Diff: LSM6DSLSensor.h

Revision:

0:704c89673b57

Child:

1:c583f32fe272

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/LSM6DSLSensor.h	Mon Sep 04 16:08:00 2017 +0000
@@ -0,0 +1,297 @@
+/**
+ ******************************************************************************
+ * @file    LSM6DSLSensor.h
+ * @author  CLab
+ * @version V1.0.0
+ * @date    5 August 2016
+ * @brief   Abstract Class of an LSM6DSL Inertial Measurement Unit (IMU) 6 axes
+ *          sensor.
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ *   1. Redistributions of source code must retain the above copyright notice,
+ *      this list of conditions and the following disclaimer.
+ *   2. Redistributions in binary form must reproduce the above copyright notice,
+ *      this list of conditions and the following disclaimer in the documentation
+ *      and/or other materials provided with the distribution.
+ *   3. Neither the name of STMicroelectronics nor the names of its contributors
+ *      may be used to endorse or promote products derived from this software
+ *      without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+ */
+
+
+/* Prevent recursive inclusion -----------------------------------------------*/
+
+#ifndef __LSM6DSLSensor_H__
+#define __LSM6DSLSensor_H__
+
+
+/* Includes ------------------------------------------------------------------*/
+
+#include "DevI2C.h"
+#include "LSM6DSL_acc_gyro_driver.h"
+#include "MotionSensor.h"
+#include "GyroSensor.h"
+
+/* Defines -------------------------------------------------------------------*/
+
+#define LSM6DSL_ACC_SENSITIVITY_FOR_FS_2G   0.061  /**< Sensitivity value for 2 g full scale [mg/LSB] */
+#define LSM6DSL_ACC_SENSITIVITY_FOR_FS_4G   0.122  /**< Sensitivity value for 4 g full scale [mg/LSB] */
+#define LSM6DSL_ACC_SENSITIVITY_FOR_FS_8G   0.244  /**< Sensitivity value for 8 g full scale [mg/LSB] */
+#define LSM6DSL_ACC_SENSITIVITY_FOR_FS_16G  0.488  /**< Sensitivity value for 16 g full scale [mg/LSB] */
+
+#define LSM6DSL_GYRO_SENSITIVITY_FOR_FS_125DPS   04.375  /**< Sensitivity value for 125 dps full scale [mdps/LSB] */
+#define LSM6DSL_GYRO_SENSITIVITY_FOR_FS_245DPS   08.750  /**< Sensitivity value for 245 dps full scale [mdps/LSB] */
+#define LSM6DSL_GYRO_SENSITIVITY_FOR_FS_500DPS   17.500  /**< Sensitivity value for 500 dps full scale [mdps/LSB] */
+#define LSM6DSL_GYRO_SENSITIVITY_FOR_FS_1000DPS  35.000  /**< Sensitivity value for 1000 dps full scale [mdps/LSB] */
+#define LSM6DSL_GYRO_SENSITIVITY_FOR_FS_2000DPS  70.000  /**< Sensitivity value for 2000 dps full scale [mdps/LSB] */
+
+#define LSM6DSL_PEDOMETER_THRESHOLD_LOW       0x00  /**< Lowest  value of pedometer threshold */
+#define LSM6DSL_PEDOMETER_THRESHOLD_MID_LOW   0x07
+#define LSM6DSL_PEDOMETER_THRESHOLD_MID       0x0F
+#define LSM6DSL_PEDOMETER_THRESHOLD_MID_HIGH  0x17
+#define LSM6DSL_PEDOMETER_THRESHOLD_HIGH      0x1F  /**< Highest value of pedometer threshold */
+
+#define LSM6DSL_WAKE_UP_THRESHOLD_LOW       0x01  /**< Lowest  value of wake up threshold */
+#define LSM6DSL_WAKE_UP_THRESHOLD_MID_LOW   0x0F
+#define LSM6DSL_WAKE_UP_THRESHOLD_MID       0x1F
+#define LSM6DSL_WAKE_UP_THRESHOLD_MID_HIGH  0x2F
+#define LSM6DSL_WAKE_UP_THRESHOLD_HIGH      0x3F  /**< Highest value of wake up threshold */
+
+#define LSM6DSL_TAP_THRESHOLD_LOW       0x01  /**< Lowest  value of wake up threshold */
+#define LSM6DSL_TAP_THRESHOLD_MID_LOW   0x08
+#define LSM6DSL_TAP_THRESHOLD_MID       0x10
+#define LSM6DSL_TAP_THRESHOLD_MID_HIGH  0x18
+#define LSM6DSL_TAP_THRESHOLD_HIGH      0x1F  /**< Highest value of wake up threshold */
+
