mon Jul 02 07:41:35 2018 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,161 +0,0 @@
-/**
- ******************************************************************************
- * @file imu_6axes.h
- * @author MEMS Application Team
- * @version V1.2.0
- * @date 28-January-2015
- * @brief This header file contains the functions prototypes for the
- * accelerometer and gyroscope driver.
- ******************************************************************************
- * @attention
- *
- * <h2><center>© 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.
- *
- ******************************************************************************
- */
-
-
-/* Define to prevent recursive inclusion -------------------------------------*/
-#ifndef __IMU_6AXES_H
-#define __IMU_6AXES_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/* Includes ------------------------------------------------------------------*/
-#include <stdint.h>
-
-/** @addtogroup BSP
- * @{
- */
-
-/** @addtogroup Components
- * @{
- */
-
-/** @addtogroup IMU_6AXES
- * @{
- */
-
-/** @defgroup IMU_6AXES_Exported_Types
- * @{
- */
-
-/**
- * @brief IMU_6AXES init structure definition
- */
-typedef struct
-{
- float G_OutputDataRate;
- float G_FullScale;
- uint8_t G_X_Axis;
- uint8_t G_Y_Axis;
- uint8_t G_Z_Axis;
- float X_OutputDataRate;
- float X_FullScale;
- uint8_t X_X_Axis;
- uint8_t X_Y_Axis;
- uint8_t X_Z_Axis;
-} IMU_6AXES_InitTypeDef;
-
-/**
- * @brief IMU_6AXES status enumerator definition
- */
-typedef enum
-{
- IMU_6AXES_OK = 0,
- IMU_6AXES_ERROR = 1,
- IMU_6AXES_TIMEOUT = 2,
- IMU_6AXES_NOT_IMPLEMENTED = 3
-} IMU_6AXES_StatusTypeDef;
-
-/**
- * @brief IMU_6AXES component id enumerator definition
- */
-typedef enum
-{
- IMU_6AXES_NONE_COMPONENT = 0,
- IMU_6AXES_LSM6DS0_COMPONENT = 1,
- IMU_6AXES_LSM6DS3_DIL24_COMPONENT = 2
-} IMU_6AXES_ComponentTypeDef;
-
-/**
- * @brief IMU_6AXES driver extended structure definition
- */
-typedef struct
-{
- IMU_6AXES_ComponentTypeDef
- id; /* This id must be unique for each component belonging to this class that wants to extend common class */
- void *pData; /* This pointer is specific for each component */
-} IMU_6AXES_DrvExtTypeDef;
-
-/**
- * @brief IMU_6AXES driver structure definition
- */
-typedef struct
-{
- IMU_6AXES_StatusTypeDef (*Init)(IMU_6AXES_InitTypeDef *);
- IMU_6AXES_StatusTypeDef (*Read_XG_ID)(uint8_t *);
- IMU_6AXES_StatusTypeDef (*Get_X_Axes)(int32_t *);
- IMU_6AXES_StatusTypeDef (*Get_X_AxesRaw)(int16_t *);
- IMU_6AXES_StatusTypeDef (*Get_G_Axes)(int32_t *);
- IMU_6AXES_StatusTypeDef (*Get_G_AxesRaw)(int16_t *);
- IMU_6AXES_StatusTypeDef (*Get_X_ODR) (float *);
- IMU_6AXES_StatusTypeDef (*Set_X_ODR) (float);
- IMU_6AXES_StatusTypeDef (*Get_X_Sensitivity) (float *);
- IMU_6AXES_StatusTypeDef (*Get_X_FS) (float *);
- IMU_6AXES_StatusTypeDef (*Set_X_FS) (float);
- IMU_6AXES_StatusTypeDef (*Get_G_ODR) (float *);
- IMU_6AXES_StatusTypeDef (*Set_G_ODR) (float);
- IMU_6AXES_StatusTypeDef (*Get_G_Sensitivity) (float *);
- IMU_6AXES_StatusTypeDef (*Get_G_FS) (float *);
- IMU_6AXES_StatusTypeDef (*Set_G_FS) (float);
- IMU_6AXES_DrvExtTypeDef *extData;
-} IMU_6AXES_DrvTypeDef;
-
-/**
- * @}
- */
-
-/**
- * @}
- */
-
-/**
- * @}
- */
-
-/**
- * @}
- */
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* __IMU_6AXES_H */
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
--- a/AltIMU_10_v5/components/Common/magneto.h Mon Jul 02 07:41:35 2018 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,142 +0,0 @@
-/**
- ******************************************************************************
- * @file magneto.h
- * @author MEMS Application Team
- * @version V1.2.0
- * @date 28-January-2015
- * @brief This header file contains the functions prototypes for the
- * magneto driver.
- ******************************************************************************
- * @attention
- *
- * <h2><center>© 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.
- *
- ******************************************************************************
- */
-
-
-/* Define to prevent recursive inclusion -------------------------------------*/
-#ifndef __MAGNETO_H
-#define __MAGNETO_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/* Includes ------------------------------------------------------------------*/
-#include <stdint.h>
-
-/** @addtogroup BSP
- * @{
- */
-
-/** @addtogroup Components
- * @{
- */
-
-/** @addtogroup MAGNETO
- * @{
- */
-
-/** @defgroup MAGNETO_Exported_Types
- * @{
- */
-
-/**
-* @brief MAGNETO init structure definition
-*/
-typedef struct
-{
- float M_OutputDataRate;
- uint8_t M_OperatingMode;
- float M_FullScale;
- uint8_t M_XYOperativeMode;
-} MAGNETO_InitTypeDef;
-
-/**
-* @brief MAGNETO status enumerator definition
-*/
-typedef enum
-{
- MAGNETO_OK = 0,
- MAGNETO_ERROR = 1,
- MAGNETO_TIMEOUT = 2,
- MAGNETO_NOT_IMPLEMENTED = 3
-} MAGNETO_StatusTypeDef;
-
-/**
- * @brief MAGNETO component id enumerator definition
- */
-typedef enum
-{
- MAGNETO_NONE_COMPONENT = 0,
- MAGNETO_LIS3MDL_COMPONENT = 1
-} MAGNETO_ComponentTypeDef;
-
-/**
- * @brief MAGNETO driver extended structure definition
- */
-typedef struct
-{
- MAGNETO_ComponentTypeDef
- id; /* This id must be unique for each component belonging to this class that wants to extend common class */
- void *pData; /* This pointer is specific for each component */
-} MAGNETO_DrvExtTypeDef;
-
-/**
-* @brief MAGNETO driver structure definition
-*/
-typedef struct
-{
- MAGNETO_StatusTypeDef (*Init)(MAGNETO_InitTypeDef *);
- MAGNETO_StatusTypeDef (*Read_M_ID)(uint8_t *);
- MAGNETO_StatusTypeDef (*Get_M_Axes)(int32_t *);
- MAGNETO_StatusTypeDef (*Get_M_AxesRaw)(int16_t *);
- MAGNETO_DrvExtTypeDef *extData;
-} MAGNETO_DrvTypeDef;
-
-/**
- * @}
- */
-
-/**
- * @}
- */
-
-/**
- * @}
- */
-
-/**
- * @}
- */
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* __MAGNETO_H */
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
--- a/AltIMU_10_v5/components/Common/pressure.h Mon Jul 02 07:41:35 2018 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,153 +0,0 @@
-/**
- ******************************************************************************
- * @file pressure.h
- * @author MEMS Application Team
- * @version V1.2.0
- * @date 28-January-2015
- * @brief This header file contains the functions prototypes for the
- * pressure driver.
- ******************************************************************************
- * @attention
- *
- * <h2><center>© 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.
- *
- ******************************************************************************
- */
-
-
-/* Define to prevent recursive inclusion -------------------------------------*/
-#ifndef __PRESSURE_H
-#define __PRESSURE_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/* Includes ------------------------------------------------------------------*/
-#include <stdint.h>
-
-/** @addtogroup BSP
- * @{
- */
-
-/** @addtogroup Components
- * @{
- */
-
-/** @addtogroup PRESSURE
- * @{
- */
-
-/** @defgroup PRESSURE_Exported_Types
- * @{
- */
-
-/**
- * @brief PRESSURE init structure definition
- */
-typedef struct
-{
- uint8_t OutputDataRate;
- uint8_t PressureResolution;
- uint8_t TemperatureResolution;
- uint8_t DiffEnable;
- uint8_t BlockDataUpdate;
- uint8_t SPIMode;
-} PRESSURE_InitTypeDef;
-
-/**
- * @brief PRESSURE status enumerator definition
- */
-typedef enum
-{
- PRESSURE_OK = 0,
- PRESSURE_ERROR = 1,
- PRESSURE_TIMEOUT = 2,
- PRESSURE_NOT_IMPLEMENTED = 3
-} PRESSURE_StatusTypeDef;
-
-/**
- * @brief PRESSURE component id enumerator definition
- */
-typedef enum
-{
- PRESSURE_NONE_COMPONENT = 0,
- PRESSURE_LPS25H_COMPONENT = 1,
- PRESSURE_LPS25HB_DIL24_COMPONENT = 2
-} PRESSURE_ComponentTypeDef;
-
-/**
- * @brief PRESSURE driver extended structure definition
- */
-typedef struct
-{
- PRESSURE_ComponentTypeDef
- id; /* This id must be unique for each component belonging to this class that wants to extend common class */
- void *pData; /* This pointer is specific for each component */
-} PRESSURE_DrvExtTypeDef;
-
-/**
- * @brief PRESSURE driver structure definition
- */
-typedef struct
-{
- PRESSURE_StatusTypeDef (*Init)(PRESSURE_InitTypeDef *);
- PRESSURE_StatusTypeDef (*PowerOff)(void);
- PRESSURE_StatusTypeDef (*ReadID)(uint8_t *);
- PRESSURE_StatusTypeDef (*Reset)(void);
- void (*ConfigIT)(uint16_t);
- void (*EnableIT)(uint8_t);
- void (*DisableIT)(uint8_t);
- uint8_t (*ITStatus)(uint16_t, uint16_t);
- void (*ClearIT)(uint16_t, uint16_t);
- PRESSURE_StatusTypeDef (*GetPressure)(float *);
- PRESSURE_StatusTypeDef (*GetTemperature)(float *);
- void (*SlaveAddrRemap)(uint8_t);
- PRESSURE_DrvExtTypeDef *extData;
-} PRESSURE_DrvTypeDef;
-
-/**
- * @}
- */
-
-/**
- * @}
- */
-
-/**
- * @}
- */
-
-/**
- * @}
- */
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* __PRESSURE_H */
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
--- a/AltIMU_10_v5/components/Common/readme.txt Mon Jul 02 07:41:35 2018 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,15 +0,0 @@ -hum_temp.h corresponds to: -- X-CUBE-MEMS1/trunk/Drivers/BSP/Components/Common/hum_temp.h: revision #385, -- X-CUBE-MEMS1/trunk: revision #416 - -imu_6axes.h corresponds to: -- X-CUBE-MEMS1/trunk/Drivers/BSP/Components/Common/imu_6axes.h: revision #385, -- X-CUBE-MEMS1/trunk: revision #416 - -magneto.h corresponds to: -- X-CUBE-MEMS1/trunk/Drivers/BSP/Components/Common/magneto.h: revision #385, -- X-CUBE-MEMS1/trunk: revision #416 - -pressure.h corresponds to: -- X-CUBE-MEMS1/trunk/Drivers/BSP/Components/Common/pressure.h: revision #385, -- X-CUBE-MEMS1/trunk: revision #416
--- a/AltIMU_10_v5/components/lis3mdl/lis3mdl.h Mon Jul 02 07:41:35 2018 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,466 +0,0 @@
-/**
- ******************************************************************************
- * @file lis3mdl.h
- * @author MEMS Application Team
- * @version V1.3.0
- * @date 28-May-2015
- * @brief This file contains definitions for the lis3mdl.c
- * firmware driver.
- ******************************************************************************
- * @attention
- *
- * <h2><center>© 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.
- *
- ******************************************************************************
- */
-
-/* Define to prevent recursive inclusion -------------------------------------*/
-#ifndef __LIS3MDL_H
-#define __LIS3MDL_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/* Includes ------------------------------------------------------------------*/
-#include "magneto.h"
-
-/** @addtogroup BSP
- * @{
- */
-
-/** @addtogroup Components
- * @{
- */
-
-/** @addtogroup LIS3MDL
- * @{
- */
-
-/** @defgroup LIS3MDL_Exported_Defines LIS3MDL_Exported_Defines
- * @{
- */
-#ifndef NULL
-#define NULL (void *) 0
-#endif
-
-
-/******************************************************************************/
-/***************** START MAGNETIC SENSOR REGISTER MAPPING ********************/
-/******************************************************************************/
-
-/**
- * @brief Device identifier register.
- * \code
- * Read
- * Default value:
- * 7:0 This read-only register contains the device identifier
- * \endcode
-*/
-#define LIS3MDL_M_WHO_AM_I_ADDR 0x0F
-
-
-/**
- * @brief Magnetic sensor Control Register 1
- * \code
- * Read/write
- * Default value: 0x10
- * [7] TEMP_COMP: Temperature compensation enable
- * [6:5] OM1-0: X and Y axes operative mode selection
- * [4:2] DO2-0: Output data rate selection
- * [1] This bit must be set to �0� for the correct operation of the device (??)
- * [0] ST: Self-test enable
- * \endcode
- */
-#define LIS3MDL_M_CTRL_REG1_M 0x20
-
-
-/**
- * @brief Magnetic sensor Control Register 2
- * \code
- * Read/write
- * Default value: 0x00
- * [7] These bits must be set to �0� for the correct operation of the device
- * [6:5] FS1-0: Full-scale configuration
- * [4] These bits must be set to �0� for the correct operation of the device
- * [3] REBOOT: Reboot memory content
- * [2] SOFT_RST: Configuration registers and user register reset function
- * [1:0] These bits must be set to �0� for the correct operation of the device
- * \endcode
- */
-#define LIS3MDL_M_CTRL_REG2_M 0x21
-
-
-/**
- * @brief Magnetic sensor Control Register 3
- * \code
- * Read/write
- * Default value: 0x03
- * [7] I2C_DISABLE: Disable I2C interface
- * [6] These bits must be set to �0� for the correct operation of the device
- * [5] LP: Low-power mode configuration
- * [4:3] These bits must be set to �0� for the correct operation of the device
- * [2] SIM: SPI Serial Interface mode selection
- * [1:0] MD1-0: Operating mode selection
- * \endcode
- */
-#define LIS3MDL_M_CTRL_REG3_M 0x22
-
-
-/**
- * @brief Magnetic sensor data (LSB)
- * \code
- * Read
- * \endcode
- */
-#define LIS3MDL_M_OUT_X_L_M 0x28
-
-
-/**
- * @brief Magnetic sensor data (MSB)
- * \code
- * Read
- * \endcode
- */
-#define LIS3MDL_M_OUT_X_H_M 0x29
-
-
-/**
- * @brief Magnetic sensor data (LSB)
- * \code
- * Read
- * \endcode
- */
-#define LIS3MDL_M_OUT_Y_L_M 0x2A
-
-
-/**
- * @brief Magnetic sensor data (MSB)
- * \code
- * Read
- * \endcode
- */
-#define LIS3MDL_M_OUT_Y_H_M 0x2B
-
-
-/**
- * @brief Magnetic sensor data (LSB)
- * \code
- * Read
- * \endcode
- */
-#define LIS3MDL_M_OUT_Z_L_M 0x2C
-
-
-/**
- * @brief Magnetic sensor data (MSB)
- * \code
- * Read
- * \endcode
- */
-#define LIS3MDL_M_OUT_Z_H_M 0x2D
-
-
-/**
- * @brief Magnetic sensor Interrupt config register
- * \code
- * Read/write
- * Default value: 0x00
- * [7] XIEN: Enable interrupt generation on X axis
- * [6] YIEN: Enable interrupt generation on Y axis
- * [5] ZIEN: Enable interrupt generation on Z axis
- * [4:3] Must be 0
- * [2] IEA: Interrupt active configuration on INT
- * [1] LIR: Latch interrupt request
- * [0] IEN: Interrupt enable on INT pin
- * \endcode
- */
-#define LIS3MDL_M_INT_CFG 0x30
-
-
-/**
- * @brief Magnetic sensor Interrupt source register
- * \code
- * Read/write
- * Default value: 0x00
- * [7] PTH_X: Value on X-axis exceeds the threshold on the positive side
- * [6] PTH_Y: Value on Y-axis exceeds the threshold on the positive side
- * [5] PTH_Z: Value on Z-axis exceeds the threshold on the positive side
- * [4] NTH_X: Value on X-axis exceeds the threshold on the negative side
- * [3] NTH_Y: Value on Y-axis exceeds the threshold on the negative side
- * [2] NTH_Z: Value on Z-axis exceeds the threshold on the negative side
- * [1] MROI: Internal measurement range overflow on magnetic value
- * [0] INT: This bit signals when interrupt event occours
- * \endcode
- */
-#define LIS3MDL_M_INT_SRC 0x31
-
-
-/**
- * @brief Magnetic sensor Interrupt threshold register low
- * \code
- * Read/write
- * Default value: 0x00
- * [7:0] THS7-0: Least 8 significant bits of interrupt threshold
- * \endcode
- */
-#define LIS3MDL_M_INT_THS_L_M 0x32
-
-
-/**
- * @brief Magnetic sensor Interrupt threshold register high
- * \code
- * Read/write
- * Default value: 0x00
- * [7] Must be 0
- * [6:0] THS14-8: Most 7 significant bits of interrupt threshold
- * \endcode
- */
-#define LIS3MDL_M_INT_THS_H_M 0x33
-
-/******************************************************************************/
-/******************* END MAGNETIC SENSOR REGISTER MAPPING ********************/
-/******************************************************************************/
-
-/**
- * @brief Multiple Byte. Mask for enabling multiple byte read/write command.
- */
-#define LIS3MDL_I2C_MULTIPLEBYTE_CMD ((uint8_t)0x80)
-
-/**
- * @brief Device Address
- */
-
-#define LIS3MDL_M_MEMS_ADDRESS 0x3C // SAD[1] = 1
-
-/**
- * @brief Device Identifier. Default value of the WHO_AM_I register.
- */
-#define I_AM_LIS3MDL_M ((uint8_t)0x3D)
-
-
-/*********************************** MAGNETIC SENSOR REGISTERS VALUE ****************************************/
-
-/** @defgroup LIS3MDL_M_Temperature_Compensation_Enable_Selection_CTRL_REG1_M LIS3MDL_M_Temperature_Compensation_Enable_Selection_CTRL_REG1_M
- * @{
- */
-#define LIS3MDL_M_TEMP_COMP_DISABLE ((uint8_t)0x00) /*!< Temperature compensation: disable */
-#define LIS3MDL_M_TEMP_COMP_ENABLE ((uint8_t)0x80) /*!< Temperature compensation: enable */
-
-#define LIS3MDL_M_TEMP_COMP_MASK ((uint8_t)0x80)
-/**
- * @}
- */
-
-/** @defgroup LIS3MDL_M_X_And_Y_Axes_Operative_Mode_Selection_CTRL_REG1_M LIS3MDL_M_X_And_Y_Axes_Operative_Mode_Selection_CTRL_REG1_M
- * @{
- */
-#define LIS3MDL_M_OM_LP ((uint8_t)0x00) /*!< X and Y axes operative mode: Low-power mode */
-#define LIS3MDL_M_OM_MP ((uint8_t)0x20) /*!< X and Y axes operative mode: Medium-performance mode */
-#define LIS3MDL_M_OM_HP ((uint8_t)0x40) /*!< X and Y axes operative mode: High-performance mode */
-#define LIS3MDL_M_OM_UHP ((uint8_t)0x60) /*!< X and Y axes operative mode: Ultra-high performance mode */
-
-#define LIS3MDL_M_OM_MASK ((uint8_t)0x60)
-/**
- * @}
- */
-
-/** @defgroup LIS3MDL_M_Output_Data_Rate_Selection_CTRL_REG1_M LIS3MDL_M_Output_Data_Rate_Selection_CTRL_REG1_M
- * @{
- */
-#define LIS3MDL_M_DO_0_625 ((uint8_t)0x00) /*!< Output data rate selection: 0.625 */
-#define LIS3MDL_M_DO_1_25 ((uint8_t)0x04) /*!< Output data rate selection: 1.25 */
-#define LIS3MDL_M_DO_2_5 ((uint8_t)0x08) /*!< Output data rate selection: 2.5 */
-#define LIS3MDL_M_DO_5 ((uint8_t)0x0C) /*!< Output data rate selection: 5 */
-#define LIS3MDL_M_DO_10 ((uint8_t)0x10) /*!< Output data rate selection: 10 */
-#define LIS3MDL_M_DO_20 ((uint8_t)0x14) /*!< Output data rate selection: 20 */
-#define LIS3MDL_M_DO_40 ((uint8_t)0x18) /*!< Output data rate selection: 40 */
-#define LIS3MDL_M_DO_80 ((uint8_t)0x1C) /*!< Output data rate selection: 80 */
-
-#define LIS3MDL_M_DO_MASK ((uint8_t)0x1C)
-/**
- * @}
- */
-
-/** @defgroup LIS3MDL_M_Fast_Output_Data_Rate_Enable_Selection_CTRL_REG1_M LIS3MDL_M_Fast_Output_Data_Rate_Enable_Selection_CTRL_REG1_M
- * @{
- */
-#define LIS3MDL_M_FAST_ODR_DISABLE ((uint8_t)0x00) /*!< Fast output data rate: disable */
-#define LIS3MDL_M_FAST_ODR_ENABLE ((uint8_t)0x02) /*!< Fast output data rate: enable */
-
-#define LIS3MDL_M_FAST_ODR_MASK ((uint8_t)0x02)
-/**
- * @}
- */
-
-/** @defgroup LIS3MDL_M_Self_Test_Enable_Selection_CTRL_REG1_M LIS3MDL_M_Self_Test_Enable_Selection_CTRL_REG1_M
- * @{
- */
-#define LIS3MDL_M_ST_DISABLE ((uint8_t)0x00) /*!< Self-test: disable */
-#define LIS3MDL_M_ST_ENABLE ((uint8_t)0x01) /*!< Self-test: enable */
-
-#define LIS3MDL_M_ST_MASK ((uint8_t)0x01)
-/**
- * @}
- */
-
-/** @defgroup LIS3MDL_M_Full_Scale_Selection_CTRL_REG2_M LIS3MDL_M_Full_Scale_Selection_CTRL_REG2_M
- * @{
- */
-#define LIS3MDL_M_FS_4 ((uint8_t)0x00) /*!< Full scale: +-4 guass */
-#define LIS3MDL_M_FS_8 ((uint8_t)0x20) /*!< Full scale: +-8 gauss */
-#define LIS3MDL_M_FS_12 ((uint8_t)0x40) /*!< Full scale: +-12 gauss */
-#define LIS3MDL_M_FS_16 ((uint8_t)0x60) /*!< Full scale: +-16 gauss */
-
-#define LIS3MDL_M_FS_MASK ((uint8_t)0x60)
-/**
- * @}
- */
-
-/** @defgroup LIS3MDL_M_Reboot_Memory_Selection_CTRL_REG2_M LIS3MDL_M_Reboot_Memory_Selection_CTRL_REG2_M
- * @{
- */
-#define LIS3MDL_M_REBOOT_NORMAL ((uint8_t)0x00) /*!< Reboot mode: normal mode */
-#define LIS3MDL_M_REBOOT_MEM_CONTENT ((uint8_t)0x08) /*!< Reboot mode: reboot memory content */
-
-#define LIS3MDL_M_REBOOT_MASK ((uint8_t)0x08)
-/**
- * @}
- */
-
-/** @defgroup LIS3MDL_M_Configuration_Registers_And_User_Register_Reset_CTRL_REG2_M LIS3MDL_M_Configuration_Registers_And_User_Register_Reset_CTRL_REG2_M
- * @{
- */
-#define LIS3MDL_M_SOFT_RST_DEFAULT ((uint8_t)0x00) /*!< Reset function: default value */
-#define LIS3MDL_M_SOFT_RST_RESET ((uint8_t)0x04) /*!< Reset function: reset operation */
-
-#define LIS3MDL_M_SOFT_RST_MASK ((uint8_t)0x04)
-/**
- * @}
- */
-
-/** @defgroup LIS3MDL_M_Disable_I2C_Interface_Selection_CTRL_REG3_M LIS3MDL_M_Disable_I2C_Interface_Selection_CTRL_REG3_M
- * @{
- */
-#define LIS3MDL_M_I2C_ENABLE ((uint8_t)0x00) /*!< I2C interface: enable */
-#define LIS3MDL_M_I2C_DISABLE ((uint8_t)0x80) /*!< I2C interface: disable */
-
-#define LIS3MDL_M_I2C_MASK ((uint8_t)0x80)
-/**
- * @}
- */
-
-/** @defgroup LIS3MDL_M_Low_Power_Mode_Selection_CTRL_REG3_M LIS3MDL_M_Low_Power_Mode_Selection_CTRL_REG3_M
- * @{
- */
-#define LIS3MDL_M_LP_ENABLE ((uint8_t)0x00) /*!< Low-power mode: magnetic data rate is configured by
- the DO bits in the CTRL_REG1_M */
-#define LIS3MDL_M_LP_DISABLE ((uint8_t)0x20) /*!< Low-power mode: the DO bits is set to 0.625 Hz and the system performs,
- for each channel, the minimum number of averages */
-
-#define LIS3MDL_M_LP_MASK ((uint8_t)0x20)
-/**
- * @}
- */
-
-/** @defgroup LIS3MDL_M_SPI_Serial_Interface_Mode_Selection_CTRL_REG3_M LIS3MDL_M_SPI_Serial_Interface_Mode_Selection_CTRL_REG3_M
- * @{
- */
-#define LIS3MDL_M_SPI_R_ENABLE ((uint8_t)0x00) /*!< SPI Serial Interface mode: only write operations enabled */
-#define LIS3MDL_M_SPI_R_DISABLE ((uint8_t)0x40) /*!< SPI Serial Interface mode: read and write operations enable */
-
-#define LIS3MDL_M_SPI_R_MASK ((uint8_t)0x40)
-/**
- * @}
- */
-
-/** @defgroup LIS3MDL_M_Operating_Mode_Selection_CTRL_REG3_M LIS3MDL_M_Operating_Mode_Selection_CTRL_REG3_M
- * @{
- */
-#define LIS3MDL_M_MD_CONTINUOUS ((uint8_t)0x00) /*!< Operating mode: Continuous-conversion mode */
-#define LIS3MDL_M_MD_SINGLE ((uint8_t)0x01) /*!< Operating mode: Single-conversion mode has to be used with sampling frequency from 0.625 Hz to 80 Hz. */
-#define LIS3MDL_M_MD_PD ((uint8_t)0x02) /*!< Operating mode: Power-down mode */
-
-#define LIS3MDL_M_MD_MASK ((uint8_t)0x03)
-/**
- * @}
- */
-
-/**
- * @}
- */
-
-/** @defgroup LIS3MDL_Imported_Functions LIS3MDL_Imported_Functions
- * @{
- */
-
-/* Magneto sensor IO functions */
-extern MAGNETO_StatusTypeDef LIS3MDL_IO_Init(void);
-extern MAGNETO_StatusTypeDef LIS3MDL_IO_Write(uint8_t* pBuffer, uint8_t DeviceAddr, uint8_t RegisterAddr,
- uint16_t NumByteToWrite);
-extern MAGNETO_StatusTypeDef LIS3MDL_IO_Read(uint8_t* pBuffer, uint8_t DeviceAddr, uint8_t RegisterAddr,
- uint16_t NumByteToRead);
-extern void LIS3MDL_IO_ITConfig( void );
-
-/**
- * @}
- */
-
-/* ------------------------------------------------------- */
-/* Here you should declare the internal struct of */
-/* extended features of LSM6DS0. See the example of */
-/* LSM6DS3 in lsm6ds3.h */
-/* ------------------------------------------------------- */
-
-/** @addtogroup LIS3MDL_Exported_Variables LIS3MDL_Exported_Variables
- * @{
- */
-/* Magneto sensor driver structure */
-extern MAGNETO_DrvTypeDef LIS3MDLDrv;
-extern MAGNETO_DrvExtTypeDef LIS3MDLDrv_ext;
-
-/**
- * @}
- */
-
-/**
- * @}
- */
-
-/**
- * @}
- */
-
-/**
- * @}
- */
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* __LIS3MDL_H */
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
--- a/AltIMU_10_v5/components/lis3mdl/lis3mdl_class.cpp Mon Jul 02 07:41:35 2018 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,378 +0,0 @@
-/**
- ******************************************************************************
- * @file lis3mdl_class.cpp
- * @author AST / EST
- * @version V0.0.1
- * @date 14-April-2015
- * @brief Implementation file for the LIS3MDL driver class
- ******************************************************************************
- * @attention
- *
- * <h2><center>© 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 "lis3mdl_class.h"
-#include "lis3mdl.h"
-
-/* Methods -------------------------------------------------------------------*/
-/* betzw - based on:
- X-CUBE-MEMS1/trunk/Drivers/BSP/Components/lis3mdl/lis3mdl.c: revision #400,
- X-CUBE-MEMS1/trunk: revision #416
-*/
-
-/**
- * @brief Set LIS3MDL Initialization
- * @param LIS3MDL_Init the configuration setting for the LIS3MDL
- * @retval MAGNETO_OK in case of success, an error code otherwise
- */
-MAGNETO_StatusTypeDef LIS3MDL::LIS3MDL_Init(MAGNETO_InitTypeDef *LIS3MDL_Init)
-{
- uint8_t tmp1 = 0x00;
-
- /* Configure the low level interface ---------------------------------------*/
- if(LIS3MDL_IO_Init() != MAGNETO_OK) {
- return MAGNETO_ERROR;
- }
-
- /****** Magnetic sensor *******/
-
- if(LIS3MDL_IO_Read(&tmp1, LIS3MDL_M_CTRL_REG3_M, 1) != MAGNETO_OK) {
- return MAGNETO_ERROR;
- }
-
- /* Conversion mode selection */
- tmp1 &= ~(LIS3MDL_M_MD_MASK);
- tmp1 |= LIS3MDL_Init->M_OperatingMode;
-
- if(LIS3MDL_IO_Write(&tmp1, LIS3MDL_M_CTRL_REG3_M, 1) != MAGNETO_OK) {
- return MAGNETO_ERROR;
- }
-
- if(LIS3MDL_M_Set_ODR( LIS3MDL_Init->M_OutputDataRate ) != MAGNETO_OK) {
- return MAGNETO_ERROR;
- }
-
- if(LIS3MDL_M_Set_FS( LIS3MDL_Init->M_FullScale ) != MAGNETO_OK) {
- return MAGNETO_ERROR;
- }
-
- /* Configure interrupt lines */
- LIS3MDL_IO_ITConfig();
-
- return MAGNETO_OK;
-
- /******************************/
-}
-
-
-/**
- * @brief Read ID of LIS3MDL Magnetic sensor
- * @param m_id the pointer where the ID of the device is stored
- * @retval MAGNETO_OK in case of success, an error code otherwise
- */
-MAGNETO_StatusTypeDef LIS3MDL::LIS3MDL_Read_M_ID(uint8_t *m_id)
-{
- if(!m_id) {
- return MAGNETO_ERROR;
- }
-
- return LIS3MDL_IO_Read(m_id, LIS3MDL_M_WHO_AM_I_ADDR, 1);
-}
-
-
-/**
- * @brief Read raw data from LIS3MDL Magnetic sensor output register
- * @param pData the pointer where the magnetometer raw data are stored
- * @retval MAGNETO_OK in case of success, an error code otherwise
- */
-MAGNETO_StatusTypeDef LIS3MDL::LIS3MDL_M_GetAxesRaw(int16_t *pData)
-{
- uint8_t tempReg[2] = {0, 0};
-
- if(LIS3MDL_IO_Read(&tempReg[0], (LIS3MDL_M_OUT_X_L_M | LIS3MDL_I2C_MULTIPLEBYTE_CMD),
- 2) != MAGNETO_OK) {
- return MAGNETO_ERROR;
- }
-
- pData[0] = ((((int16_t)tempReg[1]) << 8) + (int16_t)tempReg[0]);
-
- if(LIS3MDL_IO_Read(&tempReg[0], (LIS3MDL_M_OUT_Y_L_M | LIS3MDL_I2C_MULTIPLEBYTE_CMD),
- 2) != MAGNETO_OK) {
- return MAGNETO_ERROR;
- }
-
- pData[1] = ((((int16_t)tempReg[1]) << 8) + (int16_t)tempReg[0]);
-
- if(LIS3MDL_IO_Read(&tempReg[0], (LIS3MDL_M_OUT_Z_L_M | LIS3MDL_I2C_MULTIPLEBYTE_CMD),
- 2) != MAGNETO_OK) {
- return MAGNETO_ERROR;
- }
-
- pData[2] = ((((int16_t)tempReg[1]) << 8) + (int16_t)tempReg[0]);
-
- return MAGNETO_OK;
-}
-
-
-/**
- * @brief Read data from LIS3MDL Magnetic sensor and calculate Magnetic in mgauss
- * @param pData the pointer where the magnetometer data are stored
- * @retval MAGNETO_OK in case of success, an error code otherwise
- */
-MAGNETO_StatusTypeDef LIS3MDL::LIS3MDL_M_GetAxes(int32_t *pData)
-{
- uint8_t tempReg = 0x00;
- int16_t pDataRaw[3];
- float sensitivity = 0;
-
- if(LIS3MDL_M_GetAxesRaw(pDataRaw) != MAGNETO_OK) {
- return MAGNETO_ERROR;
- }
-
- if(LIS3MDL_IO_Read(&tempReg, LIS3MDL_M_CTRL_REG2_M, 1) != MAGNETO_OK) {
- return MAGNETO_ERROR;
- }
-
- tempReg &= LIS3MDL_M_FS_MASK;
-
- switch(tempReg) {
- case LIS3MDL_M_FS_4:
- sensitivity = 0.14;
- break;
- case LIS3MDL_M_FS_8:
- sensitivity = 0.29;
- break;
- case LIS3MDL_M_FS_12:
- sensitivity = 0.43;
- break;
- case LIS3MDL_M_FS_16:
- sensitivity = 0.58;
- break;
- }
-
- pData[0] = (int32_t)(pDataRaw[0] * sensitivity);
- pData[1] = (int32_t)(pDataRaw[1] * sensitivity);
- pData[2] = (int32_t)(pDataRaw[2] * sensitivity);
-
- return MAGNETO_OK;
-}
-
-MAGNETO_StatusTypeDef LIS3MDL::LIS3MDL_M_Get_ODR( float *odr )
-{
- /*Here we have to add the check if the parameters are valid*/
- uint8_t tempReg = 0x00;
-
- if(LIS3MDL_IO_Read(&tempReg, LIS3MDL_M_CTRL_REG1_M, 1) != MAGNETO_OK) {
- return MAGNETO_ERROR;
- }
-
- tempReg &= LIS3MDL_M_FAST_ODR_MASK;
- if(tempReg == LIS3MDL_M_FAST_ODR_ENABLE) {
-
- if(LIS3MDL_IO_Read(&tempReg, LIS3MDL_M_CTRL_REG1_M, 1) != MAGNETO_OK) {
- return MAGNETO_ERROR;
- }
- tempReg &= LIS3MDL_M_OM_MASK;
- switch(tempReg) {
- case LIS3MDL_M_OM_LP:
- *odr = 1000.0f;
- break;
- case LIS3MDL_M_OM_MP:
- *odr = 560.0f;
- break;
- case LIS3MDL_M_OM_HP:
- *odr = 300.0f;
- break;
- case LIS3MDL_M_OM_UHP:
- *odr = 155.0f;
- break;
- }
- } else {
- if(LIS3MDL_IO_Read(&tempReg, LIS3MDL_M_CTRL_REG1_M, 1) != MAGNETO_OK) {
- return MAGNETO_ERROR;
- }
- tempReg &= LIS3MDL_M_DO_MASK;
- switch(tempReg) {
- case LIS3MDL_M_DO_0_625:
- *odr = 0.625f;
- break;
- case LIS3MDL_M_DO_1_25:
- *odr = 1.25f;
- break;
- case LIS3MDL_M_DO_2_5:
- *odr = 2.5f;
- break;
- case LIS3MDL_M_DO_5:
- *odr = 5.0f;
- break;
- case LIS3MDL_M_DO_10:
- *odr = 10.0f;
- break;
- case LIS3MDL_M_DO_20:
- *odr = 20.0f;
- break;
- case LIS3MDL_M_DO_40:
- *odr = 40.0f;
- break;
- case LIS3MDL_M_DO_80:
- *odr = 80.0f;
- break;
- }
- }
- return MAGNETO_OK;
-}
-
-MAGNETO_StatusTypeDef LIS3MDL::LIS3MDL_M_Set_ODR( float odr )
-{
- uint8_t new_odr = 0x00;
- uint8_t tempReg = 0x00;
-
-if(odr>80.0f){
- new_odr = ( odr <= 155.0f ) ? LIS3MDL_M_OM_UHP
- : ( odr <= 300.0f ) ? LIS3MDL_M_OM_HP
- : ( odr <= 560.0f ) ? LIS3MDL_M_OM_MP
- : LIS3MDL_M_OM_LP;
-
- if(LIS3MDL_IO_Read(&tempReg, LIS3MDL_M_CTRL_REG1_M, 1) != MAGNETO_OK) {
- return MAGNETO_ERROR;
- }
-
- tempReg &= ~(LIS3MDL_M_OM_MASK);
- tempReg |= (new_odr|LIS3MDL_M_FAST_ODR_ENABLE);
-
- if(LIS3MDL_IO_Write(&tempReg, LIS3MDL_M_CTRL_REG1_M, 1) != MAGNETO_OK) {
- return MAGNETO_ERROR;
- }
- }
- else{
-
- new_odr = ( odr <= 0.625f ) ? LIS3MDL_M_DO_0_625
- : ( odr <= 1.25f ) ? LIS3MDL_M_DO_1_25
- : ( odr <= 2.5f ) ? LIS3MDL_M_DO_2_5
- : ( odr <= 5.0f ) ? LIS3MDL_M_DO_5
- : ( odr <= 10.0f ) ? LIS3MDL_M_DO_10
- : ( odr <= 20.0f ) ? LIS3MDL_M_DO_20
- : ( odr <= 40.0f ) ? LIS3MDL_M_DO_40
- : LIS3MDL_M_DO_80;
-
- if(LIS3MDL_IO_Read( &tempReg, LIS3MDL_M_CTRL_REG1_M, 1 ) != MAGNETO_OK) {
- return MAGNETO_ERROR;
- }
-
- tempReg &= ~(LIS3MDL_M_DO_MASK);
- tempReg |= new_odr;
-
- if(LIS3MDL_IO_Write(&tempReg, LIS3MDL_M_CTRL_REG1_M, 1) != MAGNETO_OK) {
- return MAGNETO_ERROR;
- }
-}
- return MAGNETO_OK;
-}
-
-MAGNETO_StatusTypeDef LIS3MDL::LIS3MDL_M_Get_FS( float *fullScale )
-{
- /*Here we have to add the check if the parameters are valid*/
- uint8_t tempReg = 0x00;
-
- if(LIS3MDL_IO_Read(&tempReg, LIS3MDL_M_CTRL_REG2_M, 1) != MAGNETO_OK) {
- return MAGNETO_ERROR;
- }
-
- tempReg &= LIS3MDL_M_FS_MASK;
-
- switch(tempReg) {
- case LIS3MDL_M_FS_4:
- *fullScale = 4.0f;
- break;
- case LIS3MDL_M_FS_8:
- *fullScale = 8.0f;
- break;
- case LIS3MDL_M_FS_12:
- *fullScale = 12.0f;
- break;
- case LIS3MDL_M_FS_16:
- *fullScale = 16.0f;
- break;
- }
-
- return MAGNETO_OK;
-}
-
-MAGNETO_StatusTypeDef LIS3MDL::LIS3MDL_M_Set_FS( float fullScale )
-{
- uint8_t new_fs = 0x00;
- uint8_t tempReg = 0x00;
-
- new_fs = ( fullScale <= 4.0f ) ? LIS3MDL_M_FS_4
- : ( fullScale <= 8.0f ) ? LIS3MDL_M_FS_8
- : ( fullScale <= 12.0f ) ? LIS3MDL_M_FS_12
- : LIS3MDL_M_FS_16;
-
- if(LIS3MDL_IO_Read( &tempReg, LIS3MDL_M_CTRL_REG2_M, 1 ) != MAGNETO_OK) {
- return MAGNETO_ERROR;
- }
-
- tempReg &= ~(LIS3MDL_M_FS_MASK);
- tempReg |= new_fs;
-
- if(LIS3MDL_IO_Write(&tempReg, LIS3MDL_M_CTRL_REG2_M, 1) != MAGNETO_OK) {
- return MAGNETO_ERROR;
- }
-
- return MAGNETO_OK;
-}
-
-MAGNETO_StatusTypeDef LIS3MDL::LIS3MDL_M_GetSensitivity( float *pfData )
-{
- /*Here we have to add the check if the parameters are valid*/
-
- uint8_t tempReg = 0x00;
- if(LIS3MDL_IO_Read( &tempReg, LIS3MDL_M_CTRL_REG2_M, 1 ) != MAGNETO_OK) {
- return MAGNETO_ERROR;
- }
-
- tempReg &= LIS3MDL_M_FS_MASK;
-
- switch(tempReg) {
- case LIS3MDL_M_FS_4:
- *pfData = 0.14;
- break;
- case LIS3MDL_M_FS_8:
- *pfData = 0.29;
- break;
- case LIS3MDL_M_FS_12:
- *pfData = 0.43;
- break;
- case LIS3MDL_M_FS_16:
- *pfData = 0.58;
- break;
- }
-
- return MAGNETO_OK;
-}
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
--- a/AltIMU_10_v5/components/lis3mdl/lis3mdl_class.h Mon Jul 02 07:41:35 2018 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,175 +0,0 @@
-/**
- ******************************************************************************
- * @file lis3mdl_class.h
- * @author AST / EST
- * @version V0.0.1
- * @date 14-April-2015
- * @brief Header file for component LIS3MDL
- ******************************************************************************
- * @attention
- *
- * <h2><center>© 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 __LIS3MDL_CLASS_H
-#define __LIS3MDL_CLASS_H
-
-/* Includes ------------------------------------------------------------------*/
-#include "mbed.h"
-#include "DevI2C.h"
-#include "lis3mdl.h"
-#include "MagneticSensor.h"
-
-/* Classes -------------------------------------------------------------------*/
-/** Class representing a LIS3MDL sensor component
- */
-class LIS3MDL : public MagneticSensor {
- public:
- /** Constructor
- * @param[in] i2c device I2C to be used for communication
- */
- LIS3MDL(DevI2C &i2c) : MagneticSensor(), dev_i2c(i2c) {
- }
-
- /** Destructor
- */
- virtual ~LIS3MDL() {}
-
- /*** Interface Methods ***/
- virtual int init(void *init_struct) {
- return LIS3MDL_Init((MAGNETO_InitTypeDef*)init_struct);
- }
-
- virtual int read_id(uint8_t *m_id) {
- return LIS3MDL_Read_M_ID(m_id);
- }
-
- virtual int get_m_axes(int32_t *pData) {
- return LIS3MDL_M_GetAxes(pData);
- }
-
- virtual int get_m_axes_raw(int16_t *pData) {
- return LIS3MDL_M_GetAxesRaw(pData);
- }
-
- virtual int get_m_odr(float *odr) {
- return LIS3MDL_M_Get_ODR(odr);
- }
-
- virtual int set_m_odr(float odr) {
- return LIS3MDL_M_Set_ODR(odr);
- }
-
- virtual int get_m_sensitivity(float *pfData) {
- return LIS3MDL_M_GetSensitivity(pfData);
- }
-
- virtual int get_m_fs(float *fullScale) {
- return LIS3MDL_M_Get_FS(fullScale);
- }
-
- virtual int set_m_fs(float fullScale) {
- return LIS3MDL_M_Set_FS(fullScale);
- }
-
- protected:
- /*** Methods ***/
- MAGNETO_StatusTypeDef LIS3MDL_Init(MAGNETO_InitTypeDef *LIS3MDL_Init);
- MAGNETO_StatusTypeDef LIS3MDL_Read_M_ID(uint8_t *m_id);
- MAGNETO_StatusTypeDef LIS3MDL_M_GetAxes(int32_t *pData);
- MAGNETO_StatusTypeDef LIS3MDL_M_GetAxesRaw(int16_t *pData);
- MAGNETO_StatusTypeDef LIS3MDL_M_Get_ODR( float *odr );
- MAGNETO_StatusTypeDef LIS3MDL_M_Set_ODR( float odr );
- MAGNETO_StatusTypeDef LIS3MDL_M_Get_FS( float *fullScale );
- MAGNETO_StatusTypeDef LIS3MDL_M_Set_FS( float fullScale );
- MAGNETO_StatusTypeDef LIS3MDL_M_GetSensitivity( float *pfData );
-
- /**
- * @brief Configures LIS3MDL interrupt lines for NUCLEO boards
- */
- void LIS3MDL_IO_ITConfig(void)
- {
- /* To be implemented */
- }
-
- /**
- * @brief Configures LIS3MDL I2C interface
- * @return MAGNETO_OK in case of success, an error code otherwise
- */
- MAGNETO_StatusTypeDef LIS3MDL_IO_Init(void)
- {
- return MAGNETO_OK; /* done in constructor */
- }
-
- /**
- * @brief Utility function to read data from LIS3MDL
- * @param[out] pBuffer pointer to the byte-array to read data in to
- * @param[in] RegisterAddr specifies internal address register to read from.
