LSM6DS3Sensor.h

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/* Prevent recursive inclusion -----------------------------------------------*/
 
#ifndef __LSM6DS3Sensor_H__
#define __LSM6DS3Sensor_H__
 
 
/* Includes ------------------------------------------------------------------*/
 
#include "Wire.h"
#include "LSM6DS3_ACC_GYRO_Driver.h"
 
/* Defines -------------------------------------------------------------------*/
 
#define LSM6DS3_ACC_SENSITIVITY_FOR_FS_2G   0.061  
#define LSM6DS3_ACC_SENSITIVITY_FOR_FS_4G   0.122  
#define LSM6DS3_ACC_SENSITIVITY_FOR_FS_8G   0.244  
#define LSM6DS3_ACC_SENSITIVITY_FOR_FS_16G  0.488  
 
#define LSM6DS3_GYRO_SENSITIVITY_FOR_FS_125DPS   04.375  
#define LSM6DS3_GYRO_SENSITIVITY_FOR_FS_245DPS   08.750  
#define LSM6DS3_GYRO_SENSITIVITY_FOR_FS_500DPS   17.500  
#define LSM6DS3_GYRO_SENSITIVITY_FOR_FS_1000DPS  35.000  
#define LSM6DS3_GYRO_SENSITIVITY_FOR_FS_2000DPS  70.000  
 
#define LSM6DS3_PEDOMETER_THRESHOLD_LOW       0x00  
#define LSM6DS3_PEDOMETER_THRESHOLD_MID_LOW   0x07
#define LSM6DS3_PEDOMETER_THRESHOLD_MID       0x0F
#define LSM6DS3_PEDOMETER_THRESHOLD_MID_HIGH  0x17
#define LSM6DS3_PEDOMETER_THRESHOLD_HIGH      0x1F  
 
#define LSM6DS3_WAKE_UP_THRESHOLD_LOW       0x01  
#define LSM6DS3_WAKE_UP_THRESHOLD_MID_LOW   0x0F
#define LSM6DS3_WAKE_UP_THRESHOLD_MID       0x1F
#define LSM6DS3_WAKE_UP_THRESHOLD_MID_HIGH  0x2F
#define LSM6DS3_WAKE_UP_THRESHOLD_HIGH      0x3F  
 
#define LSM6DS3_TAP_THRESHOLD_LOW       0x01  
#define LSM6DS3_TAP_THRESHOLD_MID_LOW   0x08
#define LSM6DS3_TAP_THRESHOLD_MID       0x10
#define LSM6DS3_TAP_THRESHOLD_MID_HIGH  0x18
#define LSM6DS3_TAP_THRESHOLD_HIGH      0x1F  
 
#define LSM6DS3_TAP_SHOCK_TIME_LOW       0x00  
#define LSM6DS3_TAP_SHOCK_TIME_MID_LOW   0x01
#define LSM6DS3_TAP_SHOCK_TIME_MID_HIGH  0x02
#define LSM6DS3_TAP_SHOCK_TIME_HIGH      0x03  
 
#define LSM6DS3_TAP_QUIET_TIME_LOW       0x00  
#define LSM6DS3_TAP_QUIET_TIME_MID_LOW   0x01
#define LSM6DS3_TAP_QUIET_TIME_MID_HIGH  0x02
#define LSM6DS3_TAP_QUIET_TIME_HIGH      0x03  
 
#define LSM6DS3_TAP_DURATION_TIME_LOW       0x00  
#define LSM6DS3_TAP_DURATION_TIME_MID_LOW   0x04
#define LSM6DS3_TAP_DURATION_TIME_MID       0x08
#define LSM6DS3_TAP_DURATION_TIME_MID_HIGH  0x0C
#define LSM6DS3_TAP_DURATION_TIME_HIGH      0x0F  
 
/* Typedefs ------------------------------------------------------------------*/
typedef enum
{
  LSM6DS3_STATUS_OK = 0,
  LSM6DS3_STATUS_ERROR,
  LSM6DS3_STATUS_TIMEOUT,
  LSM6DS3_STATUS_NOT_IMPLEMENTED
} LSM6DS3StatusTypeDef;
 
typedef enum
{
  LSM6DS3_INT1_PIN,
  LSM6DS3_INT2_PIN
} LSM6DS3_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;
} LSM6DS3_Event_Status_t;
 
/* Class Declaration ---------------------------------------------------------*/

class LSM6DS3Sensor
{
  public:
    LSM6DS3Sensor                                     (TwoWire *i2c, uint8_t address=LSM6DS3_ACC_GYRO_I2C_ADDRESS_HIGH);
    LSM6DS3StatusTypeDef begin                        (void);
    LSM6DS3StatusTypeDef end                          (void);
    LSM6DS3StatusTypeDef enableAccelerator                     (void);
    LSM6DS3StatusTypeDef enableGyro                     (void);
    LSM6DS3StatusTypeDef disableAccelerator                    (void);
    LSM6DS3StatusTypeDef disableGyro                    (void);
    LSM6DS3StatusTypeDef readId                       (uint8_t *p_id);
    LSM6DS3StatusTypeDef getAcceleratorAxes                   (int32_t *pData);
    LSM6DS3StatusTypeDef getGyroAxes                   (int32_t *pData);
    LSM6DS3StatusTypeDef getAcceleratorSensitivity            (float *pfData);
    LSM6DS3StatusTypeDef getGyroSensitivity            (float *pfData);
    LSM6DS3StatusTypeDef getAcceleratorAxesRaw                (int16_t *pData);
    LSM6DS3StatusTypeDef getGyroAxesRaw                (int16_t *pData);
    LSM6DS3StatusTypeDef getAcceleratorOdr                    (float *odr);
    LSM6DS3StatusTypeDef getGyroOdr                    (float *odr);
    LSM6DS3StatusTypeDef setAcceleratorOdr                    (float odr);
    LSM6DS3StatusTypeDef setGyroOdr                    (float odr);
    LSM6DS3StatusTypeDef getAcceleratorFullScale                     (float *fullScale);
    LSM6DS3StatusTypeDef getGyroFullScale                     (float *fullScale