+#define LSM6DSL_TAP_SHOCK_TIME_LOW       0x00  /**< Lowest  value of wake up threshold */
+#define LSM6DSL_TAP_SHOCK_TIME_MID_LOW   0x01
+#define LSM6DSL_TAP_SHOCK_TIME_MID_HIGH  0x02
+#define LSM6DSL_TAP_SHOCK_TIME_HIGH      0x03  /**< Highest value of wake up threshold */
+
+#define LSM6DSL_TAP_QUIET_TIME_LOW       0x00  /**< Lowest  value of wake up threshold */
+#define LSM6DSL_TAP_QUIET_TIME_MID_LOW   0x01
+#define LSM6DSL_TAP_QUIET_TIME_MID_HIGH  0x02
+#define LSM6DSL_TAP_QUIET_TIME_HIGH      0x03  /**< Highest value of wake up threshold */
+
+#define LSM6DSL_TAP_DURATION_TIME_LOW       0x00  /**< Lowest  value of wake up threshold */
+#define LSM6DSL_TAP_DURATION_TIME_MID_LOW   0x04
+#define LSM6DSL_TAP_DURATION_TIME_MID       0x08
+#define LSM6DSL_TAP_DURATION_TIME_MID_HIGH  0x0C
+#define LSM6DSL_TAP_DURATION_TIME_HIGH      0x0F  /**< Highest value of wake up threshold */
+
+/* Typedefs ------------------------------------------------------------------*/
+
+typedef enum
+{
+  LSM6DSL_INT1_PIN,
+  LSM6DSL_INT2_PIN
+} LSM6DSL_Interrupt_Pin_t;
+
+typedef struct
+{
+  unsigned int FreeFallStatus : 1;
+  unsigned int TapStatus : 1;
+  unsigned int DoubleTapStatus : 1;
+  unsigned int WakeUpStatus : 1;
+  unsigned int StepStatus : 1;
+  unsigned int TiltStatus : 1;
+  unsigned int D6DOrientationStatus : 1;
+} LSM6DSL_Event_Status_t;
+
+/* Class Declaration ---------------------------------------------------------*/
+
+/**
+ * Abstract class of an LSM6DSL Inertial Measurement Unit (IMU) 6 axes
+ * sensor.
+ */
+class LSM6DSLSensor : public MotionSensor, public GyroSensor
+{
+  public:
+    LSM6DSLSensor(DevI2C &i2c, PinName INT1_pin, PinName INT2_pin);
+    LSM6DSLSensor(DevI2C &i2c, PinName INT1_pin, PinName INT2_pin, uint8_t address);
+    virtual int init(void *init);
+    virtual int read_id(uint8_t *id);
+    virtual int get_x_axes(int32_t *pData);
+    virtual int get_g_axes(int32_t *pData);
+    virtual int get_x_sensitivity(float *pfData);
+    virtual int get_g_sensitivity(float *pfData);
+    virtual int get_x_axes_raw(int16_t *pData);
+    virtual int get_g_axes_raw(int16_t *pData);
+    virtual int get_x_odr(float *odr);
+    virtual int get_g_odr(float *odr);
+    virtual int set_x_odr(float odr);
+    virtual int set_g_odr(float odr);
+    virtual int get_x_fs(float *fullScale);
+    virtual int get_g_fs(float *fullScale);
+    virtual int set_x_fs(float fullScale);
+    virtual int set_g_fs(float fullScale);
+    int enable_x(void);
+    int enable_g(void);
+    int disable_x(void);
+    int disable_g(void);
+    int enable_free_fall_detection(LSM6DSL_Interrupt_Pin_t pin = LSM6DSL_INT1_PIN);
+    int disable_free_fall_detection(void);
+    int set_free_fall_threshold(uint8_t thr);
+    int enable_pedometer(void);
+    int disable_pedometer(void);
+    int get_step_counter(uint16_t *step_count);
+    int reset_step_counter(void);
+    int set_pedometer_threshold(uint8_t thr);
+    int enable_tilt_detection(LSM6DSL_Interrupt_Pin_t pin = LSM6DSL_INT1_PIN);
+    int disable_tilt_detection(void);
+    int enable_wake_up_detection(LSM6DSL_Interrupt_Pin_t pin = LSM6DSL_INT2_PIN);
+    int disable_wake_up_detection(void);
+    int set_wake_up_threshold(uint8_t thr);
+    int enable_single_tap_detection(LSM6DSL_Interrupt_Pin_t pin = LSM6DSL_INT1_PIN);
+    int disable_single_tap_detection(void);
+    int enable_double_tap_detection(LSM6DSL_Interrupt_Pin_t pin = LSM6DSL_INT1_PIN);
+    int disable_double_tap_detection(void);
+    int set_tap_threshold(uint8_t thr);
+    int set_tap_shock_time(uint8_t time);
+    int set_tap_quiet_time(uint8_t time);