- * @param[in] NumByteToRead number of bytes to be read.
- * @retval MAGNETO_OK if ok,
- * @retval MAGNETO_ERROR if an I2C error has occured
- */
- MAGNETO_StatusTypeDef LIS3MDL_IO_Read(uint8_t* pBuffer,
- uint8_t RegisterAddr, uint16_t NumByteToRead)
- {
- int ret = dev_i2c.i2c_read(pBuffer,
- LIS3MDL_M_MEMS_ADDRESS,
- RegisterAddr,
- NumByteToRead);
- if(ret != 0) {
- return MAGNETO_ERROR;
- }
- return MAGNETO_OK;
- }
-
- /**
- * @brief Utility function to write data to LIS3MDL
- * @param[in] pBuffer pointer to the byte-array data to send
- * @param[in] RegisterAddr specifies internal address register to read from.
- * @param[in] NumByteToWrite number of bytes to write.
- * @retval MAGNETO_OK if ok,
- * @retval MAGNETO_ERROR if an I2C error has occured
- */
- MAGNETO_StatusTypeDef LIS3MDL_IO_Write(uint8_t* pBuffer,
- uint8_t RegisterAddr, uint16_t NumByteToWrite)
- {
- int ret = dev_i2c.i2c_write(pBuffer,
- LIS3MDL_M_MEMS_ADDRESS,
- RegisterAddr,
- NumByteToWrite);
- if(ret != 0) {
- return MAGNETO_ERROR;
- }
- return MAGNETO_OK;
- }
-
- /*** Instance Variables ***/
- /* IO Device */
- DevI2C &dev_i2c;
-};
-
-#endif // __LIS3MDL_CLASS_H
--- a/AltIMU_10_v5/components/lis3mdl/readme.txt Mon Jul 02 07:41:35 2018 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,3 +0,0 @@ -lis3mdl.h corresponds to: -- X-CUBE-MEMS1/trunk/Drivers/BSP/Components/lis3mdl/lis3mdl.h: revision #402, -- X-CUBE-MEMS1/trunk: revision #416
--- a/AltIMU_10_v5/components/lps25h/lps25h.h Mon Jul 02 07:41:35 2018 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,572 +0,0 @@
-/**
- ******************************************************************************
- * @file lps25h.h
- * @author MEMS Application Team
- * @version V1.2.0
- * @date 11-February-2015
- * @brief This file contains definitions for the lps25h.c
- * firmware driver.
- ******************************************************************************
- * @attention
- *
- * <h2><center>© 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.
- *
- ******************************************************************************
- */
-
-/* Define to prevent recursive inclusion -------------------------------------*/
-#ifndef __LPS25H_H
-#define __LPS25H_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/* Includes ------------------------------------------------------------------*/
-#include "pressure.h"
-
-/** @addtogroup BSP
- * @{
- */
-
-/** @addtogroup Components
- * @{
- */
-
-/** @addtogroup LPS25H
- * @{
- */
-
-/** @defgroup LPS25H_Exported_Defines LPS25H_Exported_Defines
- * @{
- */
-#ifndef NULL
-#define NULL (void *) 0
-#endif
-
-
-/******************************************************************************/
-/*************************** START REGISTER MAPPING **************************/
-/******************************************************************************/
-
-
-/**
- * @brief Reference pressure (LSB data)
- * \code
- * Read/write
- * Default value: 0x00
- * 7:0 REF7-ODR0: Lower part of the reference pressure that
- * is sum to the sensor output pressure.
- * \endcode
- */
-#define LPS25H_REF_P_XL_ADDR 0x08
-
-/**
- * @brief Reference pressure (middle part)
- * \code
- * Read/write
- * Default value: 0x00
- * 7:0 REF15-ODR8: Middle part of the reference pressure that
- * is sum to the sensor output pressure.
- * \endcode
- */
-#define LPS25H_REF_P_L_ADDR 0x09
-
-/**
- * @brief Reference pressure (MSB part)
- * \code
- * Read/write
- * Default value: 0x00
- * 7:0 REF15-ODR8: Higher part of the reference pressure that
- * is sum to the sensor output pressure.
- * \endcode
- */
-#define LPS25H_REF_P_H_ADDR 0x0A
-
-/**
- * @brief Device identifier register.
- * \code
- * Read
- * Default value: 0xBD
- * 7:0 This read-only register contains the device identifier that,
- for LPS25H, is set to 0xCA.
- * \endcode
- */
-#define LPS25H_WHO_AM_I_ADDR 0x0F
-
-/**
- * @brief Pressure and temperature resolution mode register.
- * \code
- * Read
- * Default value: 0x05
- * [7:4] Reserved
- * [3:2] AVGP1-0: select the pressure internal average.
- * [1:0] AVGT1-0: select the temperature internal average.
- * \endcode
- */
-#define LPS25H_RES_CONF_ADDR 0x10
-
-/**
- * @brief Pressure sensor control register 1
- * \code
- * Read/write
- * Default value: 0x00
- * 7 PD: power down control. 0 - disable; 1 - enable
- * 6:4 ODR2, ODR1, ODR0: output data rate selection.
- * ODR2 | ODR1 | ODR0 | Pressure output data-rate(Hz) | Temperature output data-rate(Hz)
- * ----------------------------------------------------------------------------------
- * 0 | 0 | 0 | one shot | one shot
- * 0 | 0 | 1 | 1 | 1
- * 0 | 1 | 0 | 7 | 7
- * 0 | 1 | 1 | 12.5 | 12.5
- * 1 | 0 | 0 | 25 | 25
- * 1 | 0 | 1 | Reserved | Reserved
- * 1 | 1 | 0 | Reserved | Reserved
- * 1 | 1 | 1 | Reserved | Reserved
- *
- * 3 DIFF_EN: Interrupt circuit. 0 - disable; 1 - enable
- * 2 BDU: block data update. 0 - disable; 1 - enable
- * 1 DELTA_EN: delta pressure. 0 - disable; 1 - enable
- * 1 RESET_AZ: reset AutoZero. 0 - disable; 1 - enable ///////ALE REVIEW
- * 0 SIM: SPI Serial Interface Mode selection. 0 - SPI 4-wire; 1 - SPI 3-wire ///////ALE REVIEW
- * \endcode
- */
-#define LPS25H_CTRL_REG1_ADDR 0x20
-
-/**
- * @brief Pressure sensor control register 2
- * \code
- * Read/write
- * Default value: 0x00
- * 7 BOOT: Reboot memory content. 0: normal mode; 1: reboot memory content
- * 6 FIFO_EN: FIFO. 0: disable; 1: enable
- * 5 WTM_EN: FIFO Watermark level use. 0: disable; 1: enable
- * 4:3 Reserved. keep these bits at 0
- * 2 SWRESET: Software reset. 0: normal mode; 1: SW reset.
- * 1 AUTO_ZERO: Autozero enable. 0: normal mode; 1: autozero enable.
- * 0 ONE_SHOT: One shot enable. 0: waiting for start of conversion; 1: start for a new dataset
- * \endcode
- */
-#define LPS25H_CTRL_REG2_ADDR 0x21
-
-/**
- * @brief Pressure sensor control register 3
- * \code
- * Read/write
- * Default value: 0x00
- * 7 INT_H_L: Interrupt. 0:active high; 1: active low.
- * 6 PP_OD: Push-Pull/OpenDrain selection on interrupt pads. 0: Push-pull; 1: open drain.
- * 5 Reserved
- * 4:3 INT2_S2, INT2_S1: INT2 output signal selection control bits. // TO DO
- * 1:0 INT1_S2, INT1_S1: data signal on INT1 pad control bits.
- * INT1(2)_S2 | INT1(2)_S1 | INT1(2) pin
- * ------------------------------------------------------
- * 0 | 0 | Data signal
- * 0 | 1 | Pressure high (P_high)
- * 1 | 0 | Pressure low (P_low)
- * 1 | 1 | P_low OR P_high
-
-
- * \endcode
- */
-#define LPS25H_CTRL_REG3_ADDR 0x22
-
-/**
- * @brief Pressure sensor control register 4
- * \code
- * Read/write
- * Default value: 0x00
- * 7 P2_EMPTY: Empty Signal on INT2 pin.
- * 6 P2_WTM: Watermark Signal on INT2 pin.
- * 5 P2_Overrun:Overrun Signal on INT2 pin.
- * 4 P2_DRDY: Data Ready Signal on INT2 pin.
- * 3 P1_EMPTY: Empty Signal on INT1 pin.
- * 2 P1_WTM: Watermark Signal on INT1 pin.
- * 1 P1_Overrunn:Overrun Signal on INT1 pin.
- * 0 P1_DRDY: Data Ready Signal on INT1 pin.
- * \endcode
- */
-#define LPS25H_CTRL_REG4_ADDR 0x23
-
-/**
- * @brief Interrupt configuration Register
- * \code
- * Read/write
- * Default value: 0x00.
- * 7:3 Reserved.
- * 2 LIR: Latch Interrupt request into INT_SOURCE register. 0 - disable; 1 - enable
- * 1 PL_E: Enable interrupt generation on differential pressure low event. 0 - disable; 1 - enable
- * 0 PH_E: Enable interrupt generation on differential pressure high event. 0 - disable; 1 - enable
- * \endcode
- */
-#define LPS25H_INT_CFG_REG_ADDR 0x24
-
-/**
- * @brief Interrupt source Register
- * \code
- * Read
- * Default value: 0x00.
- * 7:3 0.
- * 2 IA: Interrupt Active.0: no interrupt has been generated; 1: one or more interrupt events have been generated.
- * 1 PL: Differential pressure Low. 0: no interrupt has been generated; 1: Low differential pressure event has occurred.
- * 0 PH: Differential pressure High. 0: no interrupt has been generated; 1: High differential pressure event has occurred.
- * \endcode
- */
-#define LPS25H_INT_SOURCE_REG_ADDR 0x25
-
-/**
- * @brief Threshold pressure (LSB)
- * \code
- * Read
- * Default value: 0x00.
- * 7:0 THS7-THS0: Low part of threshold value for pressure interrupt
- * generation. The complete threshold value is given by THS_P_H & THS_P_L and is
- * expressed as unsigned number. P_ths(mbar)=(THS_P_H & THS_P_L)[dec]/16.
- * \endcode
- */
-#define LPS25H_THS_P_LOW_REG_ADDR 0x30
-
-/**
- * @brief Threshold pressure (MSB)
- * \code
- * Read
- * Default value: 0x00.
- * 7:0 THS15-THS8: High part of threshold value for pressure interrupt
- * generation. The complete threshold value is given by THS_P_H & THS_P_L and is
- * expressed as unsigned number. P_ths(mbar)=(THS_P_H & THS_P_L)[dec]/16.
- * \endcode
- */
-#define LPS25H_THS_P_HIGH_REG_ADDR 0x31
-
-/**
- * @brief Status Register
- * \code
- * Read
- * Default value: 0x00
- * 7:6 0
- * 5 P_OR: Pressure data overrun. 0: no overrun has occurred; 1: new data for pressure has overwritten the previous one.
- * 4 T_OR: Temperature data overrun. 0: no overrun has occurred; 1: a new data for temperature has overwritten the previous one.
- * 3:2 0
- * 1 P_DA: Pressure data available. 0: new data for pressure is not yet available; 1: new data for pressure is available.
- * 0 T_DA: Temperature data available. 0: new data for temperature is not yet available; 1: new data for temperature is available.
- * \endcode
- */
-#define LPS25H_STATUS_REG_ADDR 0x27
-
-/**
- * @brief Pressure data (LSB).
- * \code
- * Read
- * Default value: 0x00.
- * POUT7 - POUT0: Pressure data LSB (2's complement).
- * Pressure output data: Pout(mbar)=(PRESS_OUT_H & PRESS_OUT_L &
- * PRESS_OUT_XL)[dec]/4096.
- * \endcode
- */
-#define LPS25H_PRESS_POUT_XL_ADDR 0x28
-
-/**
- * @brief Pressure data (Middle part).
- * \code
- * Read
- * Default value: 0x80.
- * POUT15 - POUT8: Pressure data middle part (2's complement).
- * Pressure output data: Pout(mbar)=(PRESS_OUT_H & PRESS_OUT_L &
- * PRESS_OUT_XL)[dec]/4096.
- * \endcode
- */
-#define LPS25H_PRESS_OUT_L_ADDR 0x29
-
-/**
- * @brief Pressure data (MSB).
- * \code
- * Read
- * Default value: 0x2F.
- * POUT23 - POUT16: Pressure data MSB (2's complement).
- * Pressure output data: Pout(mbar)=(PRESS_OUT_H & PRESS_OUT_L &
- * PRESS_OUT_XL)[dec]/4096.
- * \endcode
- */
-#define LPS25H_PRESS_OUT_H_ADDR 0x2A
-
-/**
- * @brief Temperature data (LSB).
- * \code
- * Read
- * Default value: 0x00.
- * TOUT7 - TOUT0: temperature data LSB.
- * T(degC) = 42.5 + (Temp_OUTH & TEMP_OUT_L)[dec]/480.
- * \endcode
- */
-#define LPS25H_TEMP_OUT_L_ADDR 0x2B
-
-/**
- * @brief Temperature data (MSB).
- * \code
- * Read
- * Default value: 0x00.
- * TOUT15 - TOUT8: temperature data MSB.
- * T(degC) = 42.5 + (Temp_OUTH & TEMP_OUT_L)[dec]/480.
- * \endcode
- */
-#define LPS25H_TEMP_OUT_H_ADDR 0x2C
-
-/**
- * @brief FIFO control register
- * \code
- * Read/write
- * Default value: 0x00
- * 7:5 F_MODE2, F_MODE1, F_MODE0: FIFO mode selection.
- * FM2 | FM1 | FM0 | FIFO MODE
- * ---------------------------------------------------
- * 0 | 0 | 0 | BYPASS MODE
- * 0 | 0 | 1 | FIFO MODE. Stops collecting data when full
- * 0 | 1 | 0 | STREAM MODE: Keep the newest measurements in the FIFO
- * 0 | 1 | 1 | STREAM MODE until trigger deasserted, then change to FIFO MODE
- * 1 | 0 | 0 | BYPASS MODE until trigger deasserted, then STREAM MODE
- * 1 | 0 | 1 | Reserved
- * 1 | 1 | 0 | FIFO_MEAN MODE: Fifo is used to generate a running average filtered pressure
- * 1 | 1 | 1 | BYPASS mode until trigger deasserted, then FIFO MODE
- *
- * 4:0 FIFO Mean Mode Sample size
- * WTM_POINT4 | WTM_POINT4 | WTM_POINT4 | WTM_POINT4 | WTM_POINT4 | Sample Size
- * ----------------------------------------------------------------------------------
- * 0 | 0 | 0 | 0 | 1 | 2
- * 0 | 0 | 0 | 1 | 1 | 4
- * 0 | 0 | 1 | 1 | 1 | 8
- * 0 | 1 | 1 | 1 | 1 | 16
- * 1 | 1 | 1 | 1 | 1 | 32
- * other values operation not guaranteed
- * \endcode
- */
-#define LPS25H_CTRL_FIFO_ADDR 0x2E
-
-/**
- * @brief FIFO Status register
- * \code
- * Read/write
- * Default value: 0x00
- * 7 WTM_FIFO: Watermark status. 0:FIFO filling is lower than watermark level; 1: FIFO is equal or higher than watermark level.
- * 6 FULL_FIFO: Overrun bit status. 0 - FIFO not full; 1 -FIFO is full.
- * 5 EMPTY_FIFO: Empty FIFO bit. 0 - FIFO not empty; 1 -FIFO is empty.
- * 4:0 DIFF_POINT4...0: FIFOsStored data level.
- * \endcode
- */
-#define LPS25H_STATUS_FIFO_ADDR 0x2F
-
-/**
- * @brief Pressure offset register
- * \code
- * Read/write
- * Default value: 0x00
- * 7:0 RPDS15...8:Pressure Offset for 1 point calibration after soldering.
- * \endcode
- */
-#define LPS25H_RPDS_TRIM_L_ADDR 0x39
-
-/**
- * @brief Pressure offset register
- * \code
- * Read/write
- * Default value: 0x00
- * 7:0 RPDS23...16:Pressure Offset for 1 point calibration after soldering.
- * \endcode
- */
-#define LPS25H_RPDS_TRIM_H_ADDR 0x3A
-
-/******************************************************************************/
-/**************************** END REGISTER MAPPING ***************************/
-/******************************************************************************/
-
-/**
- * @brief Multiple Byte. Mask for enabling multiple byte read/write command.
- */
-#define LPS25H_I2C_MULTIPLEBYTE_CMD ((uint8_t)0x80)
-
-/**
- * @brief Device Address
- */
-#define LPS25H_ADDRESS_LOW 0xB8
-#define LPS25H_ADDRESS_HIGH 0xBA
-
-
-/**
- * @brief Device Identifier. Default value of the WHO_AM_I register.
- */
-#define I_AM_LPS25H ((uint8_t)0xBD)
-
-/** @defgroup LPS25H_Power_Mode_Selection_CTRL_REG1 LPS25H_Power_Mode_Selection_CTRL_REG1
- * @{
- */
-#define LPS25H_MODE_POWERDOWN ((uint8_t)0x00)
-#define LPS25H_MODE_ACTIVE ((uint8_t)0x80)
-
-#define LPS25H_MODE_MASK ((uint8_t)0x80)
-/**
- * @}
- */
-
-/** @defgroup LPS25H_Output_Data_Rate_Selection_CTRL_REG1 LPS25H_Output_Data_Rate_Selection_CTRL_REG1
- * @{
- */
-#define LPS25H_ODR_ONE_SHOT ((uint8_t)0x00) /*!< Output Data Rate: P - one shot, T - one shot */
-#define LPS25H_ODR_1Hz ((uint8_t)0x10) /*!< Output Data Rate: P - 1Hz, T - 1Hz */
-#define LPS25H_ODR_7Hz ((uint8_t)0x20) /*!< Output Data Rate: P - 7Hz, T - 7Hz */
-#define LPS25H_ODR_12_5Hz ((uint8_t)0x30) /*!< Output Data Rate: P - 12.5Hz, T - 12.5Hz */
-#define LPS25H_ODR_25Hz ((uint8_t)0x40) /*!< Output Data Rate: P - 25Hz, T - 25Hz */
-
-#define LPS25H_ODR_MASK ((uint8_t)0x70)
-/**
- * @}
- */
-
-/** @defgroup LPS25H_Interrupt_Circuit_Enable_CTRL_REG1 LPS25H_Interrupt_Circuit_Enable_CTRL_REG1
- * @{
- */
-#define LPS25H_DIFF_DISABLE ((uint8_t)0x00) /*!< interrupt circuit enabled */
-#define LPS25H_DIFF_ENABLE ((uint8_t)0x08) /*!< interrupt generation disabled */
-
-#define LPS25H_DIFF_EN_MASK ((uint8_t)0x08)
-/**
- * @}
- */
-
-/** @defgroup LPS25H_Block_Data_Update_CTRL_REG1 LPS25H_Block_Data_Update_CTRL_REG1
- * @{
- */
-#define LPS25H_BDU_CONT ((uint8_t)0x00) /*!< continuous update */
-#define LPS25H_BDU_READ ((uint8_t)0x04) /*!< output registers not updated until MSB and LSB reading */
-
-#define LPS25H_BDU_MASK ((uint8_t)0x04)
-/**
- * @}
- */
-
-/** @defgroup LPS25H_SPI_Serial_Interface_Mode_Selection_CTRL_REG1 LPS25H_SPI_Serial_Interface_Mode_Selection_CTRL_REG1
- * @{
- */
-#define LPS25H_SPI_SIM_4W ((uint8_t)0x00) /*!< 4-wire interface */
-#define LPS25H_SPI_SIM_3W ((uint8_t)0x01) /*!< 3-wire interface */
-
-#define LPS25H_SPI_SIM_MASK ((uint8_t)0x01)
-/**
- * @}
- */
-
-/** @defgroup LPS25H_Refresh_Registers_Flash_Memory_CTRL_REG2 LPS25H_Refresh_Registers_Flash_Memory_CTRL_REG2
- * @{
- */
-#define LPS25H_NORMAL_MODE ((uint8_t)0x00)
-#define LPS25H_RESET_MEMORY ((uint8_t)0x80)
-
-#define LPS25H_RESET_MEMORY_MASK ((uint8_t)0x80)
-/**
- * @}
- */
-
-/** @defgroup LPS25H_Pressure_Resolution_Selection_RES_CONF LPS25H_Pressure_Resolution_Selection_RES_CONF
- * @{
- */
-#define LPS25H_P_RES_AVG_8 ((uint8_t)0x00)
-#define LPS25H_P_RES_AVG_32 ((uint8_t)0x01)
-#define LPS25H_P_RES_AVG_128 ((uint8_t)0x02)
-#define LPS25H_P_RES_AVG_512 ((uint8_t)0x03)
-
-#define LPS25H_P_RES_MASK ((uint8_t)0x03)
-/**
- * @}
- */
-
-/** @defgroup LPS25H_Temperature_Resolution_Selection_RES_CONF LPS25H_Temperature_Resolution_Selection_RES_CONF
- * @{
- */
-#define LPS25H_T_RES_AVG_8 ((uint8_t)0x00)
-#define LPS25H_T_RES_AVG_16 ((uint8_t)0x04)
-#define LPS25H_T_RES_AVG_32 ((uint8_t)0x08)
-#define LPS25H_T_RES_AVG_64 ((uint8_t)0x0C)
-
-#define LPS25H_T_RES_MASK ((uint8_t)0x0C)
-/**
- * @}
- */
-
-#define LPS25H_SA0_LOW ((uint8_t)0x00)
-#define LPS25H_SA0_HIGH ((uint8_t)0x01)
-
-/**
- * @}
- */
-
-/** @defgroup LPS25H_Imported_Functions LPS25H_Imported_Functions
- * @{
- */
-/* Pressure sensor IO functions */
-extern PRESSURE_StatusTypeDef LPS25H_IO_Init(void);
-extern PRESSURE_StatusTypeDef LPS25H_IO_Write(uint8_t* pBuffer, uint8_t DeviceAddr, uint8_t RegisterAddr,
- uint16_t NumByteToWrite);
-extern PRESSURE_StatusTypeDef LPS25H_IO_Read(uint8_t* pBuffer, uint8_t DeviceAddr, uint8_t RegisterAddr,
- uint16_t NumByteToRead);
-extern void LPS25H_IO_ITConfig( void );
-
-/**
- * @}
- */
-
-/* ------------------------------------------------------- */
-/* Here you should declare the internal struct of */
-/* extended features of LPS25H. See the example of */
-/* LSM6DS3 in lsm6ds3.h */
-/* ------------------------------------------------------- */
-
-/** @addtogroup LPS25H_Exported_Variables LPS25H_Exported_Variables
- * @{
- */
-/* Pressure sensor driver structure */
-extern PRESSURE_DrvTypeDef LPS25HDrv;
-extern PRESSURE_DrvExtTypeDef LPS25HDrv_ext;
-
-/**
- * @}
- */
-
-/**
- * @}
- */
-
-/**
- * @}
- */
-
-/**
- * @}
- */
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* __LPS25H_H */
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
--- a/AltIMU_10_v5/components/lps25h/lps25h_class.cpp Mon Jul 02 07:41:35 2018 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,317 +0,0 @@
-/**
- ******************************************************************************
- * @file lps25h_class.cpp
- * @author AST / EST
- * @version V0.0.1
- * @date 14-April-2015
- * @brief Implementation file for the LPS25H driver class
- ******************************************************************************
- * @attention
- *
- * <h2><center>© 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 "lps25h_class.h"
-#include "lps25h.h"
-
-/* Methods -------------------------------------------------------------------*/
-/* betzw - based on:
- X-CUBE-MEMS1/trunk/Drivers/BSP/Components/lps25h/lps25h.c: revision #400,
- X-CUBE-MEMS1/trunk: revision #416
-*/
-
-/**
- * @brief Set LPS25H Initialization
- * @param LPS25H_Init the configuration setting for the LPS25H
- * @retval PRESSURE_OK in case of success, an error code otherwise
- */
-PRESSURE_StatusTypeDef LPS25H::LPS25H_Init(PRESSURE_InitTypeDef *LPS25H_Init)
-{
- uint8_t tmp1 = 0x00;
-
- /* Configure the low level interface ---------------------------------------*/
- if(LPS25H_IO_Init() != PRESSURE_OK)
- {
- return PRESSURE_ERROR;
- }
-
- if(LPS25H_PowerOn() != PRESSURE_OK)
- {
- return PRESSURE_ERROR;
- }
-
- if(LPS25H_IO_Read(&tmp1, LPS25H_CTRL_REG1_ADDR, 1) != PRESSURE_OK)
- {
- return PRESSURE_ERROR;
- }
-
- /* Output Data Rate selection */
- tmp1 &= ~(LPS25H_ODR_MASK);
- tmp1 |= LPS25H_Init->OutputDataRate;
-
- /* Interrupt circuit selection */
- tmp1 &= ~(LPS25H_DIFF_EN_MASK);
- tmp1 |= LPS25H_Init->DiffEnable;
-
- /* Block Data Update selection */
- tmp1 &= ~(LPS25H_BDU_MASK);
- tmp1 |= LPS25H_Init->BlockDataUpdate;
-
- /* Serial Interface Mode selection */
- tmp1 &= ~(LPS25H_SPI_SIM_MASK);
- tmp1 |= LPS25H_Init->SPIMode;
-
- if(LPS25H_IO_Write(&tmp1, LPS25H_CTRL_REG1_ADDR, 1) != PRESSURE_OK)
- {
- return PRESSURE_ERROR;
- }
-
- if(LPS25H_IO_Read(&tmp1, LPS25H_RES_CONF_ADDR, 1) != PRESSURE_OK)
- {
- return PRESSURE_ERROR;
- }
-
- /* Serial Interface Mode selection */
- tmp1 &= ~(LPS25H_P_RES_MASK);
- tmp1 |= LPS25H_Init->PressureResolution;
-
- /* Serial Interface Mode selection */
- tmp1 &= ~(LPS25H_T_RES_MASK);
- tmp1 |= LPS25H_Init->TemperatureResolution;
-
- if(LPS25H_IO_Write(&tmp1, LPS25H_RES_CONF_ADDR, 1) != PRESSURE_OK)
- {
- return PRESSURE_ERROR;
- }
-
- LPS25H_IO_ITConfig();
-
- return PRESSURE_OK;
-}
-
-/**
- * @brief Read ID address of LPS25H
- * @param ht_id the pointer where the ID of the device is stored
- * @retval PRESSURE_OK in case of success, an error code otherwise
- */
-PRESSURE_StatusTypeDef LPS25H::LPS25H_ReadID(uint8_t *p_id)
-{
- if(!p_id)
- {
- return PRESSURE_ERROR;
- }
-
- return LPS25H_IO_Read(p_id, LPS25H_WHO_AM_I_ADDR, 1);
-}
-
-/**
- * @brief Reboot memory content of LPS25H
- * @retval PRESSURE_OK in case of success, an error code otherwise
- */
-PRESSURE_StatusTypeDef LPS25H::LPS25H_RebootCmd(void)
-{
- uint8_t tmpreg;
-
- /* Read CTRL_REG5 register */
- if(LPS25H_IO_Read(&tmpreg, LPS25H_CTRL_REG2_ADDR, 1) != PRESSURE_OK)
- {
- return PRESSURE_ERROR;
- }
-
- /* Enable or Disable the reboot memory */
- tmpreg |= LPS25H_RESET_MEMORY;
-
- /* Write value to MEMS CTRL_REG5 regsister */
- if(LPS25H_IO_Write(&tmpreg, LPS25H_CTRL_REG2_ADDR, 1) != PRESSURE_OK)
- {
- return PRESSURE_ERROR;
- }
-
- return PRESSURE_OK;
-}
-
-
-/**
- * @brief Read LPS25H output register, and calculate the raw pressure
- * @param raw_press the pressure raw value
- * @retval PRESSURE_OK in case of success, an error code otherwise
- */
-PRESSURE_StatusTypeDef LPS25H::LPS25H_I2C_ReadRawPressure(int32_t *raw_press)
-{
- uint8_t buffer[3], i;
- uint32_t tempVal = 0;
-
- /* Read the register content */
-
- if(LPS25H_IO_Read(buffer, (LPS25H_PRESS_POUT_XL_ADDR | LPS25H_I2C_MULTIPLEBYTE_CMD),
- 3) != PRESSURE_OK)
- {
- return PRESSURE_ERROR;
- }
-
- /* Build the raw data */
- for (i = 0 ; i < 3 ; i++)
- tempVal |= (((uint32_t) buffer[i]) << (8 * i));
-
- /* convert the 2's complement 24 bit to 2's complement 32 bit */
- if (tempVal & 0x00800000)
- tempVal |= 0xFF000000;
-
- /* return the built value */
- *raw_press = ((int32_t) tempVal);
-
- return PRESSURE_OK;
-}
-
-/**
- * @brief Read LPS25H output register, and calculate the pressure in mbar
- * @param pfData the pressure value in mbar
- * @retval PRESSURE_OK in case of success, an error code otherwise
- */
-PRESSURE_StatusTypeDef LPS25H::LPS25H_GetPressure(float* pfData)
-{
- int32_t raw_press = 0;
-
- if(LPS25H_I2C_ReadRawPressure(&raw_press) != PRESSURE_OK)
- {
- return PRESSURE_ERROR;
- }
-
- *pfData = (float)raw_press / 4096.0f;
-
- return PRESSURE_OK;
-}
-
-/**
- * @brief Read LPS25H output register, and calculate the raw temperature
- * @param raw_data the temperature raw value
- * @retval PRESSURE_OK in case of success, an error code otherwise
- */
-PRESSURE_StatusTypeDef LPS25H::LPS25H_I2C_ReadRawTemperature(int16_t *raw_data)
-{
- uint8_t buffer[2];
- uint16_t tempVal = 0;
-
- /* Read the register content */
- if(LPS25H_IO_Read(buffer, (LPS25H_TEMP_OUT_L_ADDR | LPS25H_I2C_MULTIPLEBYTE_CMD),
- 2) != PRESSURE_OK)
- {
- return PRESSURE_ERROR;
- }
-
- /* Build the raw value */
- tempVal = (((uint16_t)buffer[1]) << 8) + (uint16_t)buffer[0];
-
- /* Return it */
- *raw_data = ((int16_t)tempVal);
-
- return PRESSURE_OK;
-}
-
-/**
- * @brief Read LPS25H output register, and calculate the temperature
- * @param pfData the temperature value
- * @retval PRESSURE_OK in case of success, an error code otherwise
- */
-PRESSURE_StatusTypeDef LPS25H::LPS25H_GetTemperature(float *pfData)
-{
- int16_t raw_data;
-
- if(LPS25H_I2C_ReadRawTemperature(&raw_data) != PRESSURE_OK)
- {
- return PRESSURE_ERROR;
- }
-
- *pfData = (float)((((float)raw_data / 480.0f) + 42.5f));
-
- return PRESSURE_OK;
-}
-/**
- * @brief Exit the shutdown mode for LPS25H
- * @retval PRESSURE_OK in case of success, an error code otherwise
- */
-PRESSURE_StatusTypeDef LPS25H::LPS25H_PowerOn(void)
-{
- uint8_t tmpreg;
-
- /* Read the register content */
- if(LPS25H_IO_Read(&tmpreg, LPS25H_CTRL_REG1_ADDR, 1) != PRESSURE_OK)
- {
- return PRESSURE_ERROR;
- }
-
- /* Set the power down bit */
- tmpreg |= LPS25H_MODE_ACTIVE;
-
- /* Write register */
- if(LPS25H_IO_Write(&tmpreg, LPS25H_CTRL_REG1_ADDR, 1) != PRESSURE_OK)
- {
- return PRESSURE_ERROR;
- }
-
- return PRESSURE_OK;
-}
-
-
-/**
- * @brief Enter the shutdown mode for LPS25H
- * @retval PRESSURE_OK in case of success, an error code otherwise
- */
-PRESSURE_StatusTypeDef LPS25H::LPS25H_PowerOff(void)
-{
- uint8_t tmpreg;
-
- /* Read the register content */
- if(LPS25H_IO_Read(&tmpreg, LPS25H_CTRL_REG1_ADDR, 1) != PRESSURE_OK)
- {
- return PRESSURE_ERROR;
- }
-
- /* Reset the power down bit */
- tmpreg &= ~(LPS25H_MODE_ACTIVE);
-
- /* Write register */
- if(LPS25H_IO_Write(&tmpreg, LPS25H_CTRL_REG1_ADDR, 1) != PRESSURE_OK)
- {
- return PRESSURE_ERROR;
- }
-
- return PRESSURE_OK;
-}
-
-/**
- * @brief Set the slave address according to SA0 bit
- * @param SA0_Bit_Status LPS25H_SA0_LOW or LPS25H_SA0_HIGH
- * @retval None
- */
-void LPS25H::LPS25H_SlaveAddrRemap(uint8_t SA0_Bit_Status)
-{
- LPS25H_SlaveAddress = (SA0_Bit_Status == LPS25H_SA0_LOW ? LPS25H_ADDRESS_LOW : LPS25H_ADDRESS_HIGH);
-}
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
--- a/AltIMU_10_v5/components/lps25h/lps25h_class.h Mon Jul 02 07:41:35 2018 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,181 +0,0 @@
-/**
- ******************************************************************************
- * @file lps25h_class.h
- * @author AST / EST
- * @version V0.0.1
- * @date 14-April-2015
- * @brief Header file for component LPS25H
- ******************************************************************************
- * @attention
- *
- * <h2><center>© 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 __LPS25H_CLASS_H
-#define __LPS25H_CLASS_H
-
-/* Includes ------------------------------------------------------------------*/
-#include "mbed.h"
-#include "DevI2C.h"
-#include "lps25h.h"
-#include "PressureSensor.h"
-#include "TempSensor.h"
-
-/* Classes -------------------------------------------------------------------*/
-/** Class representing a LPS25H sensor component
- */
-class LPS25H : public PressureSensor, public TempSensor {
- public:
- /** Constructor
- * @param[in] i2c device I2C to be used for communication
- */
- LPS25H(DevI2C &i2c) : PressureSensor(), TempSensor(), dev_i2c(i2c) {
- LPS25H_SlaveAddress = LPS25H_ADDRESS_HIGH;
- }
-
- /** Destructor
- */
- virtual ~LPS25H() {}
-
- /*** Interface Methods ***/
- virtual int init(void *init_struct) {
- return LPS25H_Init((PRESSURE_InitTypeDef*)init_struct);
- }
-
- /**
- * @brief Enter sensor shutdown mode
- * @return 0 in case of success, an error code otherwise
- */
- virtual int PowerOff(void) {
- return LPS25H_PowerOff();
- }
-
- virtual int read_id(uint8_t *p_id) {
- return LPS25H_ReadID(p_id);
- }
-
- /**
- * @brief Reset sensor
- * @return 0 in case of success, an error code otherwise
- */
- virtual int Reset(void) {
- return LPS25H_RebootCmd();
- }
-
- virtual int get_pressure(float *pfData) {
- return LPS25H_GetPressure(pfData);
- }
-
- virtual int get_temperature(float *pfData) {
- return LPS25H_GetTemperature(pfData);
- }
-
- void SlaveAddrRemap(uint8_t SA0_Bit_Status) {
- LPS25H_SlaveAddrRemap(SA0_Bit_Status);
- }
-
-protected:
- /*** Methods ***/
- PRESSURE_StatusTypeDef LPS25H_Init(PRESSURE_InitTypeDef *LPS25H_Init);
- PRESSURE_StatusTypeDef LPS25H_ReadID(uint8_t *p_id);
- PRESSURE_StatusTypeDef LPS25H_RebootCmd(void);
- PRESSURE_StatusTypeDef LPS25H_GetPressure(float* pfData);
- PRESSURE_StatusTypeDef LPS25H_GetTemperature(float* pfData);
- PRESSURE_StatusTypeDef LPS25H_PowerOff(void);
- void LPS25H_SlaveAddrRemap(uint8_t SA0_Bit_Status);
-
- PRESSURE_StatusTypeDef LPS25H_PowerOn(void);
- PRESSURE_StatusTypeDef LPS25H_I2C_ReadRawPressure(int32_t *raw_press);
- PRESSURE_StatusTypeDef LPS25H_I2C_ReadRawTemperature(int16_t *raw_data);
-
- /**
- * @brief Configures LPS25H interrupt lines for NUCLEO boards
- */
- void LPS25H_IO_ITConfig(void)
- {
- /* To be implemented */
- }
-
- /**
- * @brief Configures LPS25H I2C interface
- * @return PRESSURE_OK in case of success, an error code otherwise
- */
- PRESSURE_StatusTypeDef LPS25H_IO_Init(void)
- {
- return PRESSURE_OK; /* done in constructor */
- }
-
- /**
- * @brief Utility function to read data from LPS25H
- * @param[out] pBuffer pointer to the byte-array to read data in to
- * @param[in] RegisterAddr specifies internal address register to read from.
