HAHA
Dependencies: ST_INTERFACES X_NUCLEO_COMMON
Dependents: b_NYP_humanoid a_NYP_humanoid_copy
Fork of LSM6DSL by
LSM6DSLSensor.h
- Committer:
- mapellil
- Date:
- 2017-09-27
- Revision:
- 1:c583f32fe272
- Parent:
- 0:704c89673b57
- Child:
- 2:578a45c4dad5
File content as of revision 1:c583f32fe272:
/** ****************************************************************************** * @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>© 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" #include <assert.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, uint8_t address=LSM6DSL_ACC_GYRO_I2C_ADDRESS_HIGH, PinName INT1_pin=NC, PinName INT2_pin=NC); 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; /* Configuration */ uint8_t _address; DigitalOut _cs_pin; InterruptIn _int1_irq; InterruptIn _int2_irq; 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