+    int set_tap_duration_time(uint8_t time);
+    int enable_6d_orientation(LSM6DSL_Interrupt_Pin_t pin = LSM6DSL_INT1_PIN);
+    int disable_6d_orientation(void);
+    int get_6d_orientation_xl(uint8_t *xl);
+    int get_6d_orientation_xh(uint8_t *xh);
+    int get_6d_orientation_yl(uint8_t *yl);
+    int get_6d_orientation_yh(uint8_t *yh);
+    int get_6d_orientation_zl(uint8_t *zl);
+    int get_6d_orientation_zh(uint8_t *zh);
+    int get_event_status(LSM6DSL_Event_Status_t *status);
+    int read_reg(uint8_t reg, uint8_t *data);
+    int write_reg(uint8_t reg, uint8_t data);
+    
+    /**
+     * @brief  Attaching an interrupt handler to the INT1 interrupt.
+     * @param  fptr An interrupt handler.
+     * @retval None.
+     */
+    void attach_int1_irq(void (*fptr)(void))
+    {
+        _int1_irq.rise(fptr);
+    }
+
+    /**
+     * @brief  Enabling the INT1 interrupt handling.
+     * @param  None.
+     * @retval None.
+     */
+    void enable_int1_irq(void)
+    {
+        _int1_irq.enable_irq();
+    }
+    
+    /**
+     * @brief  Disabling the INT1 interrupt handling.
+     * @param  None.
+     * @retval None.
+     */
+    void disable_int1_irq(void)
+    {
+        _int1_irq.disable_irq();
+    }
+    
+    /**
+     * @brief  Attaching an interrupt handler to the INT2 interrupt.
+     * @param  fptr An interrupt handler.
+     * @retval None.
+     */
+    void attach_int2_irq(void (*fptr)(void))
+    {
+        _int2_irq.rise(fptr);
+    }
+
+    /**
+     * @brief  Enabling the INT2 interrupt handling.
+     * @param  None.
+     * @retval None.
+     */
+    void enable_int2_irq(void)
+    {
+        _int2_irq.enable_irq();
+    }
+    
+    /**
+     * @brief  Disabling the INT2 interrupt handling.
+     * @param  None.
+     * @retval None.
+     */
+    void disable_int2_irq(void)
+    {
+        _int2_irq.disable_irq();
+    }
+    
+    /**
+     * @brief Utility function to read data.
+     * @param  pBuffer: pointer to data to be read.
+     * @param  RegisterAddr: specifies internal address register to be read.
+     * @param  NumByteToRead: number of bytes to be read.
+     * @retval 0 if ok, an error code otherwise.
+     */
+    uint8_t io_read(uint8_t* pBuffer, uint8_t RegisterAddr, uint16_t NumByteToRead)
+    {
+        return (uint8_t) _dev_i2c.i2c_read(pBuffer, _address, RegisterAddr, NumByteToRead);
+    }
+    
+    /**
+     * @brief Utility function to write data.
+     * @param  pBuffer: pointer to data to be written.
+     * @param  RegisterAddr: specifies internal address register to be written.
+     * @param  NumByteToWrite: number of bytes to write.
+     * @retval 0 if ok, an error code otherwise.
+     */
+    uint8_t io_write(uint8_t* pBuffer, uint8_t RegisterAddr, uint16_t NumByteToWrite)
+    {
+        return (uint8_t) _dev_i2c.i2c_write(pBuffer, _address, RegisterAddr, NumByteToWrite);
+    }
+
+  private:
+    int set_x_odr_when_enabled(float odr);
+    int set_g_odr_when_enabled(float odr);
+    int set_x_odr_when_disabled(float odr);
+    int set_g_odr_when_disabled(float odr);
+
+    /* Helper classes. */
+    DevI2C &_dev_i2c;
+
+    InterruptIn _int1_irq;
+    InterruptIn _int2_irq;
+
+    /* Configuration */
+    uint8_t _address;
+    
+    uint8_t _x_is_enabled;
+    float _x_last_odr;
+    uint8_t _g_is_enabled;
+    float _g_last_odr;
+};
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+uint8_t LSM6DSL_io_write( void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite );
+uint8_t LSM6DSL_io_read( void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead );
+#ifdef __cplusplus
+  }
+#endif
+
+#endif