- * @param[in] NumByteToRead number of bytes to be read.
- * @retval PRESSURE_OK if ok,
- * @retval PRESSURE_ERROR if an I2C error has occured
- */
- PRESSURE_StatusTypeDef LPS25H_IO_Read(uint8_t* pBuffer,
- uint8_t RegisterAddr, uint16_t NumByteToRead)
- {
- int ret = dev_i2c.i2c_read(pBuffer,
- LPS25H_SlaveAddress,
- RegisterAddr,
- NumByteToRead);
- if(ret != 0) {
- return PRESSURE_ERROR;
- }
- return PRESSURE_OK;
- }
-
- /**
- * @brief Utility function to write data to LPS25H
- * @param[in] pBuffer pointer to the byte-array data to send
- * @param[in] RegisterAddr specifies internal address register to read from.
- * @param[in] NumByteToWrite number of bytes to write.
- * @retval PRESSURE_OK if ok,
- * @retval PRESSURE_ERROR if an I2C error has occured
- */
- PRESSURE_StatusTypeDef LPS25H_IO_Write(uint8_t* pBuffer,
- uint8_t RegisterAddr, uint16_t NumByteToWrite)
- {
- int ret = dev_i2c.i2c_write(pBuffer,
- LPS25H_SlaveAddress,
- RegisterAddr,
- NumByteToWrite);
- if(ret != 0) {
- return PRESSURE_ERROR;
- }
- return PRESSURE_OK;
- }
-
- /*** Instance Variables ***/
- /* IO Device */
- DevI2C &dev_i2c;
-
- uint8_t LPS25H_SlaveAddress;
-};
-
-#endif // __LPS25H_CLASS_H
--- a/AltIMU_10_v5/components/lps25h/readme.txt Mon Jul 02 07:41:35 2018 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,3 +0,0 @@ -lps25h.h corresponds to: -- X-CUBE-MEMS1/trunk/Drivers/BSP/Components/lps25h/lps25h.h: revision #402, -- X-CUBE-MEMS1/trunk: revision #416
--- a/AltIMU_10_v5/components/lsm6ds33/lsm6ds33.h Mon Jul 02 07:41:35 2018 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,1328 +0,0 @@
-/**
- ******************************************************************************
- * @file lsm6ds33.h
- * @author MEMS Application Team
- * @version V1.2.0
- * @date 28-May-2015
- * @brief This file contains definitions for the lsm6ds33.c firmware driver
- ******************************************************************************
- * @attention
- *
- * <h2><center>© 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.
- *
- ******************************************************************************
- */
-
-/* Define to prevent recursive inclusion -------------------------------------*/
-#ifndef _LSM6DS33_XG_H
-#define _LSM6DS33_XG_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/* Includes ------------------------------------------------------------------*/
-#include "imu_6axes.h"
-
-/** @addtogroup BSP
- * @{
- */
-
-/** @addtogroup Components
- * @{
- */
-
-/** @addtogroup LSM6DS33
- * @{
- */
-
-/** @addtogroup LSM6DS33_Exported_Defines LSM6DS33_Exported_Defines
- * @{
- */
-#ifndef NULL
-#define NULL (void *) 0
-#endif
-
-/******************************************************************************/
-/*********** START ACCELEROMETER AND GYROSCOPE REGISTER MAPPING **************/
-/******************************************************************************/
-
-
-/***************************************** COMMON REGISTERS ********************************************/
-
-/**
- * @brief FIFO control register
- * \code
- * Read/write
- * Default value: 0x00
- * [7] FUNC_CFG_EN: Enable access to the embedded functions configuration registers (1) from address 02h to 32h. Default value: 0.
- * [6:0] This bit must be set to �0� for the correct operation of the device
- * \endcode
-*/
-#define LSM6DS33_XG_FUNC_CFG_ACCESS 0x01
-
-
-/**
- * @brief FIFO control register
- * \code
- * Read/write
- * Default value: 0x00
- * [7:0] FTH_7-0 FIFO threshold level setting - watermark flag is toggled when the number of bytes written to FIFO is greater or equal to threshold level.
- * \endcode
-*/
-#define LSM6DS33_XG_FIFO_CTRL1 0x06
-
-/**
- * @brief FIFO control register
- * \code
- * Read/write
- * Default value: 0x00
- * [7] TIMER_PEDO_FIFO_EN: Enable Pedometer step counter and time stamp as 4th sensor FIFO data. Default: 0 disabled
- * [6] TIMER_PEDO_FIFO_DRDY : Pedometer FIFO write mode. Default: 0 disabled
- * [5:4] This bit must be set to �0� for the correct operation of the device
- * [3:0] FTH_[11:8] FIFO threshold level setting(1). Default value: 0000
- * \endcode
-*/
-#define LSM6DS33_XG_FIFO_CTRL2 0x07
-
-/**
- * @brief FIFO control register
- * \code
- * Read/write
- * Default value: 0x00
- * [7:6] This bit must be set to �0� for the correct operation of the device
- * [5:3] DEC_FIFO_GYRO[2:0]: Gyro FIFO decimation setting. Default value: 000
- * [2:0] DEC_FIFO_XL[2:0]: XL FIFO decimation setting. Default value: 000
- * \endcode
-*/
-#define LSM6DS33_XG_FIFO_CTRL3 0x08
-
-/**
- * @brief FIFO control register
- * \code
- * Read/write
- * Default value: 0x00
- * [7] This bit must be set to �0� for the correct operation of the device
- * [6] ONLY_HIGH_DATA :8 bit data storing in FIFO. Default: 0
- * [5:3] DEC_SLV1_FIFO[2:0] Second external sensor FIFO decimation setting. Default: 000
- * [2:0] DEC_SLV1_FIFO[2:0] First external sensor FIFO decimation setting. Default: 000
- * \endcode
-*/
-#define LSM6DS33_XG_FIFO_CTRL4 0x09
-
-
-/**
- * @brief FIFO control register
- * \code
- * Read/write
- * Default value: 0x00
- * [7] This bit must be set to �0� for the correct operation of the device
- * [6:3] ODR_FIFO_[3:0]: FIFO ODR selection. Default: 0000
- * [2:0] FIFO_MODE_[2:0] : FIFO mode selection bits. Default value: 000
- * \endcode
-*/
-#define LSM6DS33_XG_FIFO_CTRL5 0x0A
-
-
-/**
- * @brief Angular rate sensor sign and orientation register
- * \code
- * Read/write
- * Default value: 0x00
- * [7:6] This bit must be set to �0� for the correct operation of the device
- * [5] SignX_G: Pitch axis (X) Angular rate sign. Default value: 0
- * [5] SignY_G: Roll axis (Y) Angular rate sign. Default value: 0
- * [5] SignZ_G: Pitch axis (Z) Angular rate sign. Default value: 0
- * [2:0] Orient[2:0] : Directional user orientation selection. Default Value: 000
- * \endcode
-*/
-#define LSM6DS33_XG_ORIENT_CFG_G 0x0B
-
-/**
- * @brief INT1 pad control registrer
- * \code
- * Read/write
- * Default value: 0x00
- * [7] INT1_PEDO: Pedometer step recognition interrupt enable on INT1 pad. Default value: 0
- * [6] INT1_SIGN_MOT: Significant motion interrupt enable on INT1 pad. Default value: 0
- * [5] INT1_FULL_FLAG: Full flag Interrupt Enable on INT1 pad. Default value: 0
- * [4] INT1_OVR: Overrun Interrupt on INT1 pad. Default value: 0
- * [3] INT1_FTH: FIFO threshold interrupt on INT1 pad. Default value: 0
- * [2] INT1_BOOT: Overrun Interrupt on INT1 pad. Default value: 0
- * [1] INT1_DRDY_G: Gyroscope Data Ready on INT1 pad. Default value: 0.
- * [0] INT1_DRDY_XL: Accelerometer Data Ready on INT1 pad. Default value: 0
- * \endcode
-*/
-#define LSM6DS33_XG_INT1_CTRL 0x0D
-
-
-//new, done
-/**
- * @brief INT2 pad control registrer
- * \code
- * Read/write
- * Default value: 0x00
- * [7] INT2_PEDO: Pedometer step recognition interrupt enable on INT1 pad. Default value: 0
- * [6] INT2_SIGN_MOT: Significant motion interrupt enable on INT1 pad. Default value: 0
- * [5] INT2_FULL_FLAG: Full flag Interrupt Enable on INT1 pad. Default value: 0
- * [4] INT2_OVR: Overrun Interrupt on INT1 pad. Default value: 0
- * [3] INT2_FTH: FIFO threshold interrupt on INT1 pad. Default value: 0
- * [2] INT2_BOOT: Overrun Interrupt on INT1 pad. Default value: 0
- * [1] INT2_DRDY_G: Gyroscope Data Ready on INT1 pad. Default value: 0.
- * [0] INT2_DRDY_XL: Accelerometer Data Ready on INT1 pad. Default value: 0
- * \endcode
-*/
-#define LSM6DS33_XG_INT2_CTRL 0x0E
-
-
-/**
- * @brief Device identifier register.
- * \code
- * Read
- * Default value:69
- * [7:0] This read-only register contains the device identifier
- * \endcode
-*/
-#define LSM6DS33_XG_WHO_AM_I_ADDR 0x0F
-
-
-
-/**
- * @brief Control Register 3
- * \code
- * Read/write
- * Default value: 0x00
- * [7] BOOT: Reboot memory content. Default value: 0
- * [6] BDU: Block Data Update. Default value: 0
- * [5] H_LACTIVE: Interrupt activation level. Default value: 0
- * [4] PP_OD: Push-pull/Open Drain selection on INT pad. Default value: 0
- * [3] SIM: SPI Serial Interface Mode selection. Default value: 0
- * [2] IF_INC: Register address automatically incremented during a multiple byte access with a serial interface (I2C or SPI). Default value: 0
- * [1] BLE: Big/Little Endian Data Selection. Default value: 0
- * [0] SW_RESET: Software Reset. Default value: 0
- * \endcode
-*/
-#define LSM6DS33_XG_CTRL3_C 0x12
-
-/**
- * @brief Control Register 4
- * \code
- * Read/write
- * Default value: 0x00
- * [7] BW_SCAL_ODR: Accelerometer bandwidth selection. Default value: 0
- * [6] SLEEP_G: Gyroscope sleep mode enable. Default value: 0
- * [5] INT2_on_INT1: All interrupt signals available on INT1 pad enable. Default value: 0
- * [4] This bit must be set to �0� for the correct operation of the device
- * [3] DRDY_MASK: Configuration 1(3) Data Available Enable bit. Default Value: 0
- * [2] I2C_disable Disable I2C interface. Default value: 0
- * [1] MODE3_EN Enable auxiliary SPI interface (Mode3, refer to Table 1.). Default value: 0
- * [0] STOP_ON_FTH Enable FIFO threshold level use. Default value: 0.
-
- * \endcode
-*/
-#define LSM6DS33_XG_CTRL4_C 0x13
-
-/**
- * @brief Control Register 4
- * \code
- * Read/write
- * Default value: 0x00
- * [7:4] This bit must be set to �0� for the correct operation of the device
- * [3:2] ST_G[1:0]: Angular rate sensor Self Test Enable. Default value: 00
- * [1:0] ST_XL[1:0]: Linear acceleration sensor Self Test Enable. Default value: 00
- * \endcode
-*/
-#define LSM6DS33_XG_CTRL5_C 0x14
-
-
-/**
- * @brief Control Register 10
- * \code
- * Read/write
- * Default value: 0x38
- * [7:6] These bits must be set to �0� for the correct operation of the device
- * [5] Zen_G: Gyroscope�s Z-axis output enable. Default value: 1
- * [4] Yen_G: Gyroscope�s Y-axis output enable. Default value: 1
- * [3] Xen_G: Gyroscope�s X-axis output enable. Default value: 1
- * [2] FUNC_EN: Enable embedded functionalities (pedometer, tilt and significant motion) . Default value: 0
- * [1] PEDO_RST_STEP: Reset pedometer step counter . Default value: 0
- * [0] SIGN_MOTION_EN: Enable significant motion function. For a correct functionality of significant motion function, TILT_EN bit in FUNC_SRC (53h) register must be set to 1 . Default value: 1
- * \endcode
-*/
-#define LSM6DS33_XG_CTRL10_C 0x19
-
-
-
-/**
- * @brief Wake up interrupt source register
- * \code
- * Read
- * Default value: output
- * [7:6] This bit must be set to �0� for the correct operation of the device
- * [5] FF_IA: Free fall event detection status. Default: 0
- * [4] SLEEP_STATE_IA: Sleep event status. Default value: 0
- * [3] WU_IA: Wake up event detection status. Default
- * [2] X_WU: detection status on X axis. Default value: 0
- * [1] Y_WU: detection status on Y axis. Default value: 0
- * [0] Z_WU: detection status on Z axis. Default value: 0
- * \endcode
-*/
-#define LSM6DS33_XG_WAKE_UP_SRC 0x1B
-
-/**
- * @brief Tap source register
- * \code
- * Read
- * Default value: output
- * [7] This bit must be set to �0� for the correct operation of the device
- * [6] TAP_IA: Tap event detection status. Default: 0
- * [5] SINGLE_TAP: Single tap event status. Default value: 0
- * [4] DOUBLE_TAP: Double tap event detection status. Default value: 0
- * [3] TAP_SIGN: Sign of acceleration detected by tap event. Default: 0
- * [2] X_TAP: Tap event detection status on X axis. Default value: 0
- * [1] Y_TAP: Tap event detection status on Y axis. Default value: 0
- * [0] Z_TAP: Tap event detection status on Z axis. Default value: 0
- * \endcode
-*/
-#define LSM6DS33_XG_TAP_SRC 0x1C
-
-/**
- * @brief Portrait, landscape face-up and face-down source register
- * \code
- * Read
- * Default value: output
- * [7] This bit must be set to �0� for the correct operation of the device
- * [6] D6D_IA: Interrupt active for change position portrait, landscape, face-up, face-down. Default value: 0
- * [5] ZH: Z-axis high event (over-threshold). Default value: 0
- * [4] ZL: Z-axis low event (under-threshold). Default value: 0
- * [5] YH: Y-axis high event (over-threshold). Default value: 0
- * [4] YL: Y-axis low event (under-threshold). Default value: 0
- * [5] X_H: X-axis high event (over-threshold). Default value: 0
- * [4] X_L: X-axis low event (under-threshold). Default value: 0
- * \endcode
-*/
-#define LSM6DS33_XG_D6D_SRC 0x1D
-
-/**
- * @brief Status register
- * \code
- * Read
- * Default value: output
- * [7:4] No meaning set
- * [3] EV_BOOT: Boot running flag signal. Default value: 0
- * [2] No meaning set
- * [1] GDA: Gyroscope new data avaialble. Default value: 0
- * [0] XLDA: Accelerometer new data avaialble. Default value: 0
- * \endcode
-*/
-#define LSM6DS33_XG_STATUS_REG 0x1E
-
-#define LSM6DS33_XG_OUT_TEMP_L 0x20
-#define LSM6DS33_XG_OUT_TEMP_H 0x21
-
-/**
- * @brief FIFO status control register
- * \code
- * Read
- * Default value: 0x00
- * [7:0] DIFF_FIFO_[7:0]: Number of unread words (16 bit axes) stored in FIFO . For a complete number of unread samples, consider DIFF_FIFO [11:8] in FIFO_STATUS2 (3Bh)
- * \endcode
-*/
-#define LSM6DS33_XG_FIFO_STATUS1 0x3A
-
-/**
- * @brief FIFO status control register (r). For a proper reading of the register it is suggested to set BDU bit in CTRL3_C (12h) to 0.
- * \code
- * Read
- * Default value: 0x00
- * [7] FTH FIFO watermark status. Deafult value: 0
- * [6] OVER_RUN: FIFO overrun status. Default value: 0
- * [5] FIFO_FULL: FIFO full status. Default value: 0
- * [5] FIFO_EMPTY: FIFO empty bit. Default value: 0; 0: FIFO contains data; 1: FIFO is empty
- * [3:0] DIFF_FIFO_[11:8] Number of unread words (16 bit axes) stored in FIFO : For a complete number of unread samples, consider DIFF_FIFO [11:8] in FIFO_STATUS1 (3Ah)
- * \endcode
-*/
-#define LSM6DS33_XG_FIFO_STATUS2 0x3B
-
-/**
- * @brief FIFO status control register (r). For a proper reading of the register it is suggested to set BDU bit in CTRL3_C (12h) to 0
- * \code
- * Read
- * Default value: 0x00
- * [7:0] FIFO_PATTERN_[7:0] : Word of recursive pattern read at the next reading
- * \endcode
-*/
-#define LSM6DS33_XG_FIFO_STATUS3 0x3C
-
-/**
- * @brief FIFO status control register (r). For a proper reading of the register it is suggested to set BDU bit in CTRL3_C (12h) to 0
- * \code
- * Read
- * Default value: 0x00
- * [1:0] FIFO_PATTERN_[9:8] : Word of recursive pattern read at the next reading
- * \endcode
-*/
-#define LSM6DS33_XG_FIFO_STATUS4 0x3D
-
-/**
- * @brief FIFO status control register (r). For a proper reading of the register it is suggested to set BDU bit in CTRL3_C (12h) to 0.
- * \code
- * Read
- * Default value: 0x00
- * [4:0] FIFO_PATTERN_[9:8] : Word of recursive pattern read at the next reading
- * \endcode
-*/
-#define LSM6DS33_XG_FIFO_STATUS4 0x3D
-
-/**
- * @brief FIFO data output register (r). For a proper reading of the register it is suggested to set BDU bit in CTRL3_C (12h) to 0.
- * \code
- * Read
- * Default value: 0x00
- * [7:0] DATA_OUT_FIFO_L_[7:0]: FIFO data output (First byte)
- * \endcode
-*/
-#define LSM6DS33_XG_FIFO_DATA_OUT_L 0x3E
-
-/**
- * @brief FIFO data output register (r). For a proper reading of the register it is suggested to set BDU bit in CTRL3_C (12h) to 0.
- * \code
- * Read
- * Default value: 0x00
- * [7:0] DATA_OUT_FIFO_H_[7:0]: FIFO data output (second byte)
- * \endcode
-*/
-#define LSM6DS33_XG_FIFO_DATA_OUT_H 0x3F
-
-/**
- * @brief Time stamp first byte data output register (r). The value is expressed as 24 bit and the bit resolution is defined by setting value in WAKE_UP_DUR (5Ch).
- * \code
- * Read
- * Default value: output
- * [7:0] TIMESTAMP0_[7:0]: FIFO first byte data output
- * \endcode
-*/
-#define LSM6DS33_XG_TIMESTAMP0_REG 0x40
-
-/**
- * @brief Time stamp second byte data output register (r). The value is expressed as 24 bit and the bit resolution is defined by setting value in WAKE_UP_DUR (5Ch).
- * \code
- * Read
- * Default value: output
- * [7:0] TIMESTAMP1_[7:0]: FIFO second byte data output
- * \endcode
-*/
-#define LSM6DS33_XG_TIMESTAMP1_REG 0x41
-
-/**
- * @brief Time stamp third byte data output register (r). The value is expressed as 24 bit and the bit resolution is defined by setting value in WAKE_UP_DUR (5Ch).
- * \code
- * Read
- * Default value: output
- * [7:0] TIMESTAMP2_[7:0]: FIFO third byte data output
- * \endcode
-*/
-#define LSM6DS33_XG_TIMESTAMP2_REG 0x42
-
-#define LSM6DS33_XG_STEP_TIMESTAMP_L 0x49
-#define LSM6DS33_XG_STEP_TIMESTAMP_H 0x4A
-/**
- * @brief Step counter output register (r).
- * \code
- * Read
- * Default value: output
- * [7:0] STEP_COUNTER_L_[7:0]: Step counter output (LSbyte)
- * \endcode
-*/
-#define LSM6DS33_XG_STEP_COUNTER_L 0x4B
-
-/**
- * @brief Step counter output register (r).
- * \code
- * Read
- * Default value: output
- * [7:0] STEP_COUNTER_H_[7:0]: Step counter output (MSbyte)
- * \endcode
-*/
-#define LSM6DS33_XG_STEP_COUNTER_H 0x4C
-
-/**
- * @brief Significant motion, tilt, step detector, soft iron and sensor hub interrupt source register
- * \code
- * Read
- * Default value: output
- * [7] This bit must be set to �0� for the correct operation of the device
- * [6] SIGN_MOTION_IA: Significant motion event detection status. Default value: 0
- * [5] TILT_IA: Tilt event detection status. Default value: 0
- * [5] STEP_DETECTED: Step detector event detection status. Default value: 0
- * [3:2] This bit must be set to �0� for the correct operation of the device
- * [1] SI_END_OP:Soft iron calculation status. Default value: 0
- * [0] SENSORHUB_END_OP:Senso hub communication status. Default value: 0
- * \endcode
-*/
-#define LSM6DS33_XG_FUNC_SRC 0x53
-
-/**
- * @brief Time stamp, pedometer, tilt, filtering, and tap recognition functions configuration register
- * \code
- * Read/write
- * Default value: 0x00
- * [7] TIMER_EN: Time stamp count enable, output data are collected in TIMESTAMP0_REG (40h), TIMESTAMP1_REG (41h), TIMESTAMP2_REG (42h) register. Default: 0
- * [6] PEDO_EN: Pedometer algorithm enable(1). Default value: 0
- * [5] TILT_EN: Tilt calculation enable.(2) Default value: 0
- * [4] This bit must be set to �0� for the correct operation of the device
- * [3] TAP_X_EN: Enable X direction in tap recognition. Default value: 0
- * [2] TAP_Y_EN: Enable Z direction in tap recognition. Default value: 0
- * [1] TAP_Z_EN: Enable Z direction in tap recognition. Default value: 0
- * [0] LIR: Relatch of the time stamp, pedometer, tilt, filtering, and tap recognition functions routed to PINs.
- * \endcode
-*/
-#define LSM6DS33_XG_TAP_CFG 0x58
-
-/**
- * @brief Portrait/landscape position and tap function threshold register
- * \code
- * Read/write
- * Default value: 0x00
- * [7] This bit must be set to �0� for the correct operation of the device
- * [6:5] SIXD_THS[1:0]: Threshold for D6D function. Default value: 00
- * [4:0] TAP_THS[4:0]: Threshold for tap recognition. Default value: 0000
- * \endcode
-*/
-#define LSM6DS33_XG_TAP_THS_6D 0x59
-
-/**
- * @brief Tap recognition function setting register (r/w)
- * \code
- * Read/write
- * Default value: 0x00
- * [7:4] DUR[3:0]: Duration of maximum time gap for double tap recognition. Default: 0000
- * [3:2] QUIET[1:0]: Expected quiet time after a tap detection. Default value: 00
- * [1:0] SHOCK[1:0]: Maximum duration of over-threshold event. Default value: 00
- * \endcode
-*/
-#define LSM6DS33_XG_INT_DUR2 0x5A
-
-/**
- * @brief Tap recognition function setting register
- * \code
- * Read/write
- * Default value: 0x00
- * [7] SINGLE_DOUBLE_TAP: Single/double tap event detection. Default: 0
- * [6] INACTIVITY: Inactivity event enable. Default value: 0
- * [5:0] WK_THS[5:0]:Threshold for wake-up. Default value: 0000
- * \endcode
-*/
-#define LSM6DS33_XG_WAKE_UP_THS 0x5B
-
-/**
- * @brief Free-fall, wake-up, time stamp and sleep mode functions duration setting register (r/w).
- * \code
- * Read/write
- * Default value: 0x00
- * [7] FF_DUR5:Free fall duration event. Default: 0
- * [6:5] WAKE_DUR[1:0]: Wake up duration event. Default: 00
- * [4] TIMER_HR: Time stamp register resolution setting(1). Default value: 0
- * [3:0] SLEEP_DUR[3:0] : Duration to go in sleep mode. Default value: 0000
- * \endcode
-*/
-#define LSM6DS33_XG_WAKE_UP_DUR 0x5C
-
-/**
- * @brief Free-fall function duration setting register
- * \code
- * Read/write
- * Default value: 0x00
- * [7:3] FF_DUR[4:0]: Free fall duration event. Default: 0. For the complete configuration of the free fall duration, refer to FF_DUR5 in WAKE_UP_DUR (5Ch) configuration
- * [2:0] FF_THS[2:0]: Free fall threshold setting. Default: 000.
