Multitech mDot/UDK support.
Dependencies: ST_INTERFACES X_NUCLEO_COMMON
Fork of X_NUCLEO_IKS01A1 by
Diff: Components/lsm6ds0/lsm6ds0_class.h
- Revision:
- 7:a2bb3d5e12e9
- Child:
- 18:1cb4ae9d83e7
diff -r 8d2abd695c52 -r a2bb3d5e12e9 Components/lsm6ds0/lsm6ds0_class.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Components/lsm6ds0/lsm6ds0_class.h Wed Apr 15 14:08:20 2015 +0200 @@ -0,0 +1,160 @@ +/** + ****************************************************************************** + * @file lsm6ds0_class.h + * @author AST / EST + * @version V0.0.1 + * @date 14-April-2015 + * @brief Header file for component LSM6DS0 + ****************************************************************************** + * @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 __LSM6DS0_CLASS_H +#define __LSM6DS0_CLASS_H + +/* Includes ------------------------------------------------------------------*/ +#include "mbed.h" +#include "DevI2C.h" +#include "../Common/Imu6Axes.h" +#include "lsm6ds0.h" + +/* Classes -------------------------------------------------------------------*/ +/** Class representing a LSM6DS0 sensor component + */ +class LSM6DS0 : public Imu6Axes { + public: + /** Constructor + * @param i2c device I2C to be used for communication + */ + LSM6DS0(DevI2C &i2c) : Imu6Axes(), dev_i2c(i2c) { + } + + /*** Interface Methods ***/ + virtual IMU_6AXES_StatusTypeDef Init(IMU_6AXES_InitTypeDef *init_struct) { + return LSM6DS0_Init(init_struct); + } + + virtual IMU_6AXES_StatusTypeDef Read_XG_ID(uint8_t *xg_id) { + return LSM6DS0_Read_XG_ID(xg_id); + } + + virtual IMU_6AXES_StatusTypeDef Get_X_Axes(int32_t *pData) { + return LSM6DS0_X_GetAxes(pData); + } + + virtual IMU_6AXES_StatusTypeDef Get_G_Axes(int32_t *pData) { + return LSM6DS0_G_GetAxes(pData); + } + + virtual IMU_6AXES_StatusTypeDef Get_X_Sensitivity(float *pfData) { + return LSM6DS0_X_GetSensitivity(pfData); + } + + virtual IMU_6AXES_StatusTypeDef Get_G_Sensitivity(float *pfData) { + return LSM6DS0_G_GetSensitivity(pfData); + } + + protected: + /*** Methods ***/ + IMU_6AXES_StatusTypeDef LSM6DS0_Init(IMU_6AXES_InitTypeDef *LSM6DS0_Init); + IMU_6AXES_StatusTypeDef LSM6DS0_Read_XG_ID(uint8_t *xg_id); + IMU_6AXES_StatusTypeDef LSM6DS0_X_GetAxes(int32_t *pData); + IMU_6AXES_StatusTypeDef LSM6DS0_G_GetAxes(int32_t *pData); + IMU_6AXES_StatusTypeDef LSM6DS0_X_GetSensitivity( float *pfData ); + IMU_6AXES_StatusTypeDef LSM6DS0_G_GetSensitivity( float *pfData ); + + IMU_6AXES_StatusTypeDef LSM6DS0_X_GetAxesRaw(int16_t *pData); + IMU_6AXES_StatusTypeDef LSM6DS0_G_GetAxesRaw(int16_t *pData); + + /** + * @brief Configures LSM6DS0 interrupt lines for NUCLEO boards + * @param None + * @retval None + */ + void LSM6DS0_IO_ITConfig(void) + { + /* To be implemented */ + } + + /** + * @brief Configures LSM6DS0 I2C interface + * @param None + * @retval IMU_6AXES_OK in case of success, an error code otherwise + */ + IMU_6AXES_StatusTypeDef LSM6DS0_IO_Init(void) + { + return IMU_6AXES_OK; /* done in constructor */ + } + + /** + * @brief utility function to read data from STC3115 + * @param pBuffer: pointer to data to be read. + * @param RegisterAddr: specifies internal address register to read from. + * @param NumByteToRead: number of bytes to be read. + * @retval IMU_6AXES_OK if ok, IMU_6AXES_ERROR if an I2C error has occured + */ + IMU_6AXES_StatusTypeDef LSM6DS0_IO_Read(uint8_t* pBuffer, + uint8_t RegisterAddr, uint16_t NumByteToRead) + { + int ret = dev_i2c.i2c_read(pBuffer, + LSM6DS0_XG_MEMS_ADDRESS, + RegisterAddr, + NumByteToRead); + if(ret != 0) { + return IMU_6AXES_ERROR; + } + return IMU_6AXES_OK; + } + + /** + * @brief utility function to write data to STC3115 + * @param pBuffer: pointer to buffer to be filled. + * @param RegisterAddr: specifies internal address register to read from. + * @param NumByteToWrite: number of bytes to write. + * @retval 0 if ok, -1 if an I2C error has occured + */ + IMU_6AXES_StatusTypeDef LSM6DS0_IO_Write(uint8_t* pBuffer, + uint8_t RegisterAddr, uint16_t NumByteToWrite) + { + int ret = dev_i2c.i2c_write(pBuffer, + LSM6DS0_XG_MEMS_ADDRESS, + RegisterAddr, + NumByteToWrite); + if(ret != 0) { + return IMU_6AXES_ERROR; + } + return IMU_6AXES_OK; + } + + /*** Instance Variables ***/ + /* IO Device */ + DevI2C &dev_i2c; +}; + +#endif // __LSM6DS0_CLASS_H