- * \endcode
-*/
-#define LSM6DS33_XG_WAKE_FREE_FALL 0x5D
-
-/**
- * @brief Functions routing on INT1 register
- * \code
- * Read/write
- * Default value: 0x00
- * [7] INT1_INACT_STATE: Routing on INT1 of inactivity mode. Default: 0
- * [6] INT1_SINGLE_TAP: Single tap recognition routing on INT1. Default: 0
- * [5] INT1_WU: Routing of wake-up event on INT1. Default value: 0
- * [4] INT1_FF: Routing of free-fall event on INT1. Default value: 0
- * [3] INT1_TAP: Routing of tap event on INT1. Default value: 0
- * [2] INT1_6D: Routing of 6D event on INT1. Default value: 0
- * [1] INT1_TILT: Routing of tilt event on INT1. Default value: 0
- * [0] INT1_TIMER: Routing of end counter event of timer on INT1. Default value: 0
- * \endcode
-*/
-#define LSM6DS33_XG_MD1_CFG 0x5E
-
-/**
- * @brief Functions routing on INT2 register
- * \code
- * Read/write
- * Default value: 0x00
- * [7] INT2_INACT_STATE: Routing on INT1 of inactivity mode. Default: 0
- * [6] INT2_SINGLE_TAP: Single tap recognition routing on INT1. Default: 0
- * [5] INT2_WU: Routing of wake-up event on INT1. Default value: 0
- * [4] INT2_FF: Routing of free-fall event on INT1. Default value: 0
- * [3] INT2_TAP: Routing of tap event on INT1. Default value: 0
- * [2] INT2_6D: Routing of 6D event on INT1. Default value: 0
- * [1] INT2_TILT: Routing of tilt event on INT1. Default value: 0
- * [0] INT2_TIMER: Routing of end counter event of timer on INT1. Default value: 0
- * \endcode
-*/
-#define LSM6DS33_XG_MD2_CFG 0x5F
-
-/***************************************** SENSORHUB REGISTERS ********************************************/
-
-
-
-
-/***************************************** GYROSCOPE REGISTERS ********************************************/
-
-/**
- * @brief Angular rate sensor Control Register 2
- * \code
- * Read/write
- * Default value: 0x00
- * [7:4] ODR_G[3:0]: Gyroscope output data rate selection
- * [3:2] FS_G[1-0]: Gyroscope full-scale selection
- * [1] FS_125: Gyroscope full-scale at 125 dps
- * [0] This bit must be set to �0� for the correct operation of the device
- * \endcode
- */
-#define LSM6DS33_XG_CTRL2_G 0x11
-
-
-/**
- * @brief Angular rate sensor Control Register 6
- * \code
- * Read/write
- * Default value: 0x00
- * [7] TRIG_EN: Data edge sensitive trigger Enable. Default value: 0
- * [6] LVLen: Data level sensitive trigger Enable. Default value: 0
- * [5] LVL2en: Level sensitive latched Enable. Default value: 0
- * [4] XL_H_MODE: High Performance operating mode disable for accelerometer(1). Default value: 0
- * [3:0] This bit must be set to �0� for the correct operation of the device
- * \endcode
- */
-#define LSM6DS33_XG_CTRL6_G 0x15
-
-
-/**
-* @brief Angular rate sensor Control Register 7
-* \code
-* Read/write
-* Default value: 0x00
-* [7] G_H_MODE: High Performance operating mode disable for Gyroscope(1) . Default: 0
-* [6] HP_EN: High Pass filter Enable. Default Value: 0
-* [5:4] HPCF_G[1:0]: Gyroscope High Pass filter Cut Off frequency selection. Default value: 00
-* [3:0] This bit must be set to �0� for the correct operation of the device
-* \endcode
-*/
-#define LSM6DS33_XG_CTRL7_G 0x16
-
-/**
- * @brief Gyroscope data (LSB)
- * \code
- * Read
- * \endcode
- */
-#define LSM6DS33_XG_OUT_X_L_G 0x22
-
-
-/**
- * @brief Gyroscope data (MSB)
- * \code
- * Read
- * \endcode
- */
-#define LSM6DS33_XG_OUT_X_H_G 0x23
-
-
-/**
- * @brief Gyroscope data (LSB)
- * \code
- * Read
- * \endcode
- */
-#define LSM6DS33_XG_OUT_Y_L_G 0x24
-
-
-/**
- * @brief Gyroscope data (MSB)
- * \code
- * Read
- * \endcode
- */
-#define LSM6DS33_XG_OUT_Y_H_G 0x25
-
-
-/**
- * @brief Gyroscope data (LSB)
- * \code
- * Read
- * \endcode
- */
-#define LSM6DS33_XG_OUT_Z_L_G 0x26
-
-
-/**
- * @brief Gyroscope data (MSB)
- * \code
- * Read
- * \endcode
- */
-#define LSM6DS33_XG_OUT_Z_H_G 0x27
-
-
-
-/*************************************** ACCELEROMETER REGISTERS *******************************************/
-
-/**
- * @brief Linear acceleration sensor Control Register 1
- * \code
- * Read/write
- * Default value: 0x00
- * [7:4] ODR_XL3-0: Accelerometer Output data rate and power mode selection
- * [3:2] FS_XL1-0: Accelerometer full-scale selection
- * [1:0] BW_XL1-0: Anti-aliasing filter bandwidth selection
- * \endcode
- */
-#define LSM6DS33_XG_CTRL1_XL 0x10
-
-/**
-* @brief XL sensor Control Register 8
-* \code
-* Read/write
-* Default value: 0x00
-* [7:3] This bit must be set to �0� for the correct operation of the device
-* [2] SLOPE_FDS: Enable HP filter on output registers and FIFO. Default value: 0
-* [1:0] This bit must be set to �0� for the correct operation of the device
-* \endcode
-*/
-#define LSM6DS33_XG_CTRL8_XL 0x17
-
-/**
- * @brief Linear acceleration sensor Control Register 9
- * \code
- * Read/write
- * Default value: 0x38
- * [7:6] These bits must be set to �0� for the correct operation of the device
- * [5] Zen_XL: Accelerometers�s Z-axis output enable
- * [4] Yen_XL: Accelerometers�s Y-axis output enable
- * [3] Xen_XL: Accelerometers�s X-axis output enable
- * [2:0] These bits must be set to �0� for the correct operation of the device
- * \endcode
-*/
-#define LSM6DS33_XG_CTRL9_XL 0x18
-
-
-/**
- * @brief Accelerometer data (LSB)
- * \code
- * Read
- * \endcode
- */
-#define LSM6DS33_XG_OUT_X_L_XL 0x28
-
-
-/**
- * @brief Accelerometer data (MSB)
- * \code
- * Read
- * \endcode
- */
-#define LSM6DS33_XG_OUT_X_H_XL 0x29
-
-
-/**
- * @brief Accelerometer data (LSB)
- * \code
- * Read
- * \endcode
- */
-#define LSM6DS33_XG_OUT_Y_L_XL 0x2A
-
-
-/**
- * @brief Accelerometer data (MSB)
- * \code
- * Read
- * \endcode
- */
-#define LSM6DS33_XG_OUT_Y_H_XL 0x2B
-
-
-/**
- * @brief Accelerometer data (LSB)
- * \code
- * Read
- * \endcode
- */
-#define LSM6DS33_XG_OUT_Z_L_XL 0x2C
-
-
-/**
- * @brief Accelerometer data (MSB)
- * \code
- * Read
- * \endcode
- */
-#define LSM6DS33_XG_OUT_Z_H_XL 0x2D
-
-/******************************************************************************/
-/************* END ACCELEROMETER AND GYROSCOPE REGISTER MAPPING **************/
-/******************************************************************************/
-
-
-/************************************** COMMON REGISTERS VALUE *******************************************/
-
-/**
-* @brief Device Address
-*/
-#define LSM6DS33_ADDRESS_LOW 0xD4 // SAD[0] = 0
-#define LSM6DS33_ADDRESS_HIGH 0xD6 // SAD[0] = 1
-#define LSM6DS33_XG_MEMS_ADDRESS LSM6DS33_ADDRESS_HIGH // SAD[0] = 1
-
-
-/**
- * @brief Device Identifier. Default value of the WHO_AM_I register.
- */
-#define I_AM_LSM6DS33_XG ((uint8_t)0x69)
-
-
-/**
- * @brief Register address automatically incremented during a multiple byte
- * access with a serial interface (I2C or SPI). Default value of the
- * LSM6DS33_XG_CTRL3_C register.
- */
-#define LSM6DS33_XG_IF_INC ((uint8_t)0x04)
-
-#define LSM6DS33_XG_IF_INC_MASK ((uint8_t)0x04)
-
-/** @defgroup LSM6DS33_XG_FIFO_Output_Data_Rate_Selection_FIFO_CTRL5 LSM6DS33_XG_FIFO_Output_Data_Rate_Selection_FIFO_CTRL5
- * @{
- */
-#define LSM6DS33_XG_FIFO_ODR_NA ((uint8_t)0x00) /*!< FIFO ODR NA */
-#define LSM6DS33_XG_FIFO_ODR_10HZ ((uint8_t)0x08) /*!< FIFO ODR 10Hz */
-#define LSM6DS33_XG_FIFO_ODR_25HZ ((uint8_t)) /*!< FIFO ODR 25Hz */
-#define LSM6DS33_XG_FIFO_ODR_50HZ ((uint8_t)0x18) /*!< FIFO ODR 50Hz */
-#define LSM6DS33_XG_FIFO_ODR_100HZ ((uint8_t)0x20) /*!< FIFO ODR 100Hz */
-#define LSM6DS33_XG_FIFO_ODR_200HZ ((uint8_t)0x28) /*!< FIFO ODR 200Hz */
-#define LSM6DS33_XG_FIFO_ODR_400HZ ((uint8_t)0x30) /*!< FIFO ODR 400Hz */
-#define LSM6DS33_XG_FIFO_ODR_800HZ ((uint8_t)0x38) /*!< FIFO ODR 800Hz */
-#define LSM6DS33_XG_FIFO_ODR_1600HZ ((uint8_t)0x40) /*!< FIFO ODR 1600Hz */
-#define LSM6DS33_XG_FIFO_ODR_3300HZ ((uint8_t)0x48) /*!< FIFO ODR 3300Hz */
-#define LSM6DS33_XG_FIFO_ODR_6600HZ ((uint8_t)0x50) /*!< FIFO ODR 6600Hz */
-
-#define LSM6DS33_XG_FIFO_ODR_MASK ((uint8_t)0x78)
-/**
- * @}
- */
-
-/** @defgroup LSM6DS33_XG_FIFO_Mode_Selection_FIFO_CTRL5 LSM6DS33_XG_FIFO_Mode_Selection_FIFO_CTRL5
- * @{
- */
-#define LSM6DS33_XG_FIFO_MODE_BYPASS ((uint8_t)0x00) /*!< BYPASS Mode. FIFO turned off */
-#define LSM6DS33_XG_FIFO_MODE_FIFO ((uint8_t)0x01) /*!< FIFO Mode. Stop collecting data when FIFO is full */
-#define LSM6DS33_XG_FIFO_MODE_CONTINUOUS_THEN_FIFO ((uint8_t)0x03) /*!< CONTINUOUS mode until trigger is deasserted, then FIFO mode */
-#define LSM6DS33_XG_FIFO_MODE_BYPASS_THEN_CONTINUOUS ((uint8_t)0x04) /*!< BYPASS mode until trigger is deasserted, then CONTINUOUS mode */
-#define LSM6DS33_XG_FIFO_MODE_CONTINUOUS_OVERWRITE ((uint8_t)0x06) /*!< CONTINUOUS mode. If the FIFO is full the new sample overwrite the older one */
-
-#define LSM6DS33_XG_FIFO_MODE_MASK ((uint8_t)0x07)
-/**
- * @}
- */
-
-
-/************************************** GYROSCOPE REGISTERS VALUE *******************************************/
-
-
-/** @addtogroup LSM6DS33_XG_Gyroscope_Output_Data_Rate_Selection_CTRL_REG1_G LSM6DS33_XG_Gyroscope_Output_Data_Rate_Selection_CTRL_REG1_G
- * @{
- */
-#define LSM6DS33_G_ODR_PD ((uint8_t)0x00) /*!< Output Data Rate: Power-down*/
-#define LSM6DS33_G_ODR_13HZ ((uint8_t)0x10) /*!< Output Data Rate: 13 Hz*/
-#define LSM6DS33_G_ODR_26HZ ((uint8_t)0x20) /*!< Output Data Rate: 26 Hz*/
-#define LSM6DS33_G_ODR_52HZ ((uint8_t)0x30) /*!< Output Data Rate: 52 Hz */
-#define LSM6DS33_G_ODR_104HZ ((uint8_t)0x40) /*!< Output Data Rate: 104 Hz */
-#define LSM6DS33_G_ODR_208HZ ((uint8_t)0x50) /*!< Output Data Rate: 208 Hz */
-#define LSM6DS33_G_ODR_416HZ ((uint8_t)0x60) /*!< Output Data Rate: 416 Hz */
-#define LSM6DS33_G_ODR_833HZ ((uint8_t)0x70) /*!< Output Data Rate: 833 Hz */
-#define LSM6DS33_G_ODR_1660HZ ((uint8_t)0x80) /*!< Output Data Rate: 1.66 kHz */
-
-#define LSM6DS33_G_ODR_MASK ((uint8_t)0xF0)
-
-/**
- * @}
- */
-
-
-/** @addtogroup LSM6DS33_XG_Gyroscope_Full_Scale_Selection_CTRL2_G LSM6DS33_XG_Gyroscope_Full_Scale_Selection_CTRL2_G
- * @{
- */
-#define LSM6DS33_G_FS_125_DISABLE ((uint8_t)0x00) /*!< Full scale: 125 dps enable: disable */
-#define LSM6DS33_G_FS_125_ENABLE ((uint8_t)0x02) /*!< Full scale: 125 dps enable: enable */
-
-#define LSM6DS33_G_FS_125_MASK ((uint8_t)0x02)
-
-#define LSM6DS33_G_FS_245 ((uint8_t)0x00) /*!< Full scale: 245 dps*/
-#define LSM6DS33_G_FS_500 ((uint8_t)0x04) /*!< Full scale: 500 dps */
-#define LSM6DS33_G_FS_1000 ((uint8_t)0x08) /*!< Full scale: 1000 dps */
-#define LSM6DS33_G_FS_2000 ((uint8_t)0x0C) /*!< Full scale: 2000 dps */
-
-#define LSM6DS33_G_FS_MASK ((uint8_t)0x0C)
-
-/**
- * @}
- */
-
-
-/** @addtogroup LSM6DS33_XG_Gyroscope_Z_Axis_Output_Enable_Selection_CTRL10_C LSM6DS33_XG_Gyroscope_Z_Axis_Output_Enable_Selection_CTRL10_C
- * @{
- */
-#define LSM6DS33_G_ZEN_DISABLE ((uint8_t)0x00) /*!< Gyroscope�s Z-axis output enable: disable */
-#define LSM6DS33_G_ZEN_ENABLE ((uint8_t)0x20) /*!< Gyroscope�s Z-axis output enable: enable */
-
-#define LSM6DS33_G_ZEN_MASK ((uint8_t)0x20)
-
-/**
- * @}
- */
-
-
-/** @addtogroup LSM6DS33_XG_Gyroscope_Y_Axis_Output_Enable_Selection_CTRL10_C LSM6DS33_XG_Gyroscope_Y_Axis_Output_Enable_Selection_CTRL10_C
- * @{
- */
-#define LSM6DS33_G_YEN_DISABLE ((uint8_t)0x00) /*!< Gyroscope�s Y-axis output enable: disable */
-#define LSM6DS33_G_YEN_ENABLE ((uint8_t)0x10) /*!< Gyroscope�s Y-axis output enable: enable */
-
-#define LSM6DS33_G_YEN_MASK ((uint8_t)0x10)
-
-/**
- * @}
- */
-
-
-/** @addtogroup LSM6DS33_XG_Gyroscope_X_Axis_Output_Enable_Selection_CTRL10_C LSM6DS33_XG_Gyroscope_X_Axis_Output_Enable_Selection_CTRL10_C
- * @{
- */
-#define LSM6DS33_G_XEN_DISABLE ((uint8_t)0x00) /*!< Gyroscope�s X-axis output enable: disable */
-#define LSM6DS33_G_XEN_ENABLE ((uint8_t)0x08) /*!< Gyroscope�s X-axis output enable: enable */
-
-#define LSM6DS33_G_XEN_MASK ((uint8_t)0x08)
-
-/**
- * @}
- */
-
-
-/************************************ ACCELEROMETER REGISTERS VALUE *****************************************/
-
-/** @addtogroup LSM6DS33_XG_Accelerometer_Output_Data_Rate_Selection_CTRL1_XL LSM6DS33_XG_Accelerometer_Output_Data_Rate_Selection_CTRL1_XL
- * @{
- */
-#define LSM6DS33_XL_ODR_PD ((uint8_t)0x00) /*!< Output Data Rate: Power-down*/
-#define LSM6DS33_XL_ODR_13HZ ((uint8_t)0x10) /*!< Output Data Rate: 13 Hz*/
-#define LSM6DS33_XL_ODR_26HZ ((uint8_t)0x20) /*!< Output Data Rate: 26 Hz*/
-#define LSM6DS33_XL_ODR_52HZ ((uint8_t)0x30) /*!< Output Data Rate: 52 Hz */
-#define LSM6DS33_XL_ODR_104HZ ((uint8_t)0x40) /*!< Output Data Rate: 104 Hz */
-#define LSM6DS33_XL_ODR_208HZ ((uint8_t)0x50) /*!< Output Data Rate: 208 Hz */
-#define LSM6DS33_XL_ODR_416HZ ((uint8_t)0x60) /*!< Output Data Rate: 416 Hz */
-#define LSM6DS33_XL_ODR_833HZ ((uint8_t)0x70) /*!< Output Data Rate: 833 Hz */
-#define LSM6DS33_XL_ODR_1660HZ ((uint8_t)0x80) /*!< Output Data Rate: 1.66 kHz */
-#define LSM6DS33_XL_ODR_3330HZ ((uint8_t)0x90) /*!< Output Data Rate: 3.33 kHz */
-#define LSM6DS33_XL_ODR_6660HZ ((uint8_t)0xA0) /*!< Output Data Rate: 6.66 kHz */
-
-#define LSM6DS33_XL_ODR_MASK ((uint8_t)0xF0)
-
-/**
- * @}
- */
-
-
-/** @addtogroup LSM6DS33_XG_Accelerometer_Full_Scale_Selection_CTRL1_XL LSM6DS33_XG_Accelerometer_Full_Scale_Selection_CTRL1_XL
- * @{
- */
-#define LSM6DS33_XL_FS_2G ((uint8_t)0x00) /*!< Full scale: +- 2g */
-#define LSM6DS33_XL_FS_4G ((uint8_t)0x08) /*!< Full scale: +- 4g */
-#define LSM6DS33_XL_FS_8G ((uint8_t)0x0C) /*!< Full scale: +- 8g */
-#define LSM6DS33_XL_FS_16G ((uint8_t)0x04) /*!< Full scale: +- 16g */
-
-#define LSM6DS33_XL_FS_MASK ((uint8_t)0x0C)
-
-/**
- * @}
- */
-
-
-/** @addtogroup LSM6DS33_XG_Accelerometer_Anti_Aliasing_Filter_Bandwidth_Selection_CTRL1_XL LSM6DS33_XG_Accelerometer_Anti_Aliasing_Filter_Bandwidth_Selection_CTRL1_XL
- * @{
- */
-#define LSM6DS33_XL_BW_400HZ ((uint8_t)0x00) /*!< Anti-aliasing filter bandwidht: 400 Hz */
-#define LSM6DS33_XL_BW_200HZ ((uint8_t)0x01) /*!< Anti-aliasing filter bandwidht: 200 Hz */
-#define LSM6DS33_XL_BW_100HZ ((uint8_t)0x02) /*!< Anti-aliasing filter bandwidht: 100 Hz */
-#define LSM6DS33_XL_BW_50HZ ((uint8_t)0x03) /*!< Anti-aliasing filter bandwidht: 50 Hz */
-
-#define LSM6DS33_XL_BW_MASK ((uint8_t)0x03)
-
-/**
- * @}
- */
-
-
-/** @addtogroup LSM6DS33_XG_Accelerometer_Z_Axis_Output_Enable_Selection_CTRL9_XL LSM6DS33_XG_Accelerometer_Z_Axis_Output_Enable_Selection_CTRL9_XL
- * @{
- */
-#define LSM6DS33_XL_ZEN_DISABLE ((uint8_t)0x00) /*!< Accelerometer�s Z-axis output enable: disable */
-#define LSM6DS33_XL_ZEN_ENABLE ((uint8_t)0x20) /*!< Accelerometer�s Z-axis output enable: enable */
-
-#define LSM6DS33_XL_ZEN_MASK ((uint8_t)0x20)
-
-/**
- * @}
- */
-
-
-/** @addtogroup LSM6DS33_XG_Accelerometer_Y_Axis_Output_Enable_Selection_CTRL9_XL LSM6DS33_XG_Accelerometer_Y_Axis_Output_Enable_Selection_CTRL9_XL
- * @{
- */
-#define LSM6DS33_XL_YEN_DISABLE ((uint8_t)0x00) /*!< Accelerometer�s Y-axis output enable: disable */
-#define LSM6DS33_XL_YEN_ENABLE ((uint8_t)0x10) /*!< Accelerometer�s Y-axis output enable: enable */
-
-#define LSM6DS33_XL_YEN_MASK ((uint8_t)0x10)
-
-/**
- * @}
- */
-
-
-/** @addtogroup LSM6DS33_XG_Accelerometer_X_Axis_Output_Enable_Selection_CTRL9_XL LSM6DS33_XG_Accelerometer_X_Axis_Output_Enable_Selection_CTRL9_XL
- * @{
- */
-#define LSM6DS33_XL_XEN_DISABLE ((uint8_t)0x00) /*!< Accelerometer�s X-axis output enable: disable */
-#define LSM6DS33_XL_XEN_ENABLE ((uint8_t)0x08) /*!< Accelerometer�s X-axis output enable: enable */
-
-#define LSM6DS33_XL_XEN_MASK ((uint8_t)0x08)
-
-/**
- * @}
- */
-
-/** @addtogroup LSM6DS33_XG_Accelerometer_FF_DUR5_Selection_WAKE_UP_DUR LSM6DS33_XG_Accelerometer_FF_DUR5_Selection_WAKE_UP_DUR
- * @{
- */
-#define LSM6DS33_XG_WAKE_UP_DUR_FF_DUR5_DEFAULT ((uint8_t)0x00)
-
-#define LSM6DS33_XG_WAKE_UP_DUR_FF_DUR5_MASK ((uint8_t)0x80)
-/**
- * @}
- */
-
-/** @addtogroup LSM6DS33_XG_Accelerometer_WAKE_DUR_Selection_WAKE_UP_DUR LSM6DS33_XG_Accelerometer_WAKE_DUR_Selection_WAKE_UP_DUR
- * @{
- */
-#define LSM6DS33_XG_WAKE_UP_DUR_WAKE_DUR_DEFAULT ((uint8_t)0x00)
-
-#define LSM6DS33_XG_WAKE_UP_DUR_WAKE_DUR_MASK ((uint8_t)0x60)
-/**
- * @}
- */
-
-/** @addtogroup LSM6DS33_XG_Accelerometer_TIMER_HR_Selection_WAKE_UP_DUR LSM6DS33_XG_Accelerometer_TIMER_HR_Selection_WAKE_UP_DUR
- * @{
- */
-#define LSM6DS33_XG_WAKE_UP_DUR_TIMER_HR_DEFAULT ((uint8_t)0x00)
-
-#define LSM6DS33_XG_WAKE_UP_DUR_TIMER_HR_MASK ((uint8_t)0x10)
-/**
- * @}
- */
-
-/** @addtogroup LSM6DS33_XG_Accelerometer_SLEEP_DUR_Selection_WAKE_UP_DUR LSM6DS33_XG_Accelerometer_SLEEP_DUR_Selection_WAKE_UP_DUR
- * @{
- */
-#define LSM6DS33_XG_WAKE_UP_DUR_SLEEP_DUR_DEFAULT ((uint8_t)0x00)
-
-#define LSM6DS33_XG_WAKE_UP_DUR_SLEEP_DUR_MASK ((uint8_t)0x0F)
-/**
- * @}
- */
-
-/** @addtogroup LSM6DS33_XG_Accelerometer_FF_DUR_Selection_FREE_FALL LSM6DS33_XG_Accelerometer_FF_DUR_Selection_FREE_FALL
- * @{
- */
-#define LSM6DS33_XG_WAKE_FREE_FALL_FF_DUR_DEFAULT ((uint8_t)0x00)
-#define LSM6DS33_XG_WAKE_FREE_FALL_FF_DUR_TYPICAL ((uint8_t)0x30)
-
-#define LSM6DS33_XG_WAKE_FREE_FALL_FF_DUR_MASK ((uint8_t)0xF8)
-/**
- * @}
- */
-
-/** @addtogroup LSM6DS33_XG_Accelerometer_FF_THS_Selection_FREE_FALL LSM6DS33_XG_Accelerometer_FF_THS_Selection_FREE_FALL
- * @{
- */
-#define LSM6DS33_XG_WAKE_FREE_FALL_FF_THS_156MG ((uint8_t)0x00)
-#define LSM6DS33_XG_WAKE_FREE_FALL_FF_THS_219MG ((uint8_t)0x01)
-#define LSM6DS33_XG_WAKE_FREE_FALL_FF_THS_250MG ((uint8_t)0x02)
-#define LSM6DS33_XG_WAKE_FREE_FALL_FF_THS_312MG ((uint8_t)0x03)
-#define LSM6DS33_XG_WAKE_FREE_FALL_FF_THS_344MG ((uint8_t)0x04)
-#define LSM6DS33_XG_WAKE_FREE_FALL_FF_THS_406MG ((uint8_t)0x05)
-#define LSM6DS33_XG_WAKE_FREE_FALL_FF_THS_469MG ((uint8_t)0x06)
-#define LSM6DS33_XG_WAKE_FREE_FALL_FF_THS_500MG ((uint8_t)0x07)
-
-#define LSM6DS33_XG_WAKE_FREE_FALL_FF_THS_MASK ((uint8_t)0x07)
-
-/**
- * @}
- */
-
-
-/** @addtogroup LSM6DS33_XG_Accelerometer_INT1_INACT_STATE_Selection_MD1_CFG LSM6DS33_XG_Accelerometer_INT1_INACT_STATE_Selection_MD1_CFG
- * @{
- */
-#define LSM6DS33_XG_MD1_CFG_INT1_INACT_STATE_DISABLE ((uint8_t)0x00)
-#define LSM6DS33_XG_MD1_CFG_INT1_INACT_STATE_ENABLE ((uint8_t)0x80)
-
-#define LSM6DS33_XG_MD1_CFG_INT1_INACT_STATE_MASK ((uint8_t)0x80)
-/**
- * @}
- */
-
-/** @addtogroup LSM6DS33_XG_Accelerometer_INT1_SINGLE_TAP_Selection_MD1_CFG LSM6DS33_XG_Accelerometer_INT1_SINGLE_TAP_Selection_MD1_CFG
- * @{
- */
-#define LSM6DS33_XG_MD1_CFG_INT1_SINGLE_TAP_DISABLE ((uint8_t)0x00)
-#define LSM6DS33_XG_MD1_CFG_INT1_SINGLE_TAP_ENABLE ((uint8_t)0x40)
-
-#define LSM6DS33_XG_MD1_CFG_INT1_SINGLE_TAP_MASK ((uint8_t)0x40)
-/**
- * @}
- */
-
-/** @addtogroup LSM6DS33_XG_Accelerometer_INT1_WU_Selection_MD1_CFG LSM6DS33_XG_Accelerometer_INT1_WU_Selection_MD1_CFG
- * @{
- */
-#define LSM6DS33_XG_MD1_CFG_INT1_WU_DISABLE ((uint8_t)0x00)
-#define LSM6DS33_XG_MD1_CFG_INT1_WU_ENABLE ((uint8_t)0x20)
-
-#define LSM6DS33_XG_MD1_CFG_INT1_WU_MASK ((uint8_t)0x20)
-/**
- * @}
- */
-
-/** @addtogroup LSM6DS33_XG_Accelerometer_INT1_FF_Selection_MD1_CFG LSM6DS33_XG_Accelerometer_INT1_FF_Selection_MD1_CFG
- * @{
- */
-#define LSM6DS33_XG_MD1_CFG_INT1_FF_DISABLE ((uint8_t)0x00)
-#define LSM6DS33_XG_MD1_CFG_INT1_FF_ENABLE ((uint8_t)0x10)
-
-#define LSM6DS33_XG_MD1_CFG_INT1_FF_MASK ((uint8_t)0x10)
-/**
- * @}
- */
-
-/** @addtogroup LSM6DS33_XG_Accelerometer_INT1_DOUBLE_TAP_Selection_MD1_CFG LSM6DS33_XG_Accelerometer_INT1_DOUBLE_TAP_Selection_MD1_CFG
- * @{
- */
-#define LSM6DS33_XG_MD1_CFG_INT1_DOUBLE_TAP_DISABLE ((uint8_t)0x00)
-#define LSM6DS33_XG_MD1_CFG_INT1_DOUBLE_TAP_ENABLE ((uint8_t)0x08)
-
-#define LSM6DS33_XG_MD1_CFG_INT1_DOUBLE_TAP_MASK ((uint8_t)0x08)
-/**
- * @}
- */
-
-/** @addtogroup LSM6DS33_XG_Accelerometer_INT1_6D_Selection_MD1_CFG LSM6DS33_XG_Accelerometer_INT1_6D_Selection_MD1_CFG
- * @{
- */
-#define LSM6DS33_XG_MD1_CFG_INT1_6D_DISABLE ((uint8_t)0x00)
-#define LSM6DS33_XG_MD1_CFG_INT1_6D_ENABLE ((uint8_t)0x04)
-
-#define LSM6DS33_XG_MD1_CFG_INT1_6D_MASK ((uint8_t)0x04)
-/**
- * @}
- */
-
-/** @addtogroup LSM6DS33_XG_Accelerometer_INT1_TILT_Selection_MD1_CFG LSM6DS33_XG_Accelerometer_INT1_TILT_Selection_MD1_CFG
- * @{
- */
-#define LSM6DS33_XG_MD1_CFG_INT1_TILT_DISABLE ((uint8_t)0x00)
-#define LSM6DS33_XG_MD1_CFG_INT1_TILT_ENABLE ((uint8_t)0x02)
-
-#define LSM6DS33_XG_MD1_CFG_INT1_TILT_MASK ((uint8_t)0x02)
-/**
- * @}
- */
-
-/** @addtogroup LSM6DS33_XG_Accelerometer_INT1_TIMER_Selection_MD1_CFG LSM6DS33_XG_Accelerometer_INT1_TIMER_Selection_MD1_CFG
- * @{
- */
-#define LSM6DS33_XG_MD1_CFG_INT1_TIMER_DISABLE ((uint8_t)0x00)
-#define LSM6DS33_XG_MD1_CFG_INT1_TIMER_ENABLE ((uint8_t)0x01)
-
-#define LSM6DS33_XG_MD1_CFG_INT1_TIMER_MASK ((uint8_t)0x01)
-
-/**
- * @}
- */
-
-/** @addtogroup LSM6DS33_XG_Accelerometer_FF_IA_Enable_WAKE_UP_SRC LSM6DS33_XG_Accelerometer_FF_IA_Enable_WAKE_UP_SRC
- * @{
- */
-#define LSM6DS33_XG_WAKE_UP_SRC_FF_IA_DISABLE ((uint8_t)0x00)
-#define LSM6DS33_XG_WAKE_UP_SRC_FF_IA_ENABLE ((uint8_t)0x20)
-
-#define LSM6DS33_XG_WAKE_UP_SRC_FF_IA_MASK ((uint8_t)0x20)
-/**
- * @}
- */
-
-/** @addtogroup LSM6DS33_XG_Accelerometer_SLEEP_STATE_IA_Enable_WAKE_UP_SRC LSM6DS33_XG_Accelerometer_SLEEP_STATE_IA_Enable_WAKE_UP_SRC
- * @{
- */
-#define LSM6DS33_XG_WAKE_UP_SRC_SLEEP_STATE_IA_DISABLE ((uint8_t)0x00)
-#define LSM6DS33_XG_WAKE_UP_SRC_SLEEP_STATE_IA_ENABLE ((uint8_t)0x10)
-
-#define LSM6DS33_XG_WAKE_UP_SRC_SLEEP_STATE_IA_MASK ((uint8_t)0x10)
-/**
- * @}
- */
-
-/** @addtogroup LSM6DS33_XG_Accelerometer_WU_IA_Enable_WAKE_UP_SRC LSM6DS33_XG_Accelerometer_WU_IA_Enable_WAKE_UP_SRC
- * @{
- */
-#define LSM6DS33_XG_WAKE_UP_SRC_WU_IA_DISABLE ((uint8_t)0x00)
-#define LSM6DS33_XG_WAKE_UP_SRC_WU_IA_ENABLE ((uint8_t)0x08)
-
-#define LSM6DS33_XG_WAKE_UP_SRC_WU_IA_MASK ((uint8_t)0x08)
-/**
- * @}
- */
-
-/** @addtogroup LSM6DS33_XG_Accelerometer_X_WU_Enable_WAKE_UP_SRC LSM6DS33_XG_Accelerometer_X_WU_Enable_WAKE_UP_SRC
- * @{
- */
-#define LSM6DS33_XG_WAKE_UP_SRC_X_WU_DISABLE ((uint8_t)0x00)
-#define LSM6DS33_XG_WAKE_UP_SRC_X_WU_ENABLE ((uint8_t)0x04)
-
-#define LSM6DS33_XG_WAKE_UP_SRC_X_WU_MASK ((uint8_t)0x04)
-/**
- * @}
- */
-
-/** @addtogroup LSM6DS33_XG_Accelerometer_Y_WU_Enable_WAKE_UP_SRC LSM6DS33_XG_Accelerometer_Y_WU_Enable_WAKE_UP_SRC
- * @{
- */
-#define LSM6DS33_XG_WAKE_UP_SRC_Y_WU_DISABLE ((uint8_t)0x00)
-#define LSM6DS33_XG_WAKE_UP_SRC_Y_WU_ENABLE ((uint8_t)0x02)
-
-
-#define LSM6DS33_XG_WAKE_UP_SRC_Y_WU_MASK ((uint8_t)0x02)
-/**
- * @}
- */
-
-/** @addtogroup LSM6DS33_XG_Accelerometer_Z_WU_Enable_WAKE_UP_SRC LSM6DS33_XG_Accelerometer_Z_WU_Enable_WAKE_UP_SRC
- * @{
- */
-#define LSM6DS33_XG_WAKE_UP_SRC_Z_WU_DISABLE ((uint8_t)0x00)
-#define LSM6DS33_XG_WAKE_UP_SRC_Z_WU_ENABLE ((uint8_t)0x01)
-
-#define LSM6DS33_XG_WAKE_UP_SRC_Z_WU_MASK ((uint8_t)0x01)
-/**
- * @}
- */
-
-/**
- * @}
- */
-
-/** @addtogroup LSM6DS33_Imported_Functions LSM6DS33_Imported_Functions
- * @{
- */
-
-/* Six axes sensor IO functions */
-extern IMU_6AXES_StatusTypeDef LSM6DS33_IO_Init( void );
-extern IMU_6AXES_StatusTypeDef LSM6DS33_IO_Write( uint8_t* pBuffer, uint8_t DeviceAddr, uint8_t RegisterAddr,
- uint16_t NumByteToWrite );
-extern IMU_6AXES_StatusTypeDef LSM6DS33_IO_Read( uint8_t* pBuffer, uint8_t DeviceAddr, uint8_t RegisterAddr,
- uint16_t NumByteToRead );
-extern void LSM6DS33_IO_ITConfig( void );
-
-/**
- * @}
- */
-
-/** @addtogroup LSM6DS33_Exported_Types LSM6DS33_Exported_Types
- * @{
- */
-/**
- * @brief LSM6DS33 driver extended internal structure definition
- */
-typedef struct
-{
- IMU_6AXES_StatusTypeDef (*Enable_Free_Fall_Detection) (void);
- IMU_6AXES_StatusTypeDef (*Disable_Free_Fall_Detection) (void);
- IMU_6AXES_StatusTypeDef (*Get_Status_Free_Fall_Detection) (uint8_t *);
-} LSM6DS33_DrvExtTypeDef;
-
-/**
- * @}
- */
-
-/** @addtogroup LSM6DS33_Exported_Variables LSM6DS33_Exported_Variables
- * @{
- */
-
-/* Six axes sensor driver structure */
-extern IMU_6AXES_DrvTypeDef LSM6DS33Drv;
-extern IMU_6AXES_DrvExtTypeDef LSM6DS33Drv_ext;
-
-/**
- * @}
- */
-
-/**
- * @}
- */
-
-/**
- * @}
- */
-
-/**
- * @}
- */
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* _LSM6DS33_XG_H */
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
--- a/AltIMU_10_v5/components/lsm6ds33/lsm6ds33_class.cpp Mon Jul 02 07:41:35 2018 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,859 +0,0 @@
-/**
- ******************************************************************************
- * @file lsm6ds33_class.cpp
- * @author AST / EST
- * @version V0.0.1
- * @date 14-April-2015
- * @brief Implementation file for the LSM6DS33 driver class
- ******************************************************************************
- * @attention
- *
- * <h2><center>© 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 "lsm6ds33_class.h"
-#include "lsm6ds33.h"
-
-/* Methods -------------------------------------------------------------------*/
-/* betzw - based on:
- X-CUBE-MEMS1/trunk/Drivers/BSP/Components/lsm6ds33/lsm6ds33.c: revision #400,
- X-CUBE-MEMS1/trunk: revision #416
-*/
-
-/**
- * @brief Set LSM6DS33 Initialization
- * @param LSM6DS33_Init the configuration setting for the LSM6DS3
- * @retval IMU_6AXES_OK in case of success, an error code otherwise
- */
-IMU_6AXES_StatusTypeDef LSM6DS33::LSM6DS33_Init( IMU_6AXES_InitTypeDef *LSM6DS33_Init )
-{
- /*Here we have to add the check if the parameters are valid*/
-
- /* Configure the low level interface -------------------------------------*/
- if(LSM6DS33_IO_Init() != IMU_6AXES_OK)
- {
- return IMU_6AXES_ERROR;
- }
-
-
- /******** Common init *********/
-
- if(LSM6DS33_Common_Sensor_Enable() != IMU_6AXES_OK)
- {
- return IMU_6AXES_ERROR;
- }
-
-
- /******* Gyroscope init *******/
-
- if(LSM6DS33_G_Set_ODR( LSM6DS33_Init->G_OutputDataRate ) != IMU_6AXES_OK)
- {
- return IMU_6AXES_ERROR;
- }
-
- if(LSM6DS33_G_Set_FS( LSM6DS33_Init->G_FullScale ) != IMU_6AXES_OK)
- {
- return IMU_6AXES_ERROR;
- }
-
- if(LSM6DS33_G_Set_Axes_Status(LSM6DS33_Init->G_X_Axis, LSM6DS33_Init->G_Y_Axis, LSM6DS33_Init->G_Z_Axis) != IMU_6AXES_OK)
- {
- return IMU_6AXES_ERROR;
- }
-
-
- /***** Accelerometer init *****/
-
- if(LSM6DS33_X_Set_ODR( LSM6DS33_Init->X_OutputDataRate ) != IMU_6AXES_OK)
- {
- return IMU_6AXES_ERROR;
- }
-
- if(LSM6DS33_X_Set_FS( LSM6DS33_Init->X_FullScale ) != IMU_6AXES_OK)
- {
- return IMU_6AXES_ERROR;
- }
-
- if(LSM6DS33_X_Set_Axes_Status(LSM6DS33_Init->X_X_Axis, LSM6DS33_Init->X_Y_Axis, LSM6DS33_Init->X_Z_Axis) != IMU_6AXES_OK)
- {
- return IMU_6AXES_ERROR;
- }
-
- /* Configure interrupt lines */
- LSM6DS33_IO_ITConfig();
-
- return IMU_6AXES_OK;
-}
-
-/**
- * @brief Read ID of LSM6DS33 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 LSM6DS33::LSM6DS33_Read_XG_ID( uint8_t *xg_id)
-{
- if(!xg_id)
- {
- return IMU_6AXES_ERROR;
- }
-
- return LSM6DS33_IO_Read(xg_id, LSM6DS33_XG_WHO_AM_I_ADDR, 1);
-}
-
-/**
- * @brief Set LSM6DS33 common initialization
- * @retval IMU_6AXES_OK in case of success, an error code otherwise
- */
-IMU_6AXES_StatusTypeDef LSM6DS33::LSM6DS33_Common_Sensor_Enable(void)
-{
- uint8_t tmp1 = 0x00;
-
- if(LSM6DS33_IO_Read(&tmp1, LSM6DS33_XG_CTRL3_C, 1) != IMU_6AXES_OK)
- {
- return IMU_6AXES_ERROR;
- }
-
- /* Enable register address automatically incremented during a multiple byte
- access with a serial interface (I2C or SPI) */
- tmp1 &= ~(LSM6DS33_XG_IF_INC_MASK);
- tmp1 |= LSM6DS33_XG_IF_INC;
-
- if(LSM6DS33_IO_Write(&tmp1, LSM6DS33_XG_CTRL3_C, 1) != IMU_6AXES_OK)
- {
- return IMU_6AXES_ERROR;
- }
-
-
- if(LSM6DS33_IO_Read(&tmp1, LSM6DS33_XG_FIFO_CTRL5, 1) != IMU_6AXES_OK)
- {
- return IMU_6AXES_ERROR;
- }
-
- /* FIFO ODR selection */
- tmp1 &= ~(LSM6DS33_XG_FIFO_ODR_MASK);
- tmp1 |= LSM6DS33_XG_FIFO_ODR_NA;
-
- /* FIFO mode selection */
- tmp1 &= ~(LSM6DS33_XG_FIFO_MODE_MASK);
- tmp1 |= LSM6DS33_XG_FIFO_MODE_BYPASS;
-
- if(LSM6DS33_IO_Write(&tmp1, LSM6DS33_XG_FIFO_CTRL5, 1) != IMU_6AXES_OK)
- {
- return IMU_6AXES_ERROR;
- }
-
- return IMU_6AXES_OK;
-}
-
-/**
- * @brief Read raw data from LSM6DS33 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 LSM6DS33::LSM6DS33_X_GetAxesRaw( int16_t *pData )
-{
- /*Here we have to add the check if the parameters are valid*/
-
- uint8_t tempReg[2] = {0, 0};
-
-
- if(LSM6DS33_IO_Read(&tempReg[0], LSM6DS33_XG_OUT_X_L_XL, 2) != IMU_6AXES_OK)
- {
- return IMU_6AXES_ERROR;
- }
-
- pData[0] = ((((int16_t)tempReg[1]) << 8) + (int16_t)tempReg[0]);
-
- if(LSM6DS33_IO_Read(&tempReg[0], LSM6DS33_XG_OUT_Y_L_XL, 2) != IMU_6AXES_OK)
- {
- return IMU_6AXES_ERROR;
- }
-
- pData[1] = ((((int16_t)tempReg[1]) << 8) + (int16_t)tempReg[0]);
-
- if(LSM6DS33_IO_Read(&tempReg[0], LSM6DS33_XG_OUT_Z_L_XL, 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 LSM6DS33 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 LSM6DS33::LSM6DS33_X_GetAxes( int32_t *pData )
-{
- /*Here we have to add the check if the parameters are valid*/
- int16_t pDataRaw[3];
- float sensitivity = 0.0f;
-
- if(LSM6DS33_X_GetAxesRaw(pDataRaw) != IMU_6AXES_OK)
- {
- return IMU_6AXES_ERROR;
- }
-
- if(LSM6DS33_X_GetSensitivity( &sensitivity ) != IMU_6AXES_OK)
- {
- return IMU_6AXES_ERROR;
- }
-
- 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 LSM6DS33 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 LSM6DS33::LSM6DS33_G_GetAxesRaw( int16_t *pData )
-{
- /*Here we have to add the check if the parameters are valid*/
-
- uint8_t tempReg[2] = {0, 0};
-
-
- if(LSM6DS33_IO_Read(&tempReg[0], LSM6DS33_XG_OUT_X_L_G, 2) != IMU_6AXES_OK)
- {
- return IMU_6AXES_ERROR;
- }
-
- pData[0] = ((((int16_t)tempReg[1]) << 8) + (int16_t)tempReg[0]);
-
- if(LSM6DS33_IO_Read(&tempReg[0], LSM6DS33_XG_OUT_Y_L_G, 2) != IMU_6AXES_OK)
- {
- return IMU_6AXES_ERROR;
- }
-
- pData[1] = ((((int16_t)tempReg[1]) << 8) + (int16_t)tempReg[0]);
-
- if(LSM6DS33_IO_Read(&tempReg[0], LSM6DS33_XG_OUT_Z_L_G, 2) != IMU_6AXES_OK)
- {
- return IMU_6AXES_ERROR;
- }
-
- pData[2] = ((((int16_t)tempReg[1]) << 8) + (int16_t)tempReg[0]);
-
- return IMU_6AXES_OK;
-}
-
-/**
- * @brief Set the status of the axes for accelerometer
- * @param enableX the status of the x axis to be set
- * @param enableY the status of the y axis to be set
- * @param enableZ the status of the z axis to be set
- * @retval IMU_6AXES_OK in case of success, an error code otherwise
- */
-IMU_6AXES_StatusTypeDef LSM6DS33::LSM6DS33_X_Set_Axes_Status(uint8_t enableX, uint8_t enableY, uint8_t enableZ)
-{
- uint8_t tmp1 = 0x00;
- uint8_t eX = 0x00;
- uint8_t eY = 0x00;
- uint8_t eZ = 0x00;
-
- eX = ( enableX == 0 ) ? LSM6DS33_XL_XEN_DISABLE : LSM6DS33_XL_XEN_ENABLE;
- eY = ( enableY == 0 ) ? LSM6DS33_XL_YEN_DISABLE : LSM6DS33_XL_YEN_ENABLE;
- eZ = ( enableZ == 0 ) ? LSM6DS33_XL_ZEN_DISABLE : LSM6DS33_XL_ZEN_ENABLE;
-
- if(LSM6DS33_IO_Read(&tmp1, LSM6DS33_XG_CTRL9_XL, 1) != IMU_6AXES_OK)
- {
- return IMU_6AXES_ERROR;
- }
-
- /* Enable X axis selection */
- tmp1 &= ~(LSM6DS33_XL_XEN_MASK);
- tmp1 |= eX;
-
- /* Enable Y axis selection */
- tmp1 &= ~(LSM6DS33_XL_YEN_MASK);
- tmp1 |= eY;
-
- /* Enable Z axis selection */
- tmp1 &= ~(LSM6DS33_XL_ZEN_MASK);
- tmp1 |= eZ;
-
- if(LSM6DS33_IO_Write(&tmp1, LSM6DS33_XG_CTRL9_XL, 1) != IMU_6AXES_OK)
- {
- return IMU_6AXES_ERROR;
- }
-
- return IMU_6AXES_OK;
-}
-
-/**
- * @brief Set the status of the axes for gyroscope
- * @param enableX the status of the x axis to be set
- * @param enableY the status of the y axis to be set
- * @param enableZ the status of the z axis to be set
- * @retval IMU_6AXES_OK in case of success, an error code otherwise
- */
-IMU_6AXES_StatusTypeDef LSM6DS33::LSM6DS33_G_Set_Axes_Status(uint8_t enableX, uint8_t enableY, uint8_t enableZ)
-{
- uint8_t tmp1 = 0x00;
- uint8_t eX = 0x00;
- uint8_t eY = 0x00;
- uint8_t eZ = 0x00;
-
- eX = ( enableX == 0 ) ? LSM6DS33_G_XEN_DISABLE : LSM6DS33_G_XEN_ENABLE;
- eY = ( enableY == 0 ) ? LSM6DS33_G_YEN_DISABLE : LSM6DS33_G_YEN_ENABLE;
- eZ = ( enableZ == 0 ) ? LSM6DS33_G_ZEN_DISABLE : LSM6DS33_G_ZEN_ENABLE;
-
- if(LSM6DS33_IO_Read(&tmp1, LSM6DS33_XG_CTRL10_C, 1) != IMU_6AXES_OK)
- {
- return IMU_6AXES_ERROR;
- }
-
- /* Enable X axis selection */
- tmp1 &= ~(LSM6DS33_G_XEN_MASK);
- tmp1 |= eX;
-
- /* Enable Y axis selection */
- tmp1 &= ~(LSM6DS33_G_YEN_MASK);
- tmp1 |= eY;
-
- /* Enable Z axis selection */
- tmp1 &= ~(LSM6DS33_G_ZEN_MASK);
- tmp1 |= eZ;
-
- if(LSM6DS33_IO_Write(&tmp1, LSM6DS33_XG_CTRL10_C, 1) != IMU_6AXES_OK)
- {
- return IMU_6AXES_ERROR;
- }
-
- return IMU_6AXES_OK;
-}
-
-/**
- * @brief Read data from LSM6DS33 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 LSM6DS33::LSM6DS33_G_GetAxes( int32_t *pData )
-{
- /*Here we have to add the check if the parameters are valid*/
- int16_t pDataRaw[3];
- float sensitivity = 0.0f;
-
- if(LSM6DS33_G_GetAxesRaw(pDataRaw) != IMU_6AXES_OK)
- {
- return IMU_6AXES_ERROR;
- }
-
- if(LSM6DS33_G_GetSensitivity( &sensitivity ) != IMU_6AXES_OK)
- {
- return IMU_6AXES_ERROR;
- }
-
- 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 Output Data Rate
- * @param odr the pointer where the accelerometer output data rate is stored
- * @retval IMU_6AXES_OK in case of success, an error code otherwise
- */
-IMU_6AXES_StatusTypeDef LSM6DS33::LSM6DS33_X_Get_ODR( float *odr )
-{
- /*Here we have to add the check if the parameters are valid*/
- uint8_t tempReg = 0x00;
-
- if(LSM6DS33_IO_Read( &tempReg, LSM6DS33_XG_CTRL1_XL, 1 ) != IMU_6AXES_OK)
- {
- return IMU_6AXES_ERROR;
- }
-
- tempReg &= LSM6DS33_XL_ODR_MASK;
-
- switch( tempReg )
- {
- case LSM6DS33_XL_ODR_PD:
- *odr = 0.0f;
- break;
- case LSM6DS33_XL_ODR_13HZ:
- *odr = 13.0f;
- break;
- case LSM6DS33_XL_ODR_26HZ:
- *odr = 26.0f;
- break;
- case LSM6DS33_XL_ODR_52HZ:
- *odr = 52.0f;
- break;
- case LSM6DS33_XL_ODR_104HZ:
- *odr = 104.0f;
- break;
- case LSM6DS33_XL_ODR_208HZ:
- *odr = 208.0f;
- break;
- case LSM6DS33_XL_ODR_416HZ:
- *odr = 416.0f;
- break;
- case LSM6DS33_XL_ODR_833HZ:
- *odr = 833.0f;
- break;
- case LSM6DS33_XL_ODR_1660HZ:
- *odr = 1660.0f;
- break;
- case LSM6DS33_XL_ODR_3330HZ:
- *odr = 3330.0f;
- break;
- case LSM6DS33_XL_ODR_6660HZ:
- *odr = 6660.0f;
- break;
- default:
- break;
- }
-
- return IMU_6AXES_OK;
-}
-
-/**
- * @brief Write Accelero Output Data Rate
- * @param odr the accelerometer output data rate to be set
- * @retval IMU_6AXES_OK in case of success, an error code otherwise
- */
-IMU_6AXES_StatusTypeDef LSM6DS33::LSM6DS33_X_Set_ODR( float odr )
-{
- uint8_t new_odr = 0x00;
- uint8_t tempReg = 0x00;
-
- new_odr = ( odr <= 0.0f ) ? LSM6DS33_XL_ODR_PD /* Power Down */
- : ( odr <= 13.0f ) ? LSM6DS33_XL_ODR_13HZ
- : ( odr <= 26.0f ) ? LSM6DS33_XL_ODR_26HZ
- : ( odr <= 52.0f ) ? LSM6DS33_XL_ODR_52HZ
- : ( odr <= 104.0f ) ? LSM6DS33_XL_ODR_104HZ
- : ( odr <= 208.0f ) ? LSM6DS33_XL_ODR_208HZ
- : ( odr <= 416.0f ) ? LSM6DS33_XL_ODR_416HZ
- : ( odr <= 833.0f ) ? LSM6DS33_XL_ODR_833HZ
- : ( odr <= 1660.0f ) ? LSM6DS33_XL_ODR_1660HZ
- : ( odr <= 3330.0f ) ? LSM6DS33_XL_ODR_3330HZ
- : LSM6DS33_XL_ODR_6660HZ;
-
- if(LSM6DS33_IO_Read( &tempReg, LSM6DS33_XG_CTRL1_XL, 1 ) != IMU_6AXES_OK)
- {
- return IMU_6AXES_ERROR;
- }
-
- tempReg &= ~(LSM6DS33_XL_ODR_MASK);
- tempReg |= new_odr;
-
- if(LSM6DS33_IO_Write(&tempReg, LSM6DS33_XG_CTRL1_XL, 1) != IMU_6AXES_OK)
- {
- return IMU_6AXES_ERROR;
- }
-
- 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 LSM6DS33::LSM6DS33_X_GetSensitivity( float *pfData )
-{
- /*Here we have to add the check if the parameters are valid*/
-
- uint8_t tempReg = 0x00;
-
-
- if(LSM6DS33_IO_Read( &tempReg, LSM6DS33_XG_CTRL1_XL, 1 ) != IMU_6AXES_OK)
- {
- return IMU_6AXES_ERROR;
- }
-
- tempReg &= LSM6DS33_XL_FS_MASK;
-
- switch( tempReg )
- {
- case LSM6DS33_XL_FS_2G:
- *pfData = 0.061f;
- break;
- case LSM6DS33_XL_FS_4G:
- *pfData = 0.122f;
- break;
- case LSM6DS33_XL_FS_8G:
- *pfData = 0.244f;
- break;
- case LSM6DS33_XL_FS_16G:
- *pfData = 0.488f;
- break;
- default:
- break;
- }
-
- return IMU_6AXES_OK;
-}
-
-/**
- * @brief Read Accelero Full Scale
- * @param fullScale the pointer where the accelerometer full scale is stored
- * @retval IMU_6AXES_OK in case of success, an error code otherwise
- */
-IMU_6AXES_StatusTypeDef LSM6DS33::LSM6DS33_X_Get_FS( float *fullScale )
-{
- /*Here we have to add the check if the parameters are valid*/
-
- uint8_t tempReg = 0x00;
-
-
- if(LSM6DS33_IO_Read( &tempReg, LSM6DS33_XG_CTRL1_XL, 1 ) != IMU_6AXES_OK)
- {
- return IMU_6AXES_ERROR;
- }
-
- tempReg &= LSM6DS33_XL_FS_MASK;
-
- switch( tempReg )
- {
- case LSM6DS33_XL_FS_2G:
- *fullScale = 2.0f;
- break;
- case LSM6DS33_XL_FS_4G:
- *fullScale = 4.0f;
- break;
- case LSM6DS33_XL_FS_8G:
- *fullScale = 8.0f;
- break;
- case LSM6DS33_XL_FS_16G:
- *fullScale = 16.0f;
- break;
- default:
- break;
- }
-
- return IMU_6AXES_OK;
-}
-
-/**
- * @brief Write Accelero Full Scale
- * @param fullScale the accelerometer full scale to be set
- * @retval IMU_6AXES_OK in case of success, an error code otherwise
- */
-IMU_6AXES_StatusTypeDef LSM6DS33::LSM6DS33_X_Set_FS( float fullScale )
-{
- uint8_t new_fs = 0x00;
- uint8_t tempReg = 0x00;
-
- new_fs = ( fullScale <= 2.0f ) ? LSM6DS33_XL_FS_2G
- : ( fullScale <= 4.0f ) ? LSM6DS33_XL_FS_4G
- : ( fullScale <= 8.0f ) ? LSM6DS33_XL_FS_8G
- : LSM6DS33_XL_FS_16G;
-
- if(LSM6DS33_IO_Read( &tempReg, LSM6DS33_XG_CTRL1_XL, 1 ) != IMU_6AXES_OK)
- {
- return IMU_6AXES_ERROR;
- }
-
- tempReg &= ~(LSM6DS33_XL_FS_MASK);
- tempReg |= new_fs;
-
- if(LSM6DS33_IO_Write(&tempReg, LSM6DS33_XG_CTRL1_XL, 1) != IMU_6AXES_OK)
- {
- return IMU_6AXES_ERROR;
- }
-
- return IMU_6AXES_OK;
-}
-
-/**
- * @brief Read Gyro Output Data Rate
- * @param odr the pointer where the gyroscope output data rate is stored
- * @retval IMU_6AXES_OK in case of success, an error code otherwise
- */
-IMU_6AXES_StatusTypeDef LSM6DS33::LSM6DS33_G_Get_ODR( float *odr )
-{
- /*Here we have to add the check if the parameters are valid*/
- uint8_t tempReg = 0x00;
-
- if(LSM6DS33_IO_Read( &tempReg, LSM6DS33_XG_CTRL2_G, 1 ) != IMU_6AXES_OK)
- {
- return IMU_6AXES_ERROR;
- }
-
- tempReg &= LSM6DS33_G_ODR_MASK;
-
- switch( tempReg )
- {
- case LSM6DS33_G_ODR_PD:
- *odr = 0.0f;
- break;
- case LSM6DS33_G_ODR_13HZ:
- *odr = 13.0f;
- break;
- case LSM6DS33_G_ODR_26HZ:
- *odr = 26.0f;
- break;
- case LSM6DS33_G_ODR_52HZ:
- *odr = 52.0f;
- break;
- case LSM6DS33_G_ODR_104HZ:
- *odr = 104.0f;
- break;
- case LSM6DS33_G_ODR_208HZ:
- *odr = 208.0f;
- break;
- case LSM6DS33_G_ODR_416HZ:
- *odr = 416.0f;
- break;
- case LSM6DS33_G_ODR_833HZ:
- *odr = 833.0f;
- break;
- case LSM6DS33_G_ODR_1660HZ:
- *odr = 1660.0f;
- break;
- default:
- break;
- }
-
- return IMU_6AXES_OK;
-}
-
-/**
- * @brief Write Gyro Output Data Rate
- * @param odr the gyroscope output data rate to be set
- * @retval IMU_6AXES_OK in case of success, an error code otherwise
- */
-IMU_6AXES_StatusTypeDef LSM6DS33::LSM6DS33_G_Set_ODR( float odr )
-{
- uint8_t new_odr = 0x00;
- uint8_t tempReg = 0x00;
-
- new_odr = ( odr <= 0.0f ) ? LSM6DS33_G_ODR_PD /* Power Down */
- : ( odr <= 13.0f ) ? LSM6DS33_G_ODR_13HZ
- : ( odr <= 26.0f ) ? LSM6DS33_G_ODR_26HZ
- : ( odr <= 52.0f ) ? LSM6DS33_G_ODR_52HZ
- : ( odr <= 104.0f ) ? LSM6DS33_G_ODR_104HZ
- : ( odr <= 208.0f ) ? LSM6DS33_G_ODR_208HZ
- : ( odr <= 416.0f ) ? LSM6DS33_G_ODR_416HZ
- : ( odr <= 833.0f ) ? LSM6DS33_G_ODR_833HZ
- : LSM6DS33_G_ODR_1660HZ;
-
- if(LSM6DS33_IO_Read( &tempReg, LSM6DS33_XG_CTRL2_G, 1 ) != IMU_6AXES_OK)
- {
- return IMU_6AXES_ERROR;
- }
-
- tempReg &= ~(LSM6DS33_G_ODR_MASK);
- tempReg |= new_odr;
-
- if(LSM6DS33_IO_Write(&tempReg, LSM6DS33_XG_CTRL2_G, 1) != IMU_6AXES_OK)
- {
- return IMU_6AXES_ERROR;
- }
-
- 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 LSM6DS33::LSM6DS33_G_GetSensitivity( float *pfData )
-{
- /*Here we have to add the check if the parameters are valid*/
-
- uint8_t tempReg = 0x00;
-
- if(LSM6DS33_IO_Read( &tempReg, LSM6DS33_XG_CTRL2_G, 1 ) != IMU_6AXES_OK)
- {
- return IMU_6AXES_ERROR;
- }
-
- tempReg &= LSM6DS33_G_FS_125_MASK;
-
- if(tempReg == LSM6DS33_G_FS_125_ENABLE)
- {
- *pfData = 4.375f;
- }
- else
- {
- if(LSM6DS33_IO_Read( &tempReg, LSM6DS33_XG_CTRL2_G, 1 ) != IMU_6AXES_OK)
- {
- return IMU_6AXES_ERROR;
- }
-
- tempReg &= LSM6DS33_G_FS_MASK;
-
- switch( tempReg )
- {
- case LSM6DS33_G_FS_245:
- *pfData = 8.75f;
- break;
- case LSM6DS33_G_FS_500:
- *pfData = 17.50f;
- break;
- case LSM6DS33_G_FS_1000:
- *pfData = 35.0f;
- break;
- case LSM6DS33_G_FS_2000:
- *pfData = 70.0f;
- break;
- default:
- break;
- }
- }
-
- return IMU_6AXES_OK;
-}
-
-/**
- * @brief Read Gyro Full Scale
- * @param fullScale the pointer where the gyroscope full scale is stored
- * @retval IMU_6AXES_OK in case of success, an error code otherwise
-*/
-IMU_6AXES_StatusTypeDef LSM6DS33::LSM6DS33_G_Get_FS( float *fullScale )
-{
- /*Here we have to add the check if the parameters are valid*/
-
- uint8_t tempReg = 0x00;
-
- if(LSM6DS33_IO_Read( &tempReg, LSM6DS33_XG_CTRL2_G, 1 ) != IMU_6AXES_OK)
- {
- return IMU_6AXES_ERROR;
- }
-
- tempReg &= LSM6DS33_G_FS_125_MASK;
-
- if(tempReg == LSM6DS33_G_FS_125_ENABLE)
- {
- *fullScale = 125.0f;
- }
- else
- {
- if(LSM6DS33_IO_Read( &tempReg, LSM6DS33_XG_CTRL2_G, 1 ) != IMU_6AXES_OK)
- {
- return IMU_6AXES_ERROR;
- }
-
- tempReg &= LSM6DS33_G_FS_MASK;
-
- switch( tempReg )
- {
- case LSM6DS33_G_FS_245:
- *fullScale = 245.0f;
- break;
- case LSM6DS33_G_FS_500:
- *fullScale = 500.0f;
- break;
- case LSM6DS33_G_FS_1000:
- *fullScale = 1000.0f;
- break;
- case LSM6DS33_G_FS_2000:
- *fullScale = 2000.0f;
- break;
- default:
- break;
- }
- }
-
- return IMU_6AXES_OK;
-}
-
-/**
- * @brief Write Gyro Full Scale
- * @param fullScale the gyroscope full scale to be set
- * @retval IMU_6AXES_OK in case of success, an error code otherwise
-*/
-IMU_6AXES_StatusTypeDef LSM6DS33::LSM6DS33_G_Set_FS( float fullScale )
-{
- uint8_t new_fs = 0x00;
- uint8_t tempReg = 0x00;
-
- if(fullScale <= 125.0f)
- {
- new_fs = LSM6DS33_G_FS_125_ENABLE;
-
- if(LSM6DS33_IO_Read( &tempReg, LSM6DS33_XG_CTRL2_G, 1 ) != IMU_6AXES_OK)
- {
- return IMU_6AXES_ERROR;
- }
-
- tempReg &= ~(LSM6DS33_G_FS_125_MASK);
- tempReg |= new_fs;
-
- if(LSM6DS33_IO_Write(&tempReg, LSM6DS33_XG_CTRL2_G, 1) != IMU_6AXES_OK)
- {
- return IMU_6AXES_ERROR;
- }
- }
- else
- {
- /* Disable G FS 125dpp */
- if(LSM6DS33_IO_Read( &tempReg, LSM6DS33_XG_CTRL2_G, 1 ) != IMU_6AXES_OK)
- {
- return IMU_6AXES_ERROR;
- }
-
- tempReg &= ~(LSM6DS33_G_FS_125_MASK);
- tempReg |= LSM6DS33_G_FS_125_DISABLE;
-
- if(LSM6DS33_IO_Write(&tempReg, LSM6DS33_XG_CTRL2_G, 1) != IMU_6AXES_OK)
- {
- return IMU_6AXES_ERROR;
- }
-
- new_fs = ( fullScale <= 245.0f ) ? LSM6DS33_G_FS_245
- : ( fullScale <= 500.0f ) ? LSM6DS33_G_FS_500
- : ( fullScale <= 1000.0f ) ? LSM6DS33_G_FS_1000
- : LSM6DS33_G_FS_2000;
-
- if(LSM6DS33_IO_Read( &tempReg, LSM6DS33_XG_CTRL2_G, 1 ) != IMU_6AXES_OK)
- {
- return IMU_6AXES_ERROR;
- }
-
- tempReg &= ~(LSM6DS33_G_FS_MASK);
- tempReg |= new_fs;
-
- if(LSM6DS33_IO_Write(&tempReg, LSM6DS33_XG_CTRL2_G, 1) != IMU_6AXES_OK)
- {
- return IMU_6AXES_ERROR;
- }
- }
-
- return IMU_6AXES_OK;
-}
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
--- a/AltIMU_10_v5/components/lsm6ds33/lsm6ds33_class.h Mon Jul 02 07:41:35 2018 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,214 +0,0 @@
-/**
- ******************************************************************************
- * @file lsm6ds3_class.h
- * @author AST / EST
- * @version V0.0.1
- * @date 14-April-2015
- * @brief Header file for component LSM6DS33
- ******************************************************************************
- * @attention
- *
- * <h2><center>© 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 __LSM6DS33_CLASS_H
-#define __LSM6DS33_CLASS_H
-
-/* Includes ------------------------------------------------------------------*/
-#include "mbed.h"
-#include "DevI2C.h"
-#include "lsm6ds33.h"
-#include "GyroSensor.h"
-#include "MotionSensor.h"
-
-/* Classes -------------------------------------------------------------------*/
-/** Class representing a LSM6DS33 sensor component
- */
-class LSM6DS33 : public GyroSensor, public MotionSensor {
- public:
- /** Constructor
- * @param[in] i2c device I2C to be used for communication
- * @param[in] irq_pin pin name for free fall detection interrupt
- */
- LSM6DS33(DevI2C &i2c) : GyroSensor(), MotionSensor(), dev_i2c(i2c){ }
-
- /** Destructor
- */
- virtual ~LSM6DS33() {}
-
- /*** Interface Methods ***/
- virtual int init(void *init_struct) {
- return LSM6DS33_Init((IMU_6AXES_InitTypeDef*)init_struct);
- }
-
- virtual int read_id(uint8_t *xg_id) {
- return LSM6DS33_Read_XG_ID(xg_id);
- }
-
- virtual int get_x_axes(int32_t *pData) {
- return LSM6DS33_X_GetAxes(pData);
- }
-
- virtual int get_x_axes_raw(int16_t *pData) {
- return LSM6DS33_X_GetAxesRaw(pData);
- }
-
- virtual int get_g_axes(int32_t *pData) {
- return LSM6DS33_G_GetAxes(pData);
- }
-
- virtual int get_g_axes_raw(int16_t *pData) {
- return LSM6DS33_G_GetAxesRaw(pData);
- }
-
- virtual int get_x_odr(float *odr) {
- return LSM6DS33_X_Get_ODR(odr);
- }
-
- virtual int set_x_odr(float odr) {
- return LSM6DS33_X_Set_ODR(odr);
- }
-
- virtual int get_x_sensitivity(float *pfData) {
- return LSM6DS33_X_GetSensitivity(pfData);
- }
-
- virtual int get_x_fs(float *fullScale) {
- return LSM6DS33_X_Get_FS(fullScale);
- }
-
- virtual int set_x_fs(float fullScale) {
- return LSM6DS33_X_Set_FS(fullScale);
- }
-
- virtual int get_g_odr(float *odr) {
- return LSM6DS33_G_Get_ODR(odr);
- }
-
- virtual int set_g_odr(float odr) {
- return LSM6DS33_G_Set_ODR(odr);
- }
-
- virtual int get_g_sensitivity(float *pfData) {
- return LSM6DS33_G_GetSensitivity(pfData);
- }
-
- virtual int get_g_fs(float *fullScale) {
- return LSM6DS33_G_Get_FS(fullScale);
- }
-
- virtual int set_g_fs(float fullScale) {
- return LSM6DS33_G_Set_FS(fullScale);
- }
-
- protected:
- /*** Methods ***/
- IMU_6AXES_StatusTypeDef LSM6DS33_Init(IMU_6AXES_InitTypeDef *LSM6DS33_Init);
- IMU_6AXES_StatusTypeDef LSM6DS33_Read_XG_ID(uint8_t *xg_id);
- IMU_6AXES_StatusTypeDef LSM6DS33_X_GetAxes(int32_t *pData);
- IMU_6AXES_StatusTypeDef LSM6DS33_X_GetAxesRaw(int16_t *pData);
- IMU_6AXES_StatusTypeDef LSM6DS33_G_GetAxes(int32_t *pData);
- IMU_6AXES_StatusTypeDef LSM6DS33_G_GetAxesRaw(int16_t *pData);
- IMU_6AXES_StatusTypeDef LSM6DS33_X_Get_ODR( float *odr );
- IMU_6AXES_StatusTypeDef LSM6DS33_X_Set_ODR( float odr );
- IMU_6AXES_StatusTypeDef LSM6DS33_X_GetSensitivity( float *pfData );
- IMU_6AXES_StatusTypeDef LSM6DS33_X_Get_FS( float *fullScale );
- IMU_6AXES_StatusTypeDef LSM6DS33_X_Set_FS( float fullScale );
- IMU_6AXES_StatusTypeDef LSM6DS33_G_Get_ODR( float *odr );
- IMU_6AXES_StatusTypeDef LSM6DS33_G_Set_ODR( float odr );
- IMU_6AXES_StatusTypeDef LSM6DS33_G_GetSensitivity( float *pfData );
- IMU_6AXES_StatusTypeDef LSM6DS33_G_Get_FS( float *fullScale );
- IMU_6AXES_StatusTypeDef LSM6DS33_G_Set_FS( float fullScale );
- IMU_6AXES_StatusTypeDef LSM6DS33_Common_Sensor_Enable(void);
- IMU_6AXES_StatusTypeDef LSM6DS33_X_Set_Axes_Status(uint8_t enableX, uint8_t enableY, uint8_t enableZ);
- IMU_6AXES_StatusTypeDef LSM6DS33_G_Set_Axes_Status(uint8_t enableX, uint8_t enableY, uint8_t enableZ);
-
- /**
- * @brief Configures LSM6DS33 interrupt lines for NUCLEO boards
- */
- void LSM6DS33_IO_ITConfig(void)
- {
- }
-
- /**
- * @brief Configures LSM6DS33 I2C interface
- * @return IMU_6AXES_OK in case of success, an error code otherwise
- */
- IMU_6AXES_StatusTypeDef LSM6DS33_IO_Init(void)
- {
- return IMU_6AXES_OK; /* done in constructor */
- }
-
- /**
- * @brief Utility function to read data from LSM6DS33
- * @param[out] pBuffer pointer to the byte-array to read data in to
- * @param[in] RegisterAddr specifies internal address register to read from.
- * @param[in] NumByteToRead number of bytes to be read.
- * @retval IMU_6AXES_OK if ok,
- * @retval IMU_6AXES_ERROR if an I2C error has occured
- */
- IMU_6AXES_StatusTypeDef LSM6DS33_IO_Read(uint8_t* pBuffer,
- uint8_t RegisterAddr, uint16_t NumByteToRead)
- {
- int ret = dev_i2c.i2c_read(pBuffer,
- LSM6DS33_XG_MEMS_ADDRESS,
- RegisterAddr,
- NumByteToRead);
- if(ret != 0) {
- return IMU_6AXES_ERROR;
- }
- return IMU_6AXES_OK;
- }
-
- /**
- * @brief Utility function to write data to LSM6DS33
- * @param[in] pBuffer pointer to the byte-array data to send
- * @param[in] RegisterAddr specifies internal address register to read from.
- * @param[in] NumByteToWrite number of bytes to write.
- * @retval IMU_6AXES_OK if ok,
- * @retval IMU_6AXES_ERROR if an I2C error has occured
- */
- IMU_6AXES_StatusTypeDef LSM6DS33_IO_Write(uint8_t* pBuffer,
- uint8_t RegisterAddr, uint16_t NumByteToWrite)
- {
- int ret = dev_i2c.i2c_write(pBuffer,
- LSM6DS33_XG_MEMS_ADDRESS,
- RegisterAddr,
- NumByteToWrite);
- if(ret != 0) {
- return IMU_6AXES_ERROR;
- }
- return IMU_6AXES_OK;
- }
-
- /*** Instance Variables ***/
- /* IO Device */
- DevI2C &dev_i2c;
-
-};
-
-#endif // __LSM6DS33_CLASS_H
--- a/AltIMU_10_v5/components/lsm6ds33/readme.txt Mon Jul 02 07:41:35 2018 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,3 +0,0 @@ -lsm6ds0.h corresponds to: -- X-CUBE-MEMS1/trunk/Drivers/BSP/Components/lsm6ds33/lsm6ds33.h: revision #402, -- X-CUBE-MEMS1/trunk: revision #416
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/mag_ring/ST_INTERFACES/Common/Component.h Fri Aug 03 01:32:16 2018 +0000
@@ -0,0 +1,81 @@
+/**
+ ******************************************************************************
+ * @file Component.h
+ * @author AST
+ * @version V1.0.0
+ * @date April 13th, 2015
+ * @brief This file contains the abstract class describing the interface of a
+ * generic component.
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© 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.
+ *
+ ******************************************************************************
+ */
+
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+
+#ifndef __COMPONENT_CLASS_H
+#define __COMPONENT_CLASS_H
+
+
+/* Includes ------------------------------------------------------------------*/
+
+#include <stdint.h>
+
+
+/* Classes ------------------------------------------------------------------*/
+
+/**
+ * An abstract class for Generic components.
+ */
+class Component {
+public:
+
+ /**
+ * @brief Initializing the component.
+ * @param[in] init pointer to device specific initalization structure.
+ * @retval "0" in case of success, an error code otherwise.
+ */
+ virtual int init(void *init) = 0;
+
+ /**
+ * @brief Getting the ID of the component.
+ * @param[out] id pointer to an allocated variable to store the ID into.
+ * @retval "0" in case of success, an error code otherwise.
+ */
+ virtual int read_id(uint8_t *id) = 0;
+
+ /**
+ * @brief Destructor.
+ */
+ virtual ~Component() {};
+};
+
+#endif /* __COMPONENT_CLASS_H */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/mag_ring/ST_INTERFACES/Sensors/GyroSensor.h Fri Aug 03 01:32:16 2018 +0000
@@ -0,0 +1,126 @@
+/**
+ ******************************************************************************
+ * @file GyroSensor.h
+ * @author AST / EST
+ * @version V0.0.1
+ * @date 13-April-2015
+ * @brief This file contains the abstract class describing in general
+ * the interfaces of a gyroscope
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© 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.
+ *
+ ******************************************************************************
+ */
+
+
+/* Define to prevent from recursive inclusion --------------------------------*/
+
+#ifndef __GYRO_SENSOR_CLASS_H
+#define __GYRO_SENSOR_CLASS_H
+
+
+/* Includes ------------------------------------------------------------------*/
+
+#include <Component.h>
+
+
+/* Classes ------------------------------------------------------------------*/
+
+/**
+ * An abstract class for a Gyroscope
+ */
+class GyroSensor : public Component {
+public:
+
+ /**
+ * @brief Get current gyroscope angular rate X/Y/Z-axes values
+ * in standard data units [mdps]
+ * @param[out] p_data Pointer to where to store angular rates to.
+ * p_data must point to an array of (at least) three elements, where:
+ * p_data[0] corresponds to X-axis,
+ * p_data[1] corresponds to Y-axis, and
+ * p_data[2] corresponds to Z-axis.
+ * @return 0 in case of success, an error code otherwise
+ */
+ virtual int get_g_axes(int32_t *p_data) = 0;
+
+ /**
+ * @brief Get current gyroscope raw data X/Y/Z-axes values
+ * in device sepcific LSB units
+ * @param[out] p_data Pointer to where to store gyroscope raw data to.
+ * p_data must point to an array of (at least) three elements, where:
+ * p_data[0] corresponds to X-axis,
+ * p_data[1] corresponds to Y-axis, and
+ * p_data[2] corresponds to Z-axis.
+ * @return 0 in case of success, an error code otherwise
+ */
+ virtual int get_g_axes_raw(int16_t *p_data) = 0;
+
+ /**
+ * @brief Get gyroscope's current sensitivity [mdps/LSB]
+ * @param[out] pf_data Pointer to where the gyroscope's sensitivity is stored to
+ * @return 0 in case of success, an error code otherwise
+ */
+ virtual int get_g_sensitivity(float *pf_data) = 0;
+
+ /**
+ * @brief Get gyroscope's current output data rate [Hz]
+ * @param[out] pf_data Pointer to where the gyroscope output data rate is stored to
+ * @return 0 in case of success, an error code otherwise
+ */
+ virtual int get_g_odr(float *pf_data) = 0;
+
+ /**
+ * @brief Set gyroscope's output data rate
+ * @param[in] odr New value for gyroscope's output data rate in [Hz]
+ * @return 0 in case of success, an error code otherwise
+ */
+ virtual int set_g_odr(float odr) = 0;
+
+ /**
+ * @brief Get gyroscope's full scale value
+ * i.e.\ min/max measurable value [dps]
+ * @param[out] pf_data Pointer to where the gyroscope full scale value is stored to
+ * @return 0 in case of success, an error code otherwise
+ */
+ virtual int get_g_fs(float *pf_data) = 0;
+
+ /**
+ * @brief Set gyroscope's full scale value
+ * i.e.\ min/max measurable value
+ * @param[in] fs New full scale value for gyroscope in [dps]
+ * @return 0 in case of success, an error code otherwise
+ */
+ virtual int set_g_fs(float fs) = 0;
+
+ /**
+ * @brief Destructor.
+ */
+ virtual ~GyroSensor() {};
+};
+
+#endif /* __GYRO_SENSOR_CLASS_H */
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/mag_ring/ST_INTERFACES/Sensors/HumiditySensor.h Fri Aug 03 01:32:16 2018 +0000
@@ -0,0 +1,72 @@
+/**
+ ******************************************************************************
+ * @file HumiditySensor.h
+ * @author AST / EST
+ * @version V0.0.1
+ * @date 13-April-2015
+ * @brief This file contains the abstract class describing in general
+ * the interfaces of a humidity sensor
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© 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.
+ *
+ ******************************************************************************
+ */
+
+
+/* Define to prevent from recursive inclusion --------------------------------*/
+
+#ifndef __HUMIDITY_SENSOR_CLASS_H
+#define __HUMIDITY_SENSOR_CLASS_H
+
+
+/* Includes ------------------------------------------------------------------*/
+
+#include <Component.h>
+
+
+/* Classes ------------------------------------------------------------------*/
+
+/**
+ * An abstract class for Humidity sensors
+ */
+class HumiditySensor : public Component {
+public:
+
+ /**
+ * @brief Get current humidity [%]
+ * @param[out] pf_data Pointer to where to store humidity to
+ * @return 0 in case of success, an error code otherwise
+ */
+ virtual int get_humidity(float *pf_data) = 0;
+
+ /**
+ * @brief Destructor.
+ */
+ virtual ~HumiditySensor() {};
+};
+
+#endif /* __HUMIDITY_SENSOR_CLASS_H */
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/mag_ring/ST_INTERFACES/Sensors/LightSensor.h Fri Aug 03 01:32:16 2018 +0000
@@ -0,0 +1,72 @@
+/**
+ ******************************************************************************
+ * @file LightSensor.h
+ * @author AST / EST
+ * @version V0.0.1
+ * @date 13-April-2015
+ * @brief This file contains the abstract class describing in general
+ * the interfaces of an ambient light sensor (ALS)
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© 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.
+ *
+ ******************************************************************************
+ */
+
+
+/* Define to prevent from recursive inclusion --------------------------------*/
+
+#ifndef __LIGHT_SENSOR_CLASS_H
+#define __LIGHT_SENSOR_CLASS_H
+
+
+/* Includes ------------------------------------------------------------------*/
+
+#include <Component.h>
+
+
+/* Classes ------------------------------------------------------------------*/
+
+/**
+ * An abstract class for ambient light sensors
+ */
+class LightSensor : public Component {
+public:
+
+ /**
+ * @brief Get current light [lux]
+ * @param[out] pi_data Pointer to where to store light to
+ * @return 0 in case of success, an error code otherwise
+ */
+ virtual int get_lux(uint32_t *pi_data) = 0;
+
+ /**
+ * @brief Destructor.
+ */
+ virtual ~LightSensor() {};
+};
+
+#endif /* __LIGHT_SENSOR_CLASS_H */
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/mag_ring/ST_INTERFACES/Sensors/MagneticSensor.h Fri Aug 03 01:32:16 2018 +0000
@@ -0,0 +1,89 @@
+/**
+ ******************************************************************************
+ * @file MagneticSensor.h
+ * @author AST / EST
+ * @version V0.0.1
+ * @date 13-April-2015
+ * @brief This file contains the abstract class describing in general
+ * the interfaces of a magnetometer
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© 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.
+ *
+ ******************************************************************************
+ */
+
+
+/* Define to prevent from recursive inclusion --------------------------------*/
+
+#ifndef __MAGNETIC_SENSOR_CLASS_H
+#define __MAGNETIC_SENSOR_CLASS_H
+
+
+/* Includes ------------------------------------------------------------------*/
+
+#include <Component.h>
+
+
+/* Classes ------------------------------------------------------------------*/
+
+/**
+ * An abstract class for a magnetometer
+ */
+class MagneticSensor : public Component {
+public:
+
+ /**
+ * @brief Get current magnetometer magnetic X/Y/Z-axes values
+ * in standard data units [mgauss]
+ * @param[out] p_data Pointer to where to store magnetic values to.
+ * p_data must point to an array of (at least) three elements, where:
+ * p_data[0] corresponds to X-axis,
+ * p_data[1] corresponds to Y-axis, and
+ * p_data[2] corresponds to Z-axis.
+ * @return 0 in case of success, an error code otherwise
+ */
+ virtual int get_m_axes(int32_t *p_data) = 0;
+
+ /**
+ * @brief Get current magnetometer raw data X/Y/Z-axes values
+ * in device sepcific LSB units
+ * @param[out] p_data Pointer to where to store magnetometer raw data to.
+ * p_data must point to an array of (at least) three elements, where:
+ * p_data[0] corresponds to X-axis,
+ * p_data[1] corresponds to Y-axis, and
+ * p_data[2] corresponds to Z-axis.
+ * @return 0 in case of success, an error code otherwise
+ */
+ virtual int get_m_axes_raw(int16_t *p_data) = 0;
+
+ /**
+ * @brief Destructor.
+ */
+ virtual ~MagneticSensor() {};
+};
+
+#endif /* __MAGNETIC_SENSOR_CLASS_H */
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/mag_ring/ST_INTERFACES/Sensors/MotionSensor.h Fri Aug 03 01:32:16 2018 +0000
@@ -0,0 +1,126 @@
+/**
+ ******************************************************************************
+ * @file MotionSensor.h
+ * @author AST / EST
+ * @version V0.0.1
+ * @date 13-April-2015
+ * @brief This file contains the abstract class describing in general
+ * the interfaces of an accelerometer
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© 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.
+ *
+ ******************************************************************************
+ */
+
+
+/* Define to prevent from recursive inclusion --------------------------------*/
+
+#ifndef __MOTION_SENSOR_CLASS_H
+#define __MOTION_SENSOR_CLASS_H
+
+
+/* Includes ------------------------------------------------------------------*/
+
+#include <Component.h>
+
+
+/* Classes ------------------------------------------------------------------*/
+
+/**
+ * An abstract class for an Accelerometer
+ */
+class MotionSensor : public Component {
+public:
+
+ /**
+ * @brief Get current accelerometer linear acceleration X/Y/Z-axes values
+ * in standard data units [mg]
+ * @param[out] p_data Pointer to where to store linear accelerations to.
+ * p_data must point to an array of (at least) three elements, where:
+ * p_data[0] corresponds to X-axis,
+ * p_data[1] corresponds to Y-axis, and
+ * p_data[2] corresponds to Z-axis.
+ * @return 0 in case of success, an error code otherwise
+ */
+ virtual int get_x_axes(int32_t *p_data) = 0;
+
+ /**
+ * @brief Get current accelerometer raw data X/Y/Z-axes values
+ * in device sepcific LSB units
+ * @param[out] p_data Pointer to where to store accelerometer raw data to.
+ * p_data must point to an array of (at least) three elements, where:
+ * p_data[0] corresponds to X-axis,
+ * p_data[1] corresponds to Y-axis, and
+ * p_data[2] corresponds to Z-axis.
+ * @return 0 in case of success, an error code otherwise
+ */
+ virtual int get_x_axes_raw(int16_t *p_data) = 0;
+
+ /**
+ * @brief Get accelerometer's current sensitivity [mg/LSB]
+ * @param[out] pf_data Pointer to where the accelerometer's sensitivity is stored to
+ * @return 0 in case of success, an error code otherwise
+ */
+ virtual int get_x_sensitivity(float *pf_data) = 0;
+
+ /**
+ * @brief Get accelerometer's current output data rate [Hz]
+ * @param[out] pf_data Pointer to where the accelerometer output data rate is stored to
+ * @return 0 in case of success, an error code otherwise
+ */
+ virtual int get_x_odr(float *pf_data) = 0;
+
+ /**
+ * @brief Set accelerometer's output data rate
+ * @param[in] odr New value for accelerometer's output data rate in [Hz]
+ * @return 0 in case of success, an error code otherwise
+ */
+ virtual int set_x_odr(float odr) = 0;
+
+ /**
+ * @brief Get accelerometer's full scale value
+ * i.e.\ min/max measurable value [g]
+ * @param[out] pf_data Pointer to where the accelerometer full scale value is stored to
+ * @return 0 in case of success, an error code otherwise
+ */
+ virtual int get_x_fs(float *pf_data) = 0;
+
+ /**
+ * @brief Set accelerometer's full scale value
+ * i.e.\ min/max measurable value
+ * @param[in] fs New full scale value for accelerometer in [g]
+ * @return 0 in case of success, an error code otherwise
+ */
+ virtual int set_x_fs(float fs) = 0;
+
+ /**
+ * @brief Destructor.
+ */
+ virtual ~MotionSensor() {};
+};
+
+#endif /* __MOTION_SENSOR_CLASS_H */
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/mag_ring/ST_INTERFACES/Sensors/PressureSensor.h Fri Aug 03 01:32:16 2018 +0000
@@ -0,0 +1,72 @@
+/**
+ ******************************************************************************
+ * @file PressureSensor.h
+ * @author AST / EST
+ * @version V0.0.1
+ * @date 13-April-2015
+ * @brief This file contains the abstract class describing in general
+ * the interfaces of a pressure sensor
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© 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.
+ *
+ ******************************************************************************
+ */
+
+
+/* Define to prevent from recursive inclusion --------------------------------*/
+
+#ifndef __PRESSURE_SENSOR_CLASS_H
+#define __PRESSURE_SENSOR_CLASS_H
+
+
+/* Includes ------------------------------------------------------------------*/
+
+#include <Component.h>
+
+
+/* Classes ------------------------------------------------------------------*/
+
+/**
+ * An abstract class for a Pressure Sensor
+ */
+class PressureSensor : public Component {
+public:
+
+ /**
+ * @brief Get current pressure [mbar]
+ * @param[out] pf_data Pointer to where to store pressure to
+ * @return 0 in case of success, an error code otherwise
+ */
+ virtual int get_pressure(float *pf_data) = 0;
+
+ /**
+ * @brief Destructor.
+ */
+ virtual ~PressureSensor() {};
+};
+
+#endif /* __PRESSURE_SENSOR_CLASS_H */
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/mag_ring/ST_INTERFACES/Sensors/RangeSensor.h Fri Aug 03 01:32:16 2018 +0000
@@ -0,0 +1,72 @@
+/**
+ ******************************************************************************
+ * @file RangeSensor.h
+ * @author AST / EST
+ * @version V0.0.1
+ * @date 13-April-2015
+ * @brief This file contains the abstract class describing in general
+ * the interfaces of a range sensor
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© 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.
+ *
+ ******************************************************************************
+ */
+
+
+/* Define to prevent from recursive inclusion --------------------------------*/
+
+#ifndef __RANGE_SENSOR_CLASS_H
+#define __RANGE_SENSOR_CLASS_H
+
+
+/* Includes ------------------------------------------------------------------*/
+
+#include <Component.h>
+
+
+/* Classes ------------------------------------------------------------------*/
+
+/**
+ * An abstract class for range sensors
+ */
+class RangeSensor : public Component {
+public:
+
+ /**
+ * @brief Get current range [mm]
+ * @param[out] pi_data Pointer to where to store range to
+ * @return 0 in case of success, an error code otherwise
+ */
+ virtual int get_distance(uint32_t *pi_data) = 0;
+
+ /**
+ * @brief Destructor.
+ */
+ virtual ~RangeSensor() {};
+};
+
+#endif /* __RANGE_SENSOR_CLASS_H */
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/mag_ring/ST_INTERFACES/Sensors/TempSensor.h Fri Aug 03 01:32:16 2018 +0000
@@ -0,0 +1,91 @@
+/**
+ ******************************************************************************
+ * @file TempSensor.h
+ * @author AST / EST
+ * @version V0.0.1
+ * @date 13-April-2015
+ * @brief This file contains the abstract class describing in general
+ * the interfaces of a temperature sensor
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© 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.
+ *
+ ******************************************************************************
+ */
+
+
+/* Define to prevent from recursive inclusion --------------------------------*/
+
+#ifndef __TEMP_SENSOR_CLASS_H
+#define __TEMP_SENSOR_CLASS_H
+
+
+/* Includes ------------------------------------------------------------------*/
+
+#include <Component.h>
+
+
+/* Classes ------------------------------------------------------------------*/
+
+/**
+ * An abstract class for Temperature sensors
+ */
+class TempSensor : public Component {
+public:
+
+ /**
+ * @brief Get current temperature in degrees Celsius [°C]
+ * @param[out] pf_data Pointer to where to store temperature to
+ * @return 0 in case of success, an error code otherwise
+ */
+ virtual int get_temperature(float *pf_data) = 0;
+
+ /**
+ * @brief Get current temperature in degrees Fahrenheit [°F]
+ * @param[out] pf_data Pointer to where to store temperature to
+ * @return 0 in case of success, an error code otherwise
+ */
+ virtual int get_fahrenheit(float *pf_data) {
+ float celsius;
+ int ret;
+
+ ret = get_temperature(&celsius);
+ if (ret) {
+ return ret;
+ }
+
+ *pf_data = ((celsius * 1.8f) + 32.0f);
+
+ return 0;
+ }
+
+ /**
+ * @brief Destructor.
+ */
+ virtual ~TempSensor() {};
+};
+
+#endif /* __TEMP_SENSOR_CLASS_H */
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/mag_ring/X_NUCLEO_COMMON/DbgMCU/DbgMCU.h Fri Aug 03 01:32:16 2018 +0000
@@ -0,0 +1,64 @@
+/**
+ ******************************************************************************
+ * @file DbgMCU.h
+ * @author AST / EST
+ * @version V0.0.1
+ * @date 30-March-2015
+ * @brief Header file for enabling debugging in sleep modes for STM32 MCUs
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© COPYRIGHT(c) 2014 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.
+ *
+ ******************************************************************************
+ */
+
+/* Define to prevent from recursive inclusion --------------------------------*/
+#ifndef __DBG_MCU_H
+#define __DBG_MCU_H
+
+/* Includes ------------------------------------------------------------------*/
+
+/* Classes -------------------------------------------------------------------*/
+/** Helper class DbgMCU providing a default constructor which enables debugging
+ * on STM32 MCUs while using sleep modes.
+ */
+class DbgMCU
+{
+ public:
+ /** Create a DbgMCU dummy object */
+ DbgMCU(void) {
+ /* the following code is NOT portable */
+ volatile uint32_t *dbgmcu_creg = (uint32_t*)0xE0042004;
+ uint32_t tmp = *dbgmcu_creg;
+
+ tmp &= ~(0xE7);
+ tmp |= 0x27; // Set asynchronous communication via DBGMCU_CR (for ITM/printf)
+ // tmp |= 0xE7; // Set 4-pin tracing via DBGMCU_CR (for ETM)
+ *dbgmcu_creg = tmp;
+ }
+};
+
+#endif /* __DBG_MCU_H */
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/mag_ring/X_NUCLEO_COMMON/DevI2C/DevI2C.h Fri Aug 03 01:32:16 2018 +0000
@@ -0,0 +1,122 @@
+/**
+ ******************************************************************************
+ * @file DevI2C.h
+ * @author AST / EST
+ * @version V1.1.0
+ * @date 21-January-2016
+ * @brief Header file for a special I2C class DevI2C which provides some
+ * helper function for on-board communication
+ ******************************************************************************
+ * @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.
+ *
+ ******************************************************************************
+ */
+
+/* Define to prevent from recursive inclusion --------------------------------*/
+#ifndef __DEV_I2C_H
+#define __DEV_I2C_H
+
+/* Includes ------------------------------------------------------------------*/
+#include "mbed.h"
+#include "pinmap.h"
+
+/* Classes -------------------------------------------------------------------*/
+/** Helper class DevI2C providing functions for multi-register I2C communication
+ * common for a series of I2C devices
+ */
+class DevI2C : public I2C
+{
+public:
+ /** Create a DevI2C Master interface, connected to the specified pins
+ *
+ * @param sda I2C data line pin
+ * @param scl I2C clock line pin
+ */
+ DevI2C(PinName sda, PinName scl) : I2C(sda, scl) {}
+
+ /**
+ * @brief Writes a buffer towards the I2C peripheral device.
+ * @param pBuffer pointer to the byte-array data to send
+ * @param DeviceAddr specifies the peripheral device slave address.
+ * @param RegisterAddr specifies the internal address register
+ * where to start writing to (must be correctly masked).
+ * @param NumByteToWrite number of bytes to be written.
+ * @retval 0 if ok,
+ * @retval -1 if an I2C error has occured, or
+ * @retval -2 on temporary buffer overflow (i.e. NumByteToWrite was too high)
+ * @note On some devices if NumByteToWrite is greater
+ * than one, the RegisterAddr must be masked correctly!
+ */
+ int i2c_write(uint8_t* pBuffer, uint8_t DeviceAddr, uint8_t RegisterAddr,
+ uint16_t NumByteToWrite) {
+ int ret;
+ uint8_t tmp[TEMP_BUF_SIZE];
+
+ if(NumByteToWrite >= TEMP_BUF_SIZE) return -2;
+
+ /* First, send device address. Then, send data and STOP condition */
+ tmp[0] = RegisterAddr;
+ memcpy(tmp+1, pBuffer, NumByteToWrite);
+
+ ret = write(DeviceAddr, (const char*)tmp, NumByteToWrite+1, false);
+
+ if(ret) return -1;
+ return 0;
+ }
+
+ /**
+ * @brief Reads a buffer from the I2C peripheral device.
+ * @param pBuffer pointer to the byte-array to read data in to
+ * @param DeviceAddr specifies the peripheral device slave address.
+ * @param RegisterAddr specifies the internal address register
+ * where to start reading from (must be correctly masked).
+ * @param NumByteToRead number of bytes to be read.
+ * @retval 0 if ok,
+ * @retval -1 if an I2C error has occured
+ * @note On some devices if NumByteToWrite is greater
+ * than one, the RegisterAddr must be masked correctly!
+ */
+ int i2c_read(uint8_t* pBuffer, uint8_t DeviceAddr, uint8_t RegisterAddr,
+ uint16_t NumByteToRead) {
+ int ret;
+
+ /* Send device address, with no STOP condition */
+ ret = write(DeviceAddr, (const char*)&RegisterAddr, 1, true);
+ if(!ret) {
+ /* Read data, with STOP condition */
+ ret = read(DeviceAddr, (char*)pBuffer, NumByteToRead, false);
+ }
+
+ if(ret) return -1;
+ return 0;
+ }
+
+private:
+ static const unsigned int TEMP_BUF_SIZE = 32;
+};
+
+#endif /* __DEV_I2C_H */
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/mag_ring/X_NUCLEO_COMMON/DevSPI/DevSPI.h Fri Aug 03 01:32:16 2018 +0000
@@ -0,0 +1,388 @@
+/**
+ ******************************************************************************
+ * @file DevSPI.h
+ * @author AST / Software Platforms and Cloud / EST
+ * @version V1.2.1
+ * @date 19-February-2016
+ * @brief Header file for a special SPI class DevSPI which provides some
+ * helper functions for on-board communication.
+ ******************************************************************************
+ * @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.
+ *
+ ******************************************************************************
+ */
+
+/* Define to prevent from recursive inclusion --------------------------------*/
+#ifndef __DEV_SPI_H
+#define __DEV_SPI_H
+
+/* Includes ------------------------------------------------------------------*/
+#include "mbed.h"
+
+/* Macros --------------------------------------------------------------------*/
+#if (defined(__BYTE_ORDER__) && (__BYTE_ORDER__ == __ORDER_BIG_ENDIAN__)) /* GCC */ || \
+ (defined(G_BYTE_ORDER) && (G_BYTE_ORDER == G_BIG_ENDIAN)) /* IAR */ || \
+ (defined(__BIG_ENDIAN)) /* ARM */
+#define __DEV_SPI_BIG_ENDIAN
+#endif
+
+/* Classes -------------------------------------------------------------------*/
+/** Helper class DevSPI providing functions for synchronous SPI communication
+ * common for a series of SPI devices.
+ */
+class DevSPI : public SPI
+{
+ public:
+ /*
+ * Create a DevSPI interface.
+ * @param mosi pin name of the MOSI pin of the SPI device to be used for communication.
+ * @param miso pin name of the MISO pin of the SPI device to be used for communication.
+ * @param sclk pin name of the SCLK pin of the SPI device to be used for communication.
+ */
+ DevSPI(PinName mosi, PinName miso, PinName sclk) : SPI(mosi, miso, sclk)
+ {
+ /* Set default configuration. */
+ setup(8, 3, 1E6);
+ }
+
+ /*
+ * Setup the spi.
+ * Typically:
+ * + 8 bit data;
+ * + high steady state clock;
+ * + second edge capture;
+ * + 1MHz clock rate.
+ *
+ * @param bits Number of bits per SPI frame (4 - 16)
+ * @param mode Clock polarity and phase mode (0 - 3)
+ * @param frequency_hz SCLK frequency in hz (default = 1MHz)
+ *
+ * @code
+ * mode | POL PHA
+ * -----+--------
+ * 0 | 0 0
+ * 1 | 0 1
+ * 2 | 1 0
+ * 3 | 1 1
+ * @endcode
+ */
+ void setup(int bits, int mode = 0, int frequency_hz = 1E6)
+ {
+ /* Set given configuration. */
+ format(bits, mode);
+ frequency(frequency_hz);
+ }
+
+ /**
+ * @brief Writes a buffer to the SPI peripheral device in 8-bit data mode
+ * using synchronous SPI communication.
+ * @param[in] pBuffer pointer to the buffer of data to send.
+ * @param[in] ssel GPIO of the SSEL pin of the SPI device to be used for communication.
+ * @param[in] NumBytesToWrite number of bytes to write.
+ * @retval 0 if ok.
+ * @retval -1 if data format error.
+ * @note When using the SPI in Interrupt-mode, remember to disable interrupts
+ * before calling this function and to enable them again after.
+ */
+ int spi_write(uint8_t* pBuffer, DigitalOut &ssel, uint16_t NumBytesToWrite)
+ {
+ /* Check data format */
+ if(_bits != 8) return -1;
+
+ /* Select the chip. */
+ ssel = 0;
+
+ /* Write data. */
+ for (int i = 0; i < NumBytesToWrite; i++) {
+ write(pBuffer[i]);
+ }
+
+ /* Unselect the chip. */
+ ssel = 1;
+
+ return 0;
+ }
+
+
+ /**
+ * @brief Reads a buffer from the SPI peripheral device in 8-bit data mode
+ * using synchronous SPI communication.
+ * @param[out] pBuffer pointer to the buffer to read data into.
+ * @param[in] ssel GPIO of the SSEL pin of the SPI device to be used for communication.
+ * @param[in] NumBytesToRead number of bytes to read.
+ * @retval 0 if ok.
+ * @retval -1 if data format error.
+ * @note When using the SPI in Interrupt-mode, remember to disable interrupts
+ * before calling this function and to enable them again after.
+ */
+ int spi_read(uint8_t* pBuffer, DigitalOut &ssel, uint16_t NumBytesToRead)
+ {
+ /* Check data format */
+ if(_bits != 8) return -1;
+
+ /* Select the chip. */
+ ssel = 0;
+
+ /* Read data. */
+ for (int i = 0; i < NumBytesToRead; i++) {
+ pBuffer[i] = write(0);
+ }
+
+ /* Unselect the chip. */
+ ssel = 1;
+
+ return 0;
+ }
+
+ /**
+ * @brief Writes a buffer to the SPI peripheral device in 8-bit data mode
+ * using synchronous SPI communication.
+ * @param[in] pBuffer pointer to the buffer of data to send.
+ * @param[in] ssel GPIO of the SSEL pin of the SPI device to be used for communication.
+ * @param[in] NumBytesToWrite number of bytes to write.
+ * @retval 0 if ok.
+ * @retval -1 if data format error.
+ * @note When using the SPI in Interrupt-mode, remember to disable interrupts
+ * before calling this function and to enable them again after.
+ */
+ int spi_write_reg(uint8_t* pBuffer, uint8_t regAddr, DigitalInOut &ssel, uint16_t NumBytes)
+ {
+ /* Check data format */
+ if(_bits != 8) return -1;
+
+ /* Select the chip. */
+ ssel = 0;
+
+ /* Write data. */
+ /*
+ uint8_t *pData = new uint8_t [NumBytes+1];
+ pData[0] = regAddr;
+ for (int i = 0; i < NumBytes; i++) {
+ pData[i+1] = pBuffer[i];
+ }
+ SPI::write((char *)pData, NumBytes+1, NULL, 0);
+
+ */
+ write(regAddr);
+ for (int i = 0; i < NumBytes; i++) {
+ write(pBuffer[i]);
+ }
+ int i = 1;
+ while(i++<10);
+
+ /* Unselect the chip. */
+ ssel = 1;
+
+
+ return 0;
+ }
+
+ /**
+ * @brief Reads a buffer from the SPI peripheral device
+ * in 8-bit data mode using synchronous SPI communication.
+ * @param[out] pBufferToRead pointer to the buffer to read data into.
+ * @param[in] regAddr register address to send.
+ * @param[in] ssel GPIO of the SSEL pin of the SPI device to be used for communication.
+ * @param[in] NumBytes number of bytes to read.
+ * @retval 0 if ok.
+ * @retval -1 if data format error.
+ * @note When using the SPI in Interrupt-mode, remember to disable interrupts
+ * before calling this function and to enable them again after.
+ */
+ int spi_read_reg(uint8_t* pBuffer, uint8_t regAddr, DigitalInOut &ssel, uint16_t NumBytes)
+ {
+ /* Check data format */
+ if(_bits != 8) return -1;
+
+ /* Select the chip. */
+ ssel = 0;
+
+ /* Read and write data at the same time. */
+ /*
+ char *pData = new char [NumBytes+1];
+ SPI::write((char *)®Addr, 1, pData, NumBytes+1);
+ for(int i = 1; i < NumBytes; i++)
+ {
+ pBuffer[i] = pData[i+1];
+ }
+ */
+
+ write(regAddr);
+ for (int i = 0; i < NumBytes; i++) {
+ pBuffer[i] = write(0);
+ }
+
+ /* Unselect the chip. */
+ ssel = 1;
+
+
+ return 0;
+ }
+
+ /**
+ * @brief Reads and write a buffer from/to the SPI peripheral device at the same time
+ * in 8-bit data mode using synchronous SPI communication.
+ * @param[out] pBufferToRead pointer to the buffer to read data into.
+ * @param[in] pBufferToWrite pointer to the buffer of data to send.
+ * @param[in] ssel GPIO of the SSEL pin of the SPI device to be used for communication.
+ * @param[in] NumBytes number of bytes to read and write.
+ * @retval 0 if ok.
+ * @retval -1 if data format error.
+ * @note When using the SPI in Interrupt-mode, remember to disable interrupts
+ * before calling this function and to enable them again after.
+ */
+ int spi_read_write(uint8_t* pBufferToRead, uint8_t* pBufferToWrite, DigitalOut &ssel, uint16_t NumBytes)
+ {
+ /* Check data format */
+ if(_bits != 8) return -1;
+
+ /* Select the chip. */
+ ssel = 0;
+
+ /* Read and write data at the same time. */
+ for (int i = 0; i < NumBytes; i++) {
+ pBufferToRead[i] = write(pBufferToWrite[i]);
+ }
+
+ /* Unselect the chip. */
+ ssel = 1;
+
+ return 0;
+ }
+
+ /**
+ * @brief Writes a buffer to the SPI peripheral device in 16-bit data mode
+ * using synchronous SPI communication.
+ * @param[in] pBuffer pointer to the buffer of data to send.
+ * @param[in] ssel GPIO of the SSEL pin of the SPI device to be used for communication.
+ * @param[in] NumValuesToWrite number of 16-bit values to write.
+ * @retval 0 if ok.
+ * @retval -1 if data format error.
+ * @note When using the SPI in Interrupt-mode, remember to disable interrupts
+ * before calling this function and to enable them again after.
+ * @note In order to guarantee this method to work correctly you have to
+ * pass buffers which are correctly aligned.
+ */
+ int spi_write(uint16_t* pBuffer, DigitalOut &ssel, uint16_t NumValuesToWrite)
+ {
+ /* Check data format */
+ if(_bits != 16) return -1;
+
+ /* Select the chip. */
+ ssel = 0;
+
+ /* Write data. */
+ for (int i = 0; i < NumValuesToWrite; i++) {
+ write(htons(pBuffer[i]));
+ }
+
+ /* Unselect the chip. */
+ ssel = 1;
+
+ return 0;
+ }
+
+ /**
+ * @brief Reads a buffer from the SPI peripheral device in 16-bit data mode
+ * using synchronous SPI communication.
+ * @param[out] pBuffer pointer to the buffer to read data into.
+ * @param[in] ssel GPIO of the SSEL pin of the SPI device to be used for communication.
+ * @param[in] NumValuesToRead number of 16-bit values to read.
+ * @retval 0 if ok.
+ * @retval -1 if data format error.
+ * @note When using the SPI in Interrupt-mode, remember to disable interrupts
+ * before calling this function and to enable them again after.
+ * @note In order to guarantee this method to work correctly you have to
+ * pass buffers which are correctly aligned.
+ */
+ int spi_read(uint16_t* pBuffer, DigitalOut &ssel, uint16_t NumValuesToRead)
+ {
+ /* Check data format */
+ if(_bits != 16) return -1;
+
+ /* Select the chip. */
+ ssel = 0;
+
+ /* Read data. */
+ for (int i = 0; i < NumValuesToRead; i++) {
+ pBuffer[i] = ntohs((uint16_t)write(0));
+ }
+
+ /* Unselect the chip. */
+ ssel = 1;
+
+ return 0;
+ }
+
+ /**
+ * @brief Reads and write a buffer from/to the SPI peripheral device at the same time
+ * in 16-bit data mode using synchronous SPI communication.
+ * @param[out] pBufferToRead pointer to the buffer to read data into.
+ * @param[in] pBufferToWrite pointer to the buffer of data to send.
+ * @param[in] ssel GPIO of the SSEL pin of the SPI device to be used for communication.
+ * @param[in] NumValues number of 16-bit values to read and write.
+ * @retval 0 if ok.
+ * @retval -1 if data format error.
+ * @note When using the SPI in Interrupt-mode, remember to disable interrupts
+ * before calling this function and to enable them again after.
+ * @note In order to guarantee this method to work correctly you have to
+ * pass buffers which are correctly aligned.
+ */
+ int spi_read_write(uint16_t* pBufferToRead, uint16_t* pBufferToWrite, DigitalOut &ssel, uint16_t NumValues)
+ {
+ /* Check data format */
+ if(_bits != 16) return -1;
+
+ /* Select the chip. */
+ ssel = 0;
+
+ /* Read and write data at the same time. */
+ for (int i = 0; i < NumValues; i++) {
+ pBufferToRead[i] = ntohs((uint16_t)write(htons(pBufferToWrite[i])));
+ }
+
+ /* Unselect the chip. */
+ ssel = 1;
+
+ return 0;
+ }
+
+protected:
+ inline uint16_t htons(uint16_t x) {
+#ifndef __DEV_SPI_BIG_ENDIAN
+ return (((x)<<8)|((x)>>8));
+#else // __DEV_SPI_BIG_ENDIAN
+ return (x);
+#endif // __DEV_SPI_BIG_ENDIAN
+ }
+
+ inline uint16_t ntohs(uint16_t x) {
+ return htons(x);
+ }
+};
+
+#endif /* __DEV_SPI_H */
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/mag_ring/components/Common/hum_temp.h Fri Aug 03 01:32:16 2018 +0000
@@ -0,0 +1,151 @@
+/**
+ ******************************************************************************
+ * @file hum_temp.h
+ * @author MEMS Application Team
+ * @version V1.2.0
+ * @date 28-January-2015
+ * @brief This header file contains the functions prototypes for the
+ * humidity and temperature driver.
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© 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.
+ *
+ ******************************************************************************
+ */
+
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __HUM_TEMP_H
+#define __HUM_TEMP_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include <stdint.h>
+
+/** @addtogroup BSP
+ * @{
+ */
+
+/** @addtogroup Components
+ * @{
+ */
+
+/** @addtogroup HUM_TEMP
+ * @{
+ */
+
+/** @defgroup HUM_TEMP_Exported_Types
+ * @{
+ */
+
+/**
+ * @brief Humidity and temperature init structure definition
+ */
+typedef struct
+{
+ uint8_t Power_Mode; /* Power-down/Sleep/Normal Mode */
+ uint8_t Data_Update_Mode; /* continuous update/output registers not updated until MSB and LSB reading*/
+ uint8_t Reboot_Mode; /* Normal Mode/Reboot memory content */
+ uint8_t Humidity_Resolutin; /* Humidity Resolution */
+ uint8_t Temperature_Resolution; /* Temperature Resolution */
+ uint8_t OutputDataRate; /* One-shot / 1Hz / 7 Hz / 12.5 Hz */
+} HUM_TEMP_InitTypeDef;
+
+/**
+ * @brief Humidity and temperature status enumerator definition
+ */
+typedef enum
+{
+ HUM_TEMP_OK = 0,
+ HUM_TEMP_ERROR = 1,
+ HUM_TEMP_TIMEOUT = 2,
+ HUM_TEMP_NOT_IMPLEMENTED = 3
+} HUM_TEMP_StatusTypeDef;
+
+/**
+ * @brief Humidity and temperature component id enumerator definition
+ */
+typedef enum
+{
+ HUM_TEMP_NONE_COMPONENT = 0,
+ HUM_TEMP_HTS221_COMPONENT = 1
+} HUM_TEMP_ComponentTypeDef;
+
+/**
+ * @brief Humidity and temperature driver extended structure definition
+ */
+typedef struct
+{
+ HUM_TEMP_ComponentTypeDef
+ id; /* This id must be unique for each component belonging to this class that wants to extend common class */
+ void *pData; /* This pointer is specific for each component */
+} HUM_TEMP_DrvExtTypeDef;
+
+/**
+ * @brief Humidity and temperature driver structure definition
+ */
+typedef struct
+{
+ HUM_TEMP_StatusTypeDef (*Init)(HUM_TEMP_InitTypeDef *);
+ HUM_TEMP_StatusTypeDef (*PowerOFF)(void);
+ HUM_TEMP_StatusTypeDef (*ReadID)(uint8_t *);
+ HUM_TEMP_StatusTypeDef (*Reset)(void);
+ void (*ConfigIT)(uint16_t);
+ void (*EnableIT)(uint8_t);
+ void (*DisableIT)(uint8_t);
+ uint8_t (*ITStatus)(uint16_t, uint16_t);
+ void (*ClearIT)(uint16_t, uint16_t);
+ HUM_TEMP_StatusTypeDef (*GetHumidity)(float *);
+ HUM_TEMP_StatusTypeDef (*GetTemperature)(float *);
+ HUM_TEMP_DrvExtTypeDef *extData;
+} HUM_TEMP_DrvTypeDef;
+
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __HUM_TEMP_H */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/mag_ring/components/Common/imu_6axes.h Fri Aug 03 01:32:16 2018 +0000
@@ -0,0 +1,161 @@
+/**
+ ******************************************************************************
+ * @file imu_6axes.h
+ * @author MEMS Application Team
+ * @version V1.2.0
+ * @date 28-January-2015
+ * @brief This header file contains the functions prototypes for the
+ * accelerometer and gyroscope driver.
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© 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.
+ *
+ ******************************************************************************
+ */
+
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __IMU_6AXES_H
+#define __IMU_6AXES_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include <stdint.h>
+
+/** @addtogroup BSP
+ * @{
+ */
+
+/** @addtogroup Components
+ * @{
+ */
+
+/** @addtogroup IMU_6AXES
+ * @{
+ */
+
+/** @defgroup IMU_6AXES_Exported_Types
+ * @{
+ */
+
+/**
+ * @brief IMU_6AXES init structure definition
+ */
+typedef struct
+{
+ float G_OutputDataRate;
+ float G_FullScale;
+ uint8_t G_X_Axis;
+ uint8_t G_Y_Axis;
+ uint8_t G_Z_Axis;
+ float X_OutputDataRate;
+ float X_FullScale;
+ uint8_t X_X_Axis;
+ uint8_t X_Y_Axis;
+ uint8_t X_Z_Axis;
+} IMU_6AXES_InitTypeDef;
+
+/**
+ * @brief IMU_6AXES status enumerator definition
+ */
+typedef enum
+{
+ IMU_6AXES_OK = 0,
+ IMU_6AXES_ERROR = 1,
+ IMU_6AXES_TIMEOUT = 2,
+ IMU_6AXES_NOT_IMPLEMENTED = 3
+} IMU_6AXES_StatusTypeDef;
+
+/**
+ * @brief IMU_6AXES component id enumerator definition
+ */
+typedef enum
+{
+ IMU_6AXES_NONE_COMPONENT = 0,
+ IMU_6AXES_LSM6DS0_COMPONENT = 1,
+ IMU_6AXES_LSM6DS3_DIL24_COMPONENT = 2
+} IMU_6AXES_ComponentTypeDef;
+
+/**
+ * @brief IMU_6AXES driver extended structure definition
+ */
+typedef struct
+{
+ IMU_6AXES_ComponentTypeDef
+ id; /* This id must be unique for each component belonging to this class that wants to extend common class */
+ void *pData; /* This pointer is specific for each component */
+} IMU_6AXES_DrvExtTypeDef;
+
+/**
+ * @brief IMU_6AXES driver structure definition
+ */
+typedef struct
+{
+ IMU_6AXES_StatusTypeDef (*Init)(IMU_6AXES_InitTypeDef *);
+ IMU_6AXES_StatusTypeDef (*Read_XG_ID)(uint8_t *);
+ IMU_6AXES_StatusTypeDef (*Get_X_Axes)(int32_t *);
+ IMU_6AXES_StatusTypeDef (*Get_X_AxesRaw)(int16_t *);
+ IMU_6AXES_StatusTypeDef (*Get_G_Axes)(int32_t *);
+ IMU_6AXES_StatusTypeDef (*Get_G_AxesRaw)(int16_t *);
+ IMU_6AXES_StatusTypeDef (*Get_X_ODR) (float *);
+ IMU_6AXES_StatusTypeDef (*Set_X_ODR) (float);
+ IMU_6AXES_StatusTypeDef (*Get_X_Sensitivity) (float *);
+ IMU_6AXES_StatusTypeDef (*Get_X_FS) (float *);
+ IMU_6AXES_StatusTypeDef (*Set_X_FS) (float);
+ IMU_6AXES_StatusTypeDef (*Get_G_ODR) (float *);
+ IMU_6AXES_StatusTypeDef (*Set_G_ODR) (float);
+ IMU_6AXES_StatusTypeDef (*Get_G_Sensitivity) (float *);
+ IMU_6AXES_StatusTypeDef (*Get_G_FS) (float *);
+ IMU_6AXES_StatusTypeDef (*Set_G_FS) (float);
+ IMU_6AXES_DrvExtTypeDef *extData;
+} IMU_6AXES_DrvTypeDef;
+
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __IMU_6AXES_H */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/mag_ring/components/Common/magneto.h Fri Aug 03 01:32:16 2018 +0000
@@ -0,0 +1,142 @@
+/**
+ ******************************************************************************
+ * @file magneto.h
+ * @author MEMS Application Team
+ * @version V1.2.0
+ * @date 28-January-2015
+ * @brief This header file contains the functions prototypes for the
+ * magneto driver.
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© 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.
+ *
+ ******************************************************************************
+ */
+
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __MAGNETO_H
+#define __MAGNETO_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include <stdint.h>
+
+/** @addtogroup BSP
+ * @{
+ */
+
+/** @addtogroup Components
+ * @{
+ */
+
+/** @addtogroup MAGNETO
+ * @{
+ */
+
+/** @defgroup MAGNETO_Exported_Types
+ * @{
+ */
+
+/**
+* @brief MAGNETO init structure definition
+*/
+typedef struct
+{
+ float M_OutputDataRate;
+ uint8_t M_OperatingMode;
+ float M_FullScale;
+ uint8_t M_XYOperativeMode;
+} MAGNETO_InitTypeDef;
+
+/**
+* @brief MAGNETO status enumerator definition
+*/
+typedef enum
+{
+ MAGNETO_OK = 0,
+ MAGNETO_ERROR = 1,
+ MAGNETO_TIMEOUT = 2,
+ MAGNETO_NOT_IMPLEMENTED = 3
+} MAGNETO_StatusTypeDef;
+
+/**
+ * @brief MAGNETO component id enumerator definition
+ */
+typedef enum
+{
+ MAGNETO_NONE_COMPONENT = 0,
+ MAGNETO_LIS3MDL_COMPONENT = 1
+} MAGNETO_ComponentTypeDef;
+
+/**
+ * @brief MAGNETO driver extended structure definition
+ */
+typedef struct
+{
+ MAGNETO_ComponentTypeDef
+ id; /* This id must be unique for each component belonging to this class that wants to extend common class */
+ void *pData; /* This pointer is specific for each component */
+} MAGNETO_DrvExtTypeDef;
+
+/**
+* @brief MAGNETO driver structure definition
+*/
+typedef struct
+{
+ MAGNETO_StatusTypeDef (*Init)(MAGNETO_InitTypeDef *);
+ MAGNETO_StatusTypeDef (*Read_M_ID)(uint8_t *);
+ MAGNETO_StatusTypeDef (*Get_M_Axes)(int32_t *);
+ MAGNETO_StatusTypeDef (*Get_M_AxesRaw)(int16_t *);
+ MAGNETO_DrvExtTypeDef *extData;
+} MAGNETO_DrvTypeDef;
+
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __MAGNETO_H */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/mag_ring/components/Common/pressure.h Fri Aug 03 01:32:16 2018 +0000
@@ -0,0 +1,153 @@
+/**
+ ******************************************************************************
+ * @file pressure.h
+ * @author MEMS Application Team
+ * @version V1.2.0
+ * @date 28-January-2015
+ * @brief This header file contains the functions prototypes for the
+ * pressure driver.
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© 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.
+ *
+ ******************************************************************************
+ */
+
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __PRESSURE_H
+#define __PRESSURE_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include <stdint.h>
+
+/** @addtogroup BSP
+ * @{
+ */
+
+/** @addtogroup Components
+ * @{
+ */
+
+/** @addtogroup PRESSURE
+ * @{
+ */
+
+/** @defgroup PRESSURE_Exported_Types
+ * @{
+ */
+
+/**
+ * @brief PRESSURE init structure definition
+ */
+typedef struct
+{
+ uint8_t OutputDataRate;
+ uint8_t PressureResolution;
+ uint8_t TemperatureResolution;
+ uint8_t DiffEnable;
+ uint8_t BlockDataUpdate;
+ uint8_t SPIMode;
+} PRESSURE_InitTypeDef;
+
+/**
+ * @brief PRESSURE status enumerator definition
+ */
+typedef enum
+{
+ PRESSURE_OK = 0,
+ PRESSURE_ERROR = 1,
+ PRESSURE_TIMEOUT = 2,
+ PRESSURE_NOT_IMPLEMENTED = 3
+} PRESSURE_StatusTypeDef;
+
+/**
+ * @brief PRESSURE component id enumerator definition
+ */
+typedef enum
+{
+ PRESSURE_NONE_COMPONENT = 0,
+ PRESSURE_LPS25H_COMPONENT = 1,
+ PRESSURE_LPS25HB_DIL24_COMPONENT = 2
+} PRESSURE_ComponentTypeDef;
+
+/**
+ * @brief PRESSURE driver extended structure definition
+ */
+typedef struct
+{
+ PRESSURE_ComponentTypeDef
+ id; /* This id must be unique for each component belonging to this class that wants to extend common class */
+ void *pData; /* This pointer is specific for each component */
+} PRESSURE_DrvExtTypeDef;
+
+/**
+ * @brief PRESSURE driver structure definition
+ */
+typedef struct
+{
+ PRESSURE_StatusTypeDef (*Init)(PRESSURE_InitTypeDef *);
+ PRESSURE_StatusTypeDef (*PowerOff)(void);
+ PRESSURE_StatusTypeDef (*ReadID)(uint8_t *);
+ PRESSURE_StatusTypeDef (*Reset)(void);
+ void (*ConfigIT)(uint16_t);
+ void (*EnableIT)(uint8_t);
+ void (*DisableIT)(uint8_t);
+ uint8_t (*ITStatus)(uint16_t, uint16_t);
+ void (*ClearIT)(uint16_t, uint16_t);
+ PRESSURE_StatusTypeDef (*GetPressure)(float *);
+ PRESSURE_StatusTypeDef (*GetTemperature)(float *);
+ void (*SlaveAddrRemap)(uint8_t);
+ PRESSURE_DrvExtTypeDef *extData;
+} PRESSURE_DrvTypeDef;
+
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __PRESSURE_H */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mag_ring/components/Common/readme.txt Fri Aug 03 01:32:16 2018 +0000 @@ -0,0 +1,15 @@ +hum_temp.h corresponds to: +- X-CUBE-MEMS1/trunk/Drivers/BSP/Components/Common/hum_temp.h: revision #385, +- X-CUBE-MEMS1/trunk: revision #416 + +imu_6axes.h corresponds to: +- X-CUBE-MEMS1/trunk/Drivers/BSP/Components/Common/imu_6axes.h: revision #385, +- X-CUBE-MEMS1/trunk: revision #416 + +magneto.h corresponds to: +- X-CUBE-MEMS1/trunk/Drivers/BSP/Components/Common/magneto.h: revision #385, +- X-CUBE-MEMS1/trunk: revision #416 + +pressure.h corresponds to: +- X-CUBE-MEMS1/trunk/Drivers/BSP/Components/Common/pressure.h: revision #385, +- X-CUBE-MEMS1/trunk: revision #416
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/mag_ring/components/lis3mdl/lis3mdl.h Fri Aug 03 01:32:16 2018 +0000
@@ -0,0 +1,487 @@
+/**
+ ******************************************************************************
+ * @file lis3mdl.h
+ * @author MEMS Application Team
+ * @version V1.3.0
+ * @date 28-May-2015
+ * @brief This file contains definitions for the lis3mdl.c
+ * firmware driver.
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© 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.
+ *
+ ******************************************************************************
+ */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __LIS3MDL_H
+#define __LIS3MDL_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "magneto.h"
+
+/** @addtogroup BSP
+ * @{
+ */
+
+/** @addtogroup Components
+ * @{
+ */
+
+/** @addtogroup LIS3MDL
+ * @{
+ */
+
+/** @defgroup LIS3MDL_Exported_Defines LIS3MDL_Exported_Defines
+ * @{
+ */
+#ifndef NULL
+#define NULL (void *) 0
+#endif
+
+
+/******************************************************************************/
+/***************** START MAGNETIC SENSOR REGISTER MAPPING ********************/
+/******************************************************************************/
+
+/**
+ * @brief Device identifier register.
+ * \code
+ * Read
+ * Default value:
+ * 7:0 This read-only register contains the device identifier
+ * \endcode
+*/
+#define LIS3MDL_M_WHO_AM_I_ADDR 0x0F
+
+
+/**
+ * @brief Magnetic sensor Control Register 1
+ * \code
+ * Read/write
+ * Default value: 0x10
+ * [7] TEMP_COMP: Temperature compensation enable
+ * [6:5] OM1-0: X and Y axes operative mode selection
+ * [4:2] DO2-0: Output data rate selection
+ * [1] This bit must be set to �0� for the correct operation of the device (??)
+ * [0] ST: Self-test enable
+ * \endcode
+ */
+#define LIS3MDL_M_CTRL_REG1_M 0x20
+
+
+/**
+ * @brief Magnetic sensor Control Register 2
+ * \code
+ * Read/write
+ * Default value: 0x00
+ * [7] These bits must be set to �0� for the correct operation of the device
+ * [6:5] FS1-0: Full-scale configuration
+ * [4] These bits must be set to �0� for the correct operation of the device
+ * [3] REBOOT: Reboot memory content
+ * [2] SOFT_RST: Configuration registers and user register reset function
+ * [1:0] These bits must be set to �0� for the correct operation of the device
+ * \endcode
+ */
+#define LIS3MDL_M_CTRL_REG2_M 0x21
+
+
+/**
+ * @brief Magnetic sensor Control Register 3
+ * \code
+ * Read/write
+ * Default value: 0x03
+ * [7] I2C_DISABLE: Disable I2C interface
+ * [6] These bits must be set to �0� for the correct operation of the device
+ * [5] LP: Low-power mode configuration
+ * [4:3] These bits must be set to �0� for the correct operation of the device
+ * [2] SIM: SPI Serial Interface mode selection
+ * [1:0] MD1-0: Operating mode selection
+ * \endcode
+ */
+#define LIS3MDL_M_CTRL_REG3_M 0x22
+
+
+/**
+ * @brief Magnetic sensor data (LSB)
+ * \code
+ * Read
+ * \endcode
+ */
+#define LIS3MDL_M_OUT_X_L_M 0x28
+
+
+/**
+ * @brief Magnetic sensor data (MSB)
+ * \code
+ * Read
+ * \endcode
+ */
+#define LIS3MDL_M_OUT_X_H_M 0x29
+
+
+/**
+ * @brief Magnetic sensor data (LSB)
+ * \code
+ * Read
+ * \endcode
+ */
+#define LIS3MDL_M_OUT_Y_L_M 0x2A
+
+
+/**
+ * @brief Magnetic sensor data (MSB)
+ * \code
+ * Read
+ * \endcode
+ */
+#define LIS3MDL_M_OUT_Y_H_M 0x2B
+
+
+/**
+ * @brief Magnetic sensor data (LSB)
+ * \code
+ * Read
+ * \endcode
+ */
+#define LIS3MDL_M_OUT_Z_L_M 0x2C
+
+
+/**
+ * @brief Magnetic sensor data (MSB)
+ * \code
+ * Read
+ * \endcode
+ */
+#define LIS3MDL_M_OUT_Z_H_M 0x2D
+
+
+/**
+ * @brief Magnetic sensor Interrupt config register
+ * \code
+ * Read/write
+ * Default value: 0x00
+ * [7] XIEN: Enable interrupt generation on X axis
+ * [6] YIEN: Enable interrupt generation on Y axis
+ * [5] ZIEN: Enable interrupt generation on Z axis
+ * [4:3] Must be 0
+ * [2] IEA: Interrupt active configuration on INT
+ * [1] LIR: Latch interrupt request
+ * [0] IEN: Interrupt enable on INT pin
+ * \endcode
+ */
+#define LIS3MDL_M_INT_CFG 0x30
+
+
+/**
+ * @brief Magnetic sensor Interrupt source register
+ * \code
+ * Read/write
+ * Default value: 0x00
+ * [7] PTH_X: Value on X-axis exceeds the threshold on the positive side
+ * [6] PTH_Y: Value on Y-axis exceeds the threshold on the positive side
+ * [5] PTH_Z: Value on Z-axis exceeds the threshold on the positive side
+ * [4] NTH_X: Value on X-axis exceeds the threshold on the negative side
+ * [3] NTH_Y: Value on Y-axis exceeds the threshold on the negative side
+ * [2] NTH_Z: Value on Z-axis exceeds the threshold on the negative side
+ * [1] MROI: Internal measurement range overflow on magnetic value
+ * [0] INT: This bit signals when interrupt event occours
+ * \endcode
+ */
+#define LIS3MDL_M_INT_SRC 0x31
+
+
+/**
+ * @brief Magnetic sensor Interrupt threshold register low
+ * \code
+ * Read/write
+ * Default value: 0x00
+ * [7:0] THS7-0: Least 8 significant bits of interrupt threshold
+ * \endcode
+ */
+#define LIS3MDL_M_INT_THS_L_M 0x32
+
+
+/**
+ * @brief Magnetic sensor Interrupt threshold register high
+ * \code
+ * Read/write
+ * Default value: 0x00
+ * [7] Must be 0
+ * [6:0] THS14-8: Most 7 significant bits of interrupt threshold
+ * \endcode
+ */
+#define LIS3MDL_M_INT_THS_H_M 0x33
+
+/******************************************************************************/
+/******************* END MAGNETIC SENSOR REGISTER MAPPING ********************/
+/******************************************************************************/
+
+/**
+ * @brief Multiple Byte. Mask for enabling multiple byte read/write command.
+ */
+#define LIS3MDL_I2C_MULTIPLEBYTE_CMD ((uint8_t)0x80)
+
+/**
+ * @brief Device Address
+ */
+
+#define LIS3MDL_M_MEMS_ADDRESS 0x3C // SAD[1] = 1
+
+/**
+ * @brief Device Identifier. Default value of the WHO_AM_I register.
+ */
+#define I_AM_LIS3MDL_M ((uint8_t)0x3D)
+
+/**
+ * @brief Read Byte. Mask for reading.
+ */
+#define LIS3MDL_SPI_READ_CMD ((uint8_t)0x80)
+
+/**
+ * @brief Write Byte. Mask for writing.
+ */
+#define LIS3MDL_SPI_WRITE_CMD ((uint8_t)0x00)
+
+/**
+ * @brief Auto-incremented. Mask for auto-incrementing address in multiple read/write commands.
+ */
+#define LIS3MDL_SPI_AUTO_INC_CMD ((uint8_t)0x40)
+
+/**
+ * @brief Unchange. Mask for remaining unchanged address in multiple read/write commands.
+ */
+#define LIS3MDL_SPI_UNCHANGE_CMD ((uint8_t)0x00)
+
+
+/*********************************** MAGNETIC SENSOR REGISTERS VALUE ****************************************/
+
+/** @defgroup LIS3MDL_M_Temperature_Compensation_Enable_Selection_CTRL_REG1_M LIS3MDL_M_Temperature_Compensation_Enable_Selection_CTRL_REG1_M
+ * @{
+ */
+#define LIS3MDL_M_TEMP_COMP_DISABLE ((uint8_t)0x00) /*!< Temperature compensation: disable */
+#define LIS3MDL_M_TEMP_COMP_ENABLE ((uint8_t)0x80) /*!< Temperature compensation: enable */
+
+#define LIS3MDL_M_TEMP_COMP_MASK ((uint8_t)0x80)
+/**
+ * @}
+ */
+
+/** @defgroup LIS3MDL_M_X_And_Y_Axes_Operative_Mode_Selection_CTRL_REG1_M LIS3MDL_M_X_And_Y_Axes_Operative_Mode_Selection_CTRL_REG1_M
+ * @{
+ */
+#define LIS3MDL_M_OM_LP ((uint8_t)0x00) /*!< X and Y axes operative mode: Low-power mode */
+#define LIS3MDL_M_OM_MP ((uint8_t)0x20) /*!< X and Y axes operative mode: Medium-performance mode */
+#define LIS3MDL_M_OM_HP ((uint8_t)0x40) /*!< X and Y axes operative mode: High-performance mode */
+#define LIS3MDL_M_OM_UHP ((uint8_t)0x60) /*!< X and Y axes operative mode: Ultra-high performance mode */
+
+#define LIS3MDL_M_OM_MASK ((uint8_t)0x60)
+/**
+ * @}
+ */
+
+/** @defgroup LIS3MDL_M_Output_Data_Rate_Selection_CTRL_REG1_M LIS3MDL_M_Output_Data_Rate_Selection_CTRL_REG1_M
+ * @{
+ */
+#define LIS3MDL_M_DO_0_625 ((uint8_t)0x00) /*!< Output data rate selection: 0.625 */
+#define LIS3MDL_M_DO_1_25 ((uint8_t)0x04) /*!< Output data rate selection: 1.25 */
+#define LIS3MDL_M_DO_2_5 ((uint8_t)0x08) /*!< Output data rate selection: 2.5 */
+#define LIS3MDL_M_DO_5 ((uint8_t)0x0C) /*!< Output data rate selection: 5 */
+#define LIS3MDL_M_DO_10 ((uint8_t)0x10) /*!< Output data rate selection: 10 */
+#define LIS3MDL_M_DO_20 ((uint8_t)0x14) /*!< Output data rate selection: 20 */
+#define LIS3MDL_M_DO_40 ((uint8_t)0x18) /*!< Output data rate selection: 40 */
+#define LIS3MDL_M_DO_80 ((uint8_t)0x1C) /*!< Output data rate selection: 80 */
+
+#define LIS3MDL_M_DO_MASK ((uint8_t)0x1C)
+/**
+ * @}
+ */
+
+/** @defgroup LIS3MDL_M_Fast_Output_Data_Rate_Enable_Selection_CTRL_REG1_M LIS3MDL_M_Fast_Output_Data_Rate_Enable_Selection_CTRL_REG1_M
+ * @{
+ */
+#define LIS3MDL_M_FAST_ODR_DISABLE ((uint8_t)0x00) /*!< Fast output data rate: disable */
+#define LIS3MDL_M_FAST_ODR_ENABLE ((uint8_t)0x02) /*!< Fast output data rate: enable */
+
+#define LIS3MDL_M_FAST_ODR_MASK ((uint8_t)0x02)
+/**
+ * @}
+ */
+
+/** @defgroup LIS3MDL_M_Self_Test_Enable_Selection_CTRL_REG1_M LIS3MDL_M_Self_Test_Enable_Selection_CTRL_REG1_M
+ * @{
+ */
+#define LIS3MDL_M_ST_DISABLE ((uint8_t)0x00) /*!< Self-test: disable */
+#define LIS3MDL_M_ST_ENABLE ((uint8_t)0x01) /*!< Self-test: enable */
+
+#define LIS3MDL_M_ST_MASK ((uint8_t)0x01)
+/**
+ * @}
+ */
+
+/** @defgroup LIS3MDL_M_Full_Scale_Selection_CTRL_REG2_M LIS3MDL_M_Full_Scale_Selection_CTRL_REG2_M
+ * @{
+ */
+#define LIS3MDL_M_FS_4 ((uint8_t)0x00) /*!< Full scale: +-4 guass */
+#define LIS3MDL_M_FS_8 ((uint8_t)0x20) /*!< Full scale: +-8 gauss */
+#define LIS3MDL_M_FS_12 ((uint8_t)0x40) /*!< Full scale: +-12 gauss */
+#define LIS3MDL_M_FS_16 ((uint8_t)0x60) /*!< Full scale: +-16 gauss */
+
+#define LIS3MDL_M_FS_MASK ((uint8_t)0x60)
+/**
+ * @}
+ */
+
+/** @defgroup LIS3MDL_M_Reboot_Memory_Selection_CTRL_REG2_M LIS3MDL_M_Reboot_Memory_Selection_CTRL_REG2_M
+ * @{
+ */
+#define LIS3MDL_M_REBOOT_NORMAL ((uint8_t)0x00) /*!< Reboot mode: normal mode */
+#define LIS3MDL_M_REBOOT_MEM_CONTENT ((uint8_t)0x08) /*!< Reboot mode: reboot memory content */
+
+#define LIS3MDL_M_REBOOT_MASK ((uint8_t)0x08)
+/**
+ * @}
+ */
+
+/** @defgroup LIS3MDL_M_Configuration_Registers_And_User_Register_Reset_CTRL_REG2_M LIS3MDL_M_Configuration_Registers_And_User_Register_Reset_CTRL_REG2_M
+ * @{
+ */
+#define LIS3MDL_M_SOFT_RST_DEFAULT ((uint8_t)0x00) /*!< Reset function: default value */
+#define LIS3MDL_M_SOFT_RST_RESET ((uint8_t)0x04) /*!< Reset function: reset operation */
+
+#define LIS3MDL_M_SOFT_RST_MASK ((uint8_t)0x04)
+/**
+ * @}
+ */
+
+/** @defgroup LIS3MDL_M_Disable_I2C_Interface_Selection_CTRL_REG3_M LIS3MDL_M_Disable_I2C_Interface_Selection_CTRL_REG3_M
+ * @{
+ */
+#define LIS3MDL_M_I2C_ENABLE ((uint8_t)0x00) /*!< I2C interface: enable */
+#define LIS3MDL_M_I2C_DISABLE ((uint8_t)0x80) /*!< I2C interface: disable */
+
+#define LIS3MDL_M_I2C_MASK ((uint8_t)0x80)
+/**
+ * @}
+ */
+
+/** @defgroup LIS3MDL_M_Low_Power_Mode_Selection_CTRL_REG3_M LIS3MDL_M_Low_Power_Mode_Selection_CTRL_REG3_M
+ * @{
+ */
+#define LIS3MDL_M_LP_ENABLE ((uint8_t)0x00) /*!< Low-power mode: magnetic data rate is configured by
+ the DO bits in the CTRL_REG1_M */
+#define LIS3MDL_M_LP_DISABLE ((uint8_t)0x20) /*!< Low-power mode: the DO bits is set to 0.625 Hz and the system performs,
+ for each channel, the minimum number of averages */
+
+#define LIS3MDL_M_LP_MASK ((uint8_t)0x20)
+/**
+ * @}
+ */
+
+/** @defgroup LIS3MDL_M_SPI_Serial_Interface_Mode_Selection_CTRL_REG3_M LIS3MDL_M_SPI_Serial_Interface_Mode_Selection_CTRL_REG3_M
+ * @{
+ */
+#define LIS3MDL_M_SPI_R_ENABLE ((uint8_t)0x00) /*!< SPI Serial Interface mode: only write operations enabled */
+#define LIS3MDL_M_SPI_R_DISABLE ((uint8_t)0x40) /*!< SPI Serial Interface mode: read and write operations enable */
+
+#define LIS3MDL_M_SPI_R_MASK ((uint8_t)0x40)
+/**
+ * @}
+ */
+
+
+/** @defgroup LIS3MDL_M_Operating_Mode_Selection_CTRL_REG3_M LIS3MDL_M_Operating_Mode_Selection_CTRL_REG3_M
+ * @{
+ */
+#define LIS3MDL_M_MD_CONTINUOUS ((uint8_t)0x00) /*!< Operating mode: Continuous-conversion mode */
+#define LIS3MDL_M_MD_SINGLE ((uint8_t)0x01) /*!< Operating mode: Single-conversion mode has to be used with sampling frequency from 0.625 Hz to 80 Hz. */
+#define LIS3MDL_M_MD_PD ((uint8_t)0x02) /*!< Operating mode: Power-down mode */
+
+#define LIS3MDL_M_MD_MASK ((uint8_t)0x03)
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+
+/** @defgroup LIS3MDL_Imported_Functions LIS3MDL_Imported_Functions
+ * @{
+ */
+
+/* Magneto sensor IO functions */
+extern MAGNETO_StatusTypeDef LIS3MDL_IO_Init(void);
+extern MAGNETO_StatusTypeDef LIS3MDL_IO_Write(uint8_t* pBuffer, uint8_t DeviceAddr, uint8_t RegisterAddr,
+ uint16_t NumByteToWrite);
+extern MAGNETO_StatusTypeDef LIS3MDL_IO_Read(uint8_t* pBuffer, uint8_t DeviceAddr, uint8_t RegisterAddr,
+ uint16_t NumByteToRead);
+extern void LIS3MDL_IO_ITConfig( void );
+
+/**
+ * @}
+ */
+
+/* ------------------------------------------------------- */
+/* Here you should declare the internal struct of */
+/* extended features of LSM6DS0. See the example of */
+/* LSM6DS3 in lsm6ds3.h */
+/* ------------------------------------------------------- */
+
+/** @addtogroup LIS3MDL_Exported_Variables LIS3MDL_Exported_Variables
+ * @{
+ */
+/* Magneto sensor driver structure */
+extern MAGNETO_DrvTypeDef LIS3MDLDrv;
+extern MAGNETO_DrvExtTypeDef LIS3MDLDrv_ext;
+
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __LIS3MDL_H */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/mag_ring/components/lis3mdl/lis3mdl_class.cpp Fri Aug 03 01:32:16 2018 +0000
@@ -0,0 +1,393 @@
+/**
+ ******************************************************************************
+ * @file lis3mdl_class.cpp
+ * @author AST / EST
+ * @version V0.0.1
+ * @date 14-April-2015
+ * @brief Implementation file for the LIS3MDL driver class
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© 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 "lis3mdl_class.h"
+#include "lis3mdl.h"
+
+/* Methods -------------------------------------------------------------------*/
+/* betzw - based on:
+ X-CUBE-MEMS1/trunk/Drivers/BSP/Components/lis3mdl/lis3mdl.c: revision #400,
+ X-CUBE-MEMS1/trunk: revision #416
+*/
+
+/**
+ * @brief Set LIS3MDL Initialization
+ * @param LIS3MDL_Init the configuration setting for the LIS3MDL
+ * @retval MAGNETO_OK in case of success, an error code otherwise
+ */
+MAGNETO_StatusTypeDef LIS3MDL::LIS3MDL_Init(MAGNETO_InitTypeDef *LIS3MDL_Init)
+{
+ uint8_t tmp1 = 0x00;
+
+ /* Configure the low level interface ---------------------------------------*/
+ if(LIS3MDL_IO_Init() != MAGNETO_OK) {
+ return MAGNETO_ERROR;
+ }
+
+ /****** Magnetic sensor *******/
+
+ if(LIS3MDL_IO_Read(&tmp1, LIS3MDL_M_CTRL_REG3_M, 1) != MAGNETO_OK) {
+ return MAGNETO_ERROR;
+ }
+
+ /* Conversion mode selection */
+ tmp1 &= ~(LIS3MDL_M_MD_MASK);
+ tmp1 |= LIS3MDL_Init->M_OperatingMode;
+
+ if(LIS3MDL_IO_Write(&tmp1, LIS3MDL_M_CTRL_REG3_M, 1) != MAGNETO_OK) {
+ return MAGNETO_ERROR;
+ }
+
+ if(LIS3MDL_M_Set_ODR( LIS3MDL_Init->M_OutputDataRate ) != MAGNETO_OK) {
+ return MAGNETO_ERROR;
+ }
+
+ if(LIS3MDL_M_Set_FS( LIS3MDL_Init->M_FullScale ) != MAGNETO_OK) {
+ return MAGNETO_ERROR;
+ }
+
+ /* Configure interrupt lines */
+ LIS3MDL_IO_ITConfig();
+
+ return MAGNETO_OK;
+
+ /******************************/
+}
+
+
+/**
+ * @brief Read ID of LIS3MDL Magnetic sensor
+ * @param m_id the pointer where the ID of the device is stored
+ * @retval MAGNETO_OK in case of success, an error code otherwise
+ */
+MAGNETO_StatusTypeDef LIS3MDL::LIS3MDL_Read_M_ID(uint8_t *m_id)
+{
+ if(!m_id) {
+ return MAGNETO_ERROR;
+ }
+
+ return LIS3MDL_IO_Read(m_id, LIS3MDL_M_WHO_AM_I_ADDR, 1);
+}
+
+
+/**
+ * @brief Read raw data from LIS3MDL Magnetic sensor output register
+ * @param pData the pointer where the magnetometer raw data are stored
+ * @retval MAGNETO_OK in case of success, an error code otherwise
+ */
+MAGNETO_StatusTypeDef LIS3MDL::LIS3MDL_M_GetAxesRaw(int16_t *pData)
+{
+ uint8_t tempReg[6] = {0, 0, 0, 0, 0, 0};
+
+ if(LIS3MDL_IO_Read(&tempReg[0], (LIS3MDL_M_OUT_X_L_M), 6) != MAGNETO_OK) {
+ return MAGNETO_ERROR;
+ }
+
+ pData[0] = ((((int16_t)tempReg[1]) << 8) + (int16_t)tempReg[0]);
+/*
+ if(LIS3MDL_IO_Read(&tempReg[0], (LIS3MDL_M_OUT_Y_L_M), 2) != MAGNETO_OK) {
+ return MAGNETO_ERROR;
+ }
+*/
+ pData[1] = ((((int16_t)tempReg[3]) << 8) + (int16_t)tempReg[2]);
+/*
+ if(LIS3MDL_IO_Read(&tempReg[0], (LIS3MDL_M_OUT_Z_L_M), 2) != MAGNETO_OK) {
+ return MAGNETO_ERROR;
+ }
+*/
+ pData[2] = ((((int16_t)tempReg[5]) << 8) + (int16_t)tempReg[4]);
+
+ return MAGNETO_OK;
+}
+
+
+/**
+ * @brief Read data from LIS3MDL Magnetic sensor and calculate Magnetic in mgauss
+ * @param pData the pointer where the magnetometer data are stored
+ * @retval MAGNETO_OK in case of success, an error code otherwise
+ */
+MAGNETO_StatusTypeDef LIS3MDL::LIS3MDL_M_GetAxes(int32_t *pData)
+{
+ uint8_t tempReg = 0x00;
+ int16_t pDataRaw[3];
+ float sensitivity = 0;
+
+ if(LIS3MDL_M_GetAxesRaw(pDataRaw) != MAGNETO_OK) {
+ return MAGNETO_ERROR;
+ }
+
+ if(LIS3MDL_IO_Read(&tempReg, LIS3MDL_M_CTRL_REG2_M, 1) != MAGNETO_OK) {
+ return MAGNETO_ERROR;
+ }
+
+ tempReg &= LIS3MDL_M_FS_MASK;
+
+ switch(tempReg) {
+ case LIS3MDL_M_FS_4:
+ sensitivity = 0.14;
+ break;
+ case LIS3MDL_M_FS_8:
+ sensitivity = 0.29;
+ break;
+ case LIS3MDL_M_FS_12:
+ sensitivity = 0.43;
+ break;
+ case LIS3MDL_M_FS_16:
+ sensitivity = 0.58;
+ break;
+ }
+
+ pData[0] = (int32_t)(pDataRaw[0] * sensitivity);
+ pData[1] = (int32_t)(pDataRaw[1] * sensitivity);
+ pData[2] = (int32_t)(pDataRaw[2] * sensitivity);
+
+ return MAGNETO_OK;
+}
+
+MAGNETO_StatusTypeDef LIS3MDL::LIS3MDL_M_Get_ODR( float *odr )
+{
+ /*Here we have to add the check if the parameters are valid*/
+ uint8_t tempReg = 0x00;
+
+ if(LIS3MDL_IO_Read(&tempReg, LIS3MDL_M_CTRL_REG1_M, 1) != MAGNETO_OK) {
+ return MAGNETO_ERROR;
+ }
+
+ tempReg &= LIS3MDL_M_FAST_ODR_MASK;
+ if(tempReg == LIS3MDL_M_FAST_ODR_ENABLE) {
+
+ if(LIS3MDL_IO_Read(&tempReg, LIS3MDL_M_CTRL_REG1_M, 1) != MAGNETO_OK) {
+ return MAGNETO_ERROR;
+ }
+ tempReg &= LIS3MDL_M_OM_MASK;
+ switch(tempReg) {
+ case LIS3MDL_M_OM_LP:
+ *odr = 1000.0f;
+ break;
+ case LIS3MDL_M_OM_MP:
+ *odr = 560.0f;
+ break;
+ case LIS3MDL_M_OM_HP:
+ *odr = 300.0f;
+ break;
+ case LIS3MDL_M_OM_UHP:
+ *odr = 155.0f;
+ break;
+ }
+ } else {
+ if(LIS3MDL_IO_Read(&tempReg, LIS3MDL_M_CTRL_REG1_M, 1) != MAGNETO_OK) {
+ return MAGNETO_ERROR;
+ }
+ tempReg &= LIS3MDL_M_DO_MASK;
+ switch(tempReg) {
+ case LIS3MDL_M_DO_0_625:
+ *odr = 0.625f;
+ break;
+ case LIS3MDL_M_DO_1_25:
+ *odr = 1.25f;
+ break;
+ case LIS3MDL_M_DO_2_5:
+ *odr = 2.5f;
+ break;
+ case LIS3MDL_M_DO_5:
+ *odr = 5.0f;
+ break;
+ case LIS3MDL_M_DO_10:
+ *odr = 10.0f;
+ break;
+ case LIS3MDL_M_DO_20:
+ *odr = 20.0f;
+ break;
+ case LIS3MDL_M_DO_40:
+ *odr = 40.0f;
+ break;
+ case LIS3MDL_M_DO_80:
+ *odr = 80.0f;
+ break;
+ }
+ }
+ return MAGNETO_OK;
+}
+
+MAGNETO_StatusTypeDef LIS3MDL::LIS3MDL_M_Set_ODR( float odr )
+{
+ uint8_t new_odr = 0x00;
+ uint8_t tempReg = 0x00;
+
+if(odr>80.0f){
+ new_odr = ( odr <= 155.0f ) ? LIS3MDL_M_OM_UHP
+ : ( odr <= 300.0f ) ? LIS3MDL_M_OM_HP
+ : ( odr <= 560.0f ) ? LIS3MDL_M_OM_MP
+ : LIS3MDL_M_OM_LP;
+
+ if(LIS3MDL_IO_Read(&tempReg, LIS3MDL_M_CTRL_REG1_M, 1) != MAGNETO_OK) {
+ return MAGNETO_ERROR;
+ }
+
+ tempReg &= ~(LIS3MDL_M_OM_MASK);
+ tempReg |= (new_odr|LIS3MDL_M_FAST_ODR_ENABLE);
+
+ if(LIS3MDL_IO_Write(&tempReg, LIS3MDL_M_CTRL_REG1_M, 1) != MAGNETO_OK) {
+ return MAGNETO_ERROR;
+ }
+ }
+ else{
+
+ new_odr = ( odr <= 0.625f ) ? LIS3MDL_M_DO_0_625
+ : ( odr <= 1.25f ) ? LIS3MDL_M_DO_1_25
+ : ( odr <= 2.5f ) ? LIS3MDL_M_DO_2_5
+ : ( odr <= 5.0f ) ? LIS3MDL_M_DO_5
+ : ( odr <= 10.0f ) ? LIS3MDL_M_DO_10
+ : ( odr <= 20.0f ) ? LIS3MDL_M_DO_20
+ : ( odr <= 40.0f ) ? LIS3MDL_M_DO_40
+ : LIS3MDL_M_DO_80;
+
+ if(LIS3MDL_IO_Read( &tempReg, LIS3MDL_M_CTRL_REG1_M, 1 ) != MAGNETO_OK) {
+ return MAGNETO_ERROR;
+ }
+
+ tempReg &= ~(LIS3MDL_M_DO_MASK);
+ tempReg |= new_odr;
+
+ if(LIS3MDL_IO_Write(&tempReg, LIS3MDL_M_CTRL_REG1_M, 1) != MAGNETO_OK) {
+ return MAGNETO_ERROR;
+ }
+}
+ return MAGNETO_OK;
+}
+
+MAGNETO_StatusTypeDef LIS3MDL::LIS3MDL_M_Get_FS( float *fullScale )
+{
+ /*Here we have to add the check if the parameters are valid*/
+ uint8_t tempReg = 0x00;
+
+ if(LIS3MDL_IO_Read(&tempReg, LIS3MDL_M_CTRL_REG2_M, 1) != MAGNETO_OK) {
+ return MAGNETO_ERROR;
+ }
+
+ tempReg &= LIS3MDL_M_FS_MASK;
+
+ switch(tempReg) {
+ case LIS3MDL_M_FS_4:
+ *fullScale = 4.0f;
+ break;
+ case LIS3MDL_M_FS_8:
+ *fullScale = 8.0f;
+ break;
+ case LIS3MDL_M_FS_12:
+ *fullScale = 12.0f;
+ break;
+ case LIS3MDL_M_FS_16:
+ *fullScale = 16.0f;
+ break;
+ }
+
+ return MAGNETO_OK;
+}
+
+MAGNETO_StatusTypeDef LIS3MDL::LIS3MDL_M_Set_FS( float fullScale )
+{
+ uint8_t new_fs = 0x00;
+ uint8_t tempReg = 0x00;
+
+ new_fs = ( fullScale <= 4.0f ) ? LIS3MDL_M_FS_4
+ : ( fullScale <= 8.0f ) ? LIS3MDL_M_FS_8
+ : ( fullScale <= 12.0f ) ? LIS3MDL_M_FS_12
+ : LIS3MDL_M_FS_16;
+
+ if(LIS3MDL_IO_Read( &tempReg, LIS3MDL_M_CTRL_REG2_M, 1 ) != MAGNETO_OK) {
+ return MAGNETO_ERROR;
+ }
+
+ tempReg &= ~(LIS3MDL_M_FS_MASK);
+ tempReg |= new_fs;
+
+ if(LIS3MDL_IO_Write(&tempReg, LIS3MDL_M_CTRL_REG2_M, 1) != MAGNETO_OK) {
+ return MAGNETO_ERROR;
+ }
+
+ return MAGNETO_OK;
+}
+
+MAGNETO_StatusTypeDef LIS3MDL::LIS3MDL_M_GetSensitivity( float *pfData )
+{
+ /*Here we have to add the check if the parameters are valid*/
+
+ uint8_t tempReg = 0x00;
+ if(LIS3MDL_IO_Read( &tempReg, LIS3MDL_M_CTRL_REG2_M, 1 ) != MAGNETO_OK) {
+ return MAGNETO_ERROR;
+ }
+
+ tempReg &= LIS3MDL_M_FS_MASK;
+
+ switch(tempReg) {
+ case LIS3MDL_M_FS_4:
+ *pfData = 0.14;
+ break;
+ case LIS3MDL_M_FS_8:
+ *pfData = 0.29;
+ break;
+ case LIS3MDL_M_FS_12:
+ *pfData = 0.43;
+ break;
+ case LIS3MDL_M_FS_16:
+ *pfData = 0.58;
+ break;
+ }
+
+ return MAGNETO_OK;
+}
+
+MAGNETO_StatusTypeDef LIS3MDL::LIS3MDL_Reset_Regs()
+{
+ uint8_t tmp = 0;
+
+ if(LIS3MDL_IO_Read( &tmp, LIS3MDL_M_CTRL_REG2_M, 1 ) != MAGNETO_OK) {
+ return MAGNETO_ERROR;
+ }
+
+ tmp &= LIS3MDL_M_SOFT_RST_MASK;
+ tmp |= LIS3MDL_M_SOFT_RST_RESET;
+
+ if(LIS3MDL_IO_Write( &tmp, LIS3MDL_M_CTRL_REG2_M, 1) != MAGNETO_OK) {
+ return MAGNETO_ERROR;
+ }
+
+ return MAGNETO_OK;
+}
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/mag_ring/components/lis3mdl/lis3mdl_class.h Fri Aug 03 01:32:16 2018 +0000
@@ -0,0 +1,189 @@
+/**
+ ******************************************************************************
+ * @file lis3mdl_class.h
+ * @author AST / EST
+ * @version V0.0.1
+ * @date 14-April-2015
+ * @brief Header file for component LIS3MDL
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© 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 __LIS3MDL_CLASS_H
+#define __LIS3MDL_CLASS_H
+
+/* Includes ------------------------------------------------------------------*/
+#include "mbed.h"
+#include "DevSPI.h"
+#include "lis3mdl.h"
+#include "MagneticSensor.h"
+
+/* Classes -------------------------------------------------------------------*/
+/** Class representing a LIS3MDL sensor component
+ */
+class LIS3MDL : public MagneticSensor {
+ public:
+ /** Constructor
+ * @param[in] spi device I2C to be used for communication
+ */
+ LIS3MDL(DevSPI &spi, PinName cs) : MagneticSensor(), dev_spi(spi), pin_cs(cs) {
+ pin_cs.mode(PullUp);
+ pin_cs.output();
+ pin_cs = 1;
+ }
+
+ /** Destructor
+ */
+ virtual ~LIS3MDL() {}
+
+ /*** Interface Methods ***/
+ virtual int init(void *init_struct) {
+ return LIS3MDL_Init((MAGNETO_InitTypeDef*)init_struct);
+ }
+
+ virtual int read_id(uint8_t *m_id) {
+ return LIS3MDL_Read_M_ID(m_id);
+ }
+
+ virtual int get_m_axes(int32_t *pData) {
+ return LIS3MDL_M_GetAxes(pData);
+ }
+
+ virtual int get_m_axes_raw(int16_t *pData) {
+ return LIS3MDL_M_GetAxesRaw(pData);
+ }
+
+ virtual int get_m_odr(float *odr) {
+ return LIS3MDL_M_Get_ODR(odr);
+ }
+
+ virtual int set_m_odr(float odr) {
+ return LIS3MDL_M_Set_ODR(odr);
+ }
+
+ virtual int get_m_sensitivity(float *pfData) {
+ return LIS3MDL_M_GetSensitivity(pfData);
+ }
+
+ virtual int get_m_fs(float *fullScale) {
+ return LIS3MDL_M_Get_FS(fullScale);
+ }
+
+ virtual int set_m_fs(float fullScale) {
+ return LIS3MDL_M_Set_FS(fullScale);
+ }
+
+ virtual int resetRegs() {
+ return LIS3MDL_Reset_Regs();
+ }
+
+ protected:
+ /*** Methods ***/
+ MAGNETO_StatusTypeDef LIS3MDL_Init(MAGNETO_InitTypeDef *LIS3MDL_Init);
+ MAGNETO_StatusTypeDef LIS3MDL_Read_M_ID(uint8_t *m_id);
+ MAGNETO_StatusTypeDef LIS3MDL_M_GetAxes(int32_t *pData);
+ MAGNETO_StatusTypeDef LIS3MDL_M_GetAxesRaw(int16_t *pData);
+ MAGNETO_StatusTypeDef LIS3MDL_M_Get_ODR( float *odr );
+ MAGNETO_StatusTypeDef LIS3MDL_M_Set_ODR( float odr );
+ MAGNETO_StatusTypeDef LIS3MDL_M_Get_FS( float *fullScale );
+ MAGNETO_StatusTypeDef LIS3MDL_M_Set_FS( float fullScale );
+ MAGNETO_StatusTypeDef LIS3MDL_M_GetSensitivity( float *pfData );
+ MAGNETO_StatusTypeDef LIS3MDL_Reset_Regs();
+
+ /**
+ * @brief Configures LIS3MDL interrupt lines for NUCLEO boards
+ */
+ void LIS3MDL_IO_ITConfig(void)
+ {
+ /* To be implemented */
+ }
+
+ /**
+ * @brief Configures LIS3MDL I2C interface
+ * @return MAGNETO_OK in case of success, an error code otherwise
+ */
+ MAGNETO_StatusTypeDef LIS3MDL_IO_Init(void)
+ {
+ return MAGNETO_OK; /* done in constructor */
+ }
+
+ /**
+ * @brief Utility function to read data from LIS3MDL
+ * @param[out] pBuffer pointer to the byte-array to read data in to
+ * @param[in] RegisterAddr specifies internal address register to read from.
+ * @param[in] NumByteToRead number of bytes to be read.
+ * @retval MAGNETO_OK if ok,
+ * @retval MAGNETO_ERROR if an I2C error has occured
+ */
+ MAGNETO_StatusTypeDef LIS3MDL_IO_Read(uint8_t* pBuffer,
+ uint8_t RegisterAddr, uint16_t NumByteToRead)
+ {
+ RegisterAddr = RegisterAddr | LIS3MDL_SPI_READ_CMD;
+ if(NumByteToRead > 1) RegisterAddr |= LIS3MDL_SPI_AUTO_INC_CMD;
+ int ret = dev_spi.spi_read_reg(pBuffer,
+ RegisterAddr,
+ pin_cs,
+ NumByteToRead);
+ if(ret != 0) {
+ printf("error");
+ return MAGNETO_ERROR;
+ }
+ return MAGNETO_OK;
+ }
+
+ /**
+ * @brief Utility function to write data to LIS3MDL
+ * @param[in] pBuffer pointer to the byte-array data to send
+ * @param[in] RegisterAddr specifies internal address register to read from.
+ * @param[in] NumByteToWrite number of bytes to write.
+ * @retval MAGNETO_OK if ok,
+ * @retval MAGNETO_ERROR if an I2C error has occured
+ */
+ MAGNETO_StatusTypeDef LIS3MDL_IO_Write(uint8_t* pBuffer,
+ uint8_t RegisterAddr, uint16_t NumByteToWrite)
+ {
+ RegisterAddr = RegisterAddr | LIS3MDL_SPI_WRITE_CMD;
+ if(NumByteToWrite > 1) RegisterAddr |= LIS3MDL_SPI_AUTO_INC_CMD;
+ int ret = dev_spi.spi_write_reg(pBuffer,
+ RegisterAddr,
+ pin_cs,
+ NumByteToWrite);
+ if(ret != 0) {
+ return MAGNETO_ERROR;
+ }
+ return MAGNETO_OK;
+ }
+
+ /*** Instance Variables ***/
+ /* IO Device */
+ DevSPI &dev_spi;
+ DigitalInOut pin_cs;
+};
+
+#endif // __LIS3MDL_CLASS_H
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mag_ring/components/lis3mdl/readme.txt Fri Aug 03 01:32:16 2018 +0000 @@ -0,0 +1,3 @@ +lis3mdl.h corresponds to: +- X-CUBE-MEMS1/trunk/Drivers/BSP/Components/lis3mdl/lis3mdl.h: revision #402, +- X-CUBE-MEMS1/trunk: revision #416
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/mag_ring/mag_ring.cpp Fri Aug 03 01:32:16 2018 +0000
@@ -0,0 +1,246 @@
+/**
+ ******************************************************************************
+ * @file mag_ring.cpp
+ * @author AST / EST
+ * @version V0.0.1
+ * @date 08-October-2014
+ * @brief Implementation file for the MagRing singleton class
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© COPYRIGHT(c) 2014 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 "mag_ring.h"
+
+/* Static variables ----------------------------------------------------------*/
+MagRing* MagRing::_instance = NULL;
+
+
+/* Methods -------------------------------------------------------------------*/
+/**
+ * @brief Constructor
+ */
+MagRing::MagRing(DevSPI *ext_spi) : dev_spi(ext_spi)
+{
+ magnetometers = new LIS3MDL* [NUMBER_OF_MAGNETOMETERS];
+ magnetometers[0] = new LIS3MDL(*dev_spi, (M1_PIN_SPI_CS));
+ magnetometers[1] = new LIS3MDL(*dev_spi, (M2_PIN_SPI_CS));
+ magnetometers[2] = new LIS3MDL(*dev_spi, (M3_PIN_SPI_CS));
+ magnetometers[3] = new LIS3MDL(*dev_spi, (M4_PIN_SPI_CS));
+ magnetometers[4] = new LIS3MDL(*dev_spi, (M5_PIN_SPI_CS));
+ magnetometers[5] = new LIS3MDL(*dev_spi, (M6_PIN_SPI_CS));
+ magnetometers[6] = new LIS3MDL(*dev_spi, (M7_PIN_SPI_CS));
+ magnetometers[7] = new LIS3MDL(*dev_spi, (M8_PIN_SPI_CS));
+}
+
+/**
+ * @brief Get singleton instance
+ * @return a pointer to the initialized singleton instance of class MagRing.
+ * A return value of NULL indicates an out of memory situation.
+ * @param[in] ext_spi (optional) pointer to an instance of DevSPI to be used
+ * for communication on the expansion board.
+ * Defaults to NULL.
+ * Taken into account only on the very first call of one of the 'Instance' functions.
+ * If not provided a new DevSPI will be created with standard
+ * configuration parameters.
+ * The used DevSPI object gets saved in instance variable dev_spi.
+ * @param[in] ff_irq_pin (optional) PinName of the pin associated to asynchronous
+ * (i.e. interrupt based) free fall detection in case a LSM6DS33 3D
+ * Acceleromenter and 3D Gyroscope is mounted on top of the DIL 24-pin socket.
+ * Defaults to F746ZG_PIN_FF.
+ * Taken into account only on the very first call of one of the 'Instance' functions.
+ * A value of 'NC' will avoid instantiation of the LSM6DS33 even if present.
+ */
+MagRing* MagRing::Instance(DevSPI *ext_spi) {
+ if(_instance == NULL) {
+ if(ext_spi == NULL)
+ ext_spi = new DevSPI(F746ZG_PIN_SPI_MOSI, F746ZG_PIN_SPI_MISO, F746ZG_PIN_SPI_SCLK);
+
+ if(ext_spi != NULL)
+ _instance = new MagRing(ext_spi);
+
+ if(_instance != NULL) {
+ bool ret = _instance->Init();
+ if(!ret) {
+ error("Failed to init MagRing expansion board!\n");
+ }
+ }
+ }
+
+ return _instance;
+}
+
+/**
+ * @brief Get singleton instance
+ * @return a pointer to the initialized singleton instance of class MagRing.
+ * A return value of NULL indicates an out of memory situation.
+ * @param[in] sda SPI data line pin.
+ * Taken into account only on the very first call of one of the 'Instance' functions.
+ * A new DevSPI will be created based on parameters 'sda' and 'scl'.
+ * The used DevSPI object gets saved in instance variable dev_spi.
+ * @param[in] scl SPI clock line pin.
+ * Taken into account only on the very first call of one of the 'Instance' functions.
+ * A new DevSPI will be created based on parameters 'sda' and 'scl'.
+ * The used DevSPI object gets saved in instance variable dev_spi.
+ * @param[in] ff_irq_pin (optional) PinName of the pin associated to asynchronous
+ * (i.e. interrupt based) free fall detection in case a LSM6DS33 3D
+ * Acceleromenter and 3D Gyroscope is mounted on top of the DIL 24-pin socket.
+ * Defaults to NC.
+ * Taken into account only on the very first call of one of the 'Instance' functions.
+ * A value of 'NC' will avoid instantiation of the LSM6DS33 even if present.
+ */
+MagRing* MagRing::Instance(PinName mosi, PinName miso, PinName sclk) {
+ if(_instance == NULL) {
+ DevSPI *ext_spi = new DevSPI(mosi, miso, sclk);
+
+ if(ext_spi != NULL)
+ _instance = new MagRing(ext_spi);
+
+ if(_instance != NULL) {
+ bool ret = _instance->Init();
+ if(!ret) {
+ error("Failed to init MagRing expansion board!\n");
+ }
+ }
+ }
+
+ return _instance;
+}
+
+
+/**
+ * @brief Initialize the singleton's magnetometers
+ * @retval true if initialization successful,
+ * @retval false otherwise
+ */
+bool MagRing::Init_LIS3MDL(void) {
+ uint8_t m_id = 0;
+ MAGNETO_InitTypeDef InitStructure;
+
+ /* Configure sensor */
+ InitStructure.M_FullScale = 4.0f;
+ InitStructure.M_OperatingMode = LIS3MDL_M_MD_CONTINUOUS;
+ InitStructure.M_XYOperativeMode = LIS3MDL_M_OM_HP;
+ InitStructure.M_OutputDataRate = 1000.0f;
+
+ dev_spi->frequency(1e2);
+ /* Check presence */
+ for(int i = 0; i < NUMBER_OF_MAGNETOMETERS; i++){
+ if((magnetometers[i]->read_id(&m_id) != MAGNETO_OK) ||
+ (m_id != I_AM_LIS3MDL_M))
+ {
+ printf(" m%d_id: %d, SHOULDBE: %d", i+1, m_id, I_AM_LIS3MDL_M);/*
+ for(int j = 0; j < NUMBER_OF_MAGNETOMETERS; j++){
+ delete magnetometers[j];
+ magnetometers[j] = NULL;
+ }
+ delete [] magnetometers;
+ magnetometers = NULL;
+ return true;*/
+ }
+
+ if(magnetometers[i]->init(&InitStructure) != MAGNETO_OK)
+ {
+ printf("%d init fail",i);
+ return false;
+ }
+ }
+
+ return true;
+}
+
+int MagRing::get_m_axes_raw(int16_t pData[][3])
+{
+ for(int i = 0; i < NUMBER_OF_MAGNETOMETERS; i++)
+ {
+ if(magnetometers[i]->get_m_axes_raw((int16_t *)pData[i]) != 0)
+ {
+ return -1;
+ }
+ }
+ return 0;
+}
+int MagRing::get_m_axes(int32_t **pData)
+{
+ for(int i = 0; i < NUMBER_OF_MAGNETOMETERS; i++)
+ {
+ if(magnetometers[i]->get_m_axes(pData[i]) != 0)
+ {
+ return -1;
+ }
+ }
+ return 0;
+}
+
+
+int MagRing::get_m_axes_raw(int magIndex, int16_t *pData)
+{
+ return magnetometers[magIndex]->get_m_axes_raw(pData);
+}
+bool MagRing::resetMagnetometer(int magIndex)
+{
+ if(magnetometers[magIndex]->resetRegs() != MAGNETO_OK)
+ {
+ return MAGNETO_ERROR;
+ }
+
+ uint8_t m_id = 0;
+ MAGNETO_InitTypeDef InitStructure;
+
+ /* Configure sensor */
+ InitStructure.M_FullScale = 4.0f;
+ InitStructure.M_OperatingMode = LIS3MDL_M_MD_CONTINUOUS;
+ InitStructure.M_XYOperativeMode = LIS3MDL_M_OM_HP;
+ InitStructure.M_OutputDataRate = 1000.0f;
+
+ dev_spi->frequency(1e2);
+ /* Check presence */
+ if((magnetometers[magIndex]->read_id(&m_id) != MAGNETO_OK) ||
+ (m_id != I_AM_LIS3MDL_M))
+ {
+ printf(" m%d_id: %d, SHOULDBE: %d", magIndex+1, m_id, I_AM_LIS3MDL_M);/*
+ for(int j = 0; j < NUMBER_OF_MAGNETOMETERS; j++){
+ delete magnetometers[j];
+ magnetometers[j] = NULL;
+ }
+ delete [] magnetometers;
+ magnetometers = NULL;
+ return true;*/
+ }
+
+ if(magnetometers[magIndex]->init(&InitStructure) != MAGNETO_OK)
+ {
+ printf("%d init fail",magIndex);
+ return false;
+ }
+
+ return true;
+}
+
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/mag_ring/mag_ring.h Fri Aug 03 01:32:16 2018 +0000
@@ -0,0 +1,123 @@
+/**
+ ******************************************************************************
+ * @file mag_ring.h
+ * @author AST / EST
+ * @version V0.0.1
+ * @date 13-April-2015
+ * @brief Header file for class mag_ring representing a mag_ring
+ * expansion board
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© 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.
+ *
+ ******************************************************************************
+ */
+
+/* Define to prevent from recursive inclusion --------------------------------*/
+#ifndef __MAG_RING_H
+#define __MAG_RING_H
+
+/* Includes ------------------------------------------------------------------*/
+#include "mbed.h"
+#include "mag_ring_targets.h"
+#include "lis3mdl/lis3mdl_class.h"
+#include "DevSPI.h"
+
+/* Macros -------------------------------------------------------------------*/
+#define CALL_METH(obj, meth, param, ret) ((obj == NULL) ? \
+ ((*(param) = (ret)), 0) : \
+ ((obj)->meth(param)) \
+ )
+
+/* Classes -------------------------------------------------------------------*/
+/** Class mag_ring is intended to represent the MEMS Inertial & Environmental
+ * Nucleo Expansion Board with the same name.
+ *
+ * The expansion board is featuring basically four IPs:\n
+ * -# a HTS221 Relative Humidity and Temperature Sensor\n
+ * -# a LIS3MDL 3-Axis Magnetometer\n
+ * -# a LPS25H MEMS Pressure Sensor (and Temperature Sensor)\n
+ * -# and a LSM6DS33 3D Acceleromenter and 3D Gyroscope\n
+ *
+ * The expansion board features also a DIL 24-pin socket which makes it possible
+ * to add further MEMS adapters and other sensors (e.g. UV index).
+ *
+ * It is intentionally implemented as a singleton because only one
+ * mag_ring at a time might be deployed in a HW component stack.\n
+ * In order to get the singleton instance you have to call class method `Instance()`,
+ * e.g.:
+ * @code
+ * // Inertial & Environmental expansion board singleton instance
+ * static mag_ring *<TODO>_expansion_board = mag_ring::Instance();
+ * @endcode
+ */
+class MagRing
+{
+ protected:
+ MagRing(DevSPI *ext_spi);
+
+ ~MagRing(void) {
+ /* should never be called */
+ error("Trial to delete mag_ring singleton!\n");
+ }
+
+ /**
+ * @brief Initialize the singleton's sensors to default settings
+ * @retval true if initialization successful,
+ * @retval false otherwise
+ */
+ bool Init(void) {
+ return (Init_LIS3MDL());
+ }
+
+ bool Init_LIS3MDL(void);
+
+ public:
+ static MagRing* Instance(DevSPI *ext_spi = NULL);
+ static MagRing* Instance(PinName mosi, PinName miso, PinName sclk);
+
+ DevSPI *dev_spi;
+
+ LIS3MDL **magnetometers;
+/* GyroSensor *GetGyroscope(void) {
+ return gyro_lsm6ds33;
+ }
+ MotionSensor *GetAccelerometer(void) {
+ return gyro_lsm6ds33;
+ }*/
+ void setSpiFrequency(int hz){ dev_spi->frequency(hz); }
+ int get_m_axes_raw(int16_t pData[][3]);
+ int get_m_axes_raw(int magIndex, int16_t *pData);
+ int get_m_axes(int32_t **pData);
+ bool resetMagnetometer(int magIndex);
+// void setMagenticRegister(float **);
+// LSM6DS33 *gyro_lsm6ds33;
+
+ private:
+ static MagRing *_instance;
+};
+
+#endif /* __MAG_RING_H */
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mag_ring/mag_ring_targets.h Fri Aug 03 01:32:16 2018 +0000 @@ -0,0 +1,61 @@ +/** + ****************************************************************************** + * @file mag_ring_targets.h + * @author AST / EST + * @version V0.0.1 + * @date 14-April-2015 + * @brief This header file is intended to manage the differences between + * the different supported base-boards which might mount the + * MAG_RING MEMS Inertial & Environmental Nucleo Expansion Board. + ****************************************************************************** + * @attention + * + * <h2><center>© 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. + * + ****************************************************************************** + */ + +/* Define to prevent from recursive inclusion --------------------------------*/ +#ifndef _MAG_RING_TARGETS_H_ +#define _MAG_RING_TARGETS_H_ + +/*** SPI ***/ +/* Use Arduino SPI Connectors */ +#define F746ZG_PIN_SPI_MOSI (SPI_MOSI) // D11 +#define F746ZG_PIN_SPI_MISO (SPI_MISO) // D12 +#define F746ZG_PIN_SPI_SCLK (SPI_SCK) // D13 + +#define M1_PIN_SPI_CS (PC_6) +#define M2_PIN_SPI_CS (PB_15) +#define M3_PIN_SPI_CS (PB_13) +#define M4_PIN_SPI_CS (PB_12) +#define M5_PIN_SPI_CS (PA_15) +#define M6_PIN_SPI_CS (PC_7) +#define M7_PIN_SPI_CS (PB_5) +#define M8_PIN_SPI_CS (PB_3) + +#define NUMBER_OF_MAGNETOMETERS 8 + +#endif // _MAG_RING_TARGETS_H_
--- a/motor/motor.h Mon Jul 02 07:41:35 2018 +0000
+++ b/motor/motor.h Fri Aug 03 01:32:16 2018 +0000
@@ -23,13 +23,23 @@
return (float)_TXcm_s/(_onDelay+_offDelay);
}
void reset() {
+ if(_lock){
+ return;
+ }
_pos=0;
}
void to(float p);
float position() {
+ if(_lock){
+ return -1;
+ }
return _pos;
}
+ bool moving(){ return _lock; }
void setPosition(float p) {
+ if(_lock){
+ return;
+ }
_pos = p;
}
void stop(void);
--- a/motor/motor_targets.h Mon Jul 02 07:41:35 2018 +0000 +++ b/motor/motor_targets.h Fri Aug 03 01:32:16 2018 +0000 @@ -1,6 +1,6 @@ /** ****************************************************************************** - * @file altimu_10_v5_targets.h + * @file motor_targets.h * @author AST / EST * @version V0.0.1 * @date 14-April-2015
--- a/xyz_sensor_platform.cpp Mon Jul 02 07:41:35 2018 +0000
+++ b/xyz_sensor_platform.cpp Fri Aug 03 01:32:16 2018 +0000
@@ -7,7 +7,7 @@
yEnd(MOTOR_Y_PINT_END),
zZero(MOTOR_Z_PINT_ZERO),
zEnd(MOTOR_Z_PINT_END),
- movedTimes(0)
+ _movedTimes(0)
{
motorX = new CD_2D34M("motorX\0", \
MOTOR_X_POUT_DIRECTION, \
@@ -23,35 +23,38 @@
MOTOR_Z_POUT_PU, \
MOTOR_Z_POUT_DR, \
MOTOR_Z_POUT_MF);
- sensor = AltIMU_10_v5::Instance();
- gyroscope = sensor->GetGyroscope();
- accelerometer = sensor->GetAccelerometer();
- magnetometer = sensor->magnetometer;
- temp_sensor = sensor->pt_sensor;
+ sensor = MagRing::Instance();
+// gyroscope = sensor->GetGyroscope();
+ //magnetometer = sensor->magnetometers;
init();
}
void XYZSensorPlatform::init(void)
{
- uint8_t id1, id2;
+// uint8_t id1, id2;
/* Determine ID of Gyro & Motion Sensor */
- CALL_METH(gyroscope, read_id, &id1, 0x0);
- CALL_METH(accelerometer, read_id, &id2, 0x0);
- printf("\r\ngyr_addr: %p, accer_addr: %p\r\n",gyroscope,accelerometer);
+// CALL_METH(gyroscope, read_id, &id1, 0x0);
+// CALL_METH(accelerometer, read_id, &id2, 0x0);
+// printf("\r\ngyr_addr: %p, accer_addr: %p\r\n",gyroscope,accelerometer);
//#ifdef MOTOR_INITIAL
//#endif
}
void XYZSensorPlatform::reset() {
/** Motor Initial **/
- movedTimes = 0;
+ _movedTimes = 0;
x = 1;
y = 1;
z = 1;
int step = 0;
- while(xEnd!=0 && step++ < 10) go_right();
+ while(xEnd!=0 && step++ < 10)
+ {
+ go_right();
+ _movedTimes = 0;
+ }
while(xZero!=0) {
go_left();
+ _movedTimes = 0;
wait(0.01);
}
go_right();
@@ -59,6 +62,7 @@
while(yEnd!=0 && step++ < 10) go_forward();
while(yZero!=0 && yZero != 0) {
go_backward();
+ _movedTimes = 0;
wait(0.01);
}
go_forward();
@@ -66,6 +70,7 @@
while(zEnd!=0 && step++ < 10) go_up();
while(zZero!=0) {
go_down();
+ _movedTimes = 0;
wait(0.01);
}
go_up();
@@ -125,3 +130,14 @@
} else if(yEnd == 1) motorY->to(y);
}
+void XYZSensorPlatform::checkMovedTimes()
+{
+ if(_movedTimes++>=CALIBRATION_TIME)
+ {
+// float p[3] = {0.0};
+// position(p);
+ reset();
+// to(p[0],p[1],p[2]);
+// _movedTimes = 0;
+ }
+}
--- a/xyz_sensor_platform.h Mon Jul 02 07:41:35 2018 +0000
+++ b/xyz_sensor_platform.h Fri Aug 03 01:32:16 2018 +0000
@@ -3,7 +3,7 @@
/*** Includes ----------------------------------------------------------------- ***/
//#include "mbed.h"
-#include "altimu_10_v5.h"
+#include "mag_ring.h"
#include "motor.h"
#include "motor_targets.h"
#define MOTOR_INITIAL
@@ -16,6 +16,10 @@
int32_t AXIS_Z;
} AxesRaw_TypeDef;
+typedef struct {
+ AxesRaw_TypeDef Magnetic[NUMBER_OF_MAGNETOMETERS];
+} MagneticArray_TypeDef;
+
class XYZSensorPlatform
{
public:
@@ -30,6 +34,8 @@
void go_right();
void go_left();
+ bool isMoving(){ return motorX->moving() || motorY->moving() || motorZ->moving(); }
+
void set_speed(float speed) {
motorX->setSpeed(speed);
motorY->setSpeed(speed);
@@ -55,16 +61,25 @@
void to(float x, float y, float z) ;
- AxesRaw_TypeDef get_mag() {
- AxesRaw_TypeDef ret;
+ MagneticArray_TypeDef get_mag() {
+ MagneticArray_TypeDef ret;
magnetometer->get_m_axes((int32_t *)&ret);
return ret;
}
- int get_mag_raw(int16_t *ret) {
- return magnetometer->get_m_axes_raw(ret);
+ int get_mag_raw(int16_t ret[][3]) {
+ return sensor->get_m_axes_raw(ret);
}
+ int get_mag_raw(int magIndex, int16_t *ret) {
+ return sensor->get_m_axes_raw(magIndex, ret);
+ }
+
+ void resetMagnetometer(int magIndex)
+ {
+ sensor->resetMagnetometer(magIndex);
+ }
+ /*
AxesRaw_TypeDef get_acc() {
AxesRaw_TypeDef ret;
accelerometer->get_x_axes((int32_t *)&ret);
@@ -76,26 +91,18 @@
gyroscope->get_g_axes((int32_t *)&ret);
return ret;
}
-
- void setSensorI2cFrequency(int hz){ sensor->setI2cFrequency(hz); }
+ */
+ void setSensorSpiFrequency(int hz){ sensor->setSpiFrequency(hz); }
private:
- void checkMovedTimes(){
- if(movedTimes++>=CALIBRATION_TIME)
- {
- float p[3] = {0.0};
- position(p);
- reset();
- to(p[0],p[1],p[2]);
- }
- }
+ void checkMovedTimes();
Motor *motorX, *motorY, *motorZ;
float x,y,z;
- int movedTimes;
+ int _movedTimes;
InterruptIn xZero, xEnd, yZero, yEnd, zZero, zEnd;
- AltIMU_10_v5 *sensor;
- GyroSensor *gyroscope;
- MotionSensor *accelerometer;
+ MagRing *sensor;
+ //GyroSensor *gyroscope;
+ //MotionSensor *accelerometer;
MagneticSensor *magnetometer;
- TempSensor *temp_sensor;
+ //TempSensor *temp_sensor;
};
#endif // __XYZ_SENSOR_PLATFORM_H
\ No newline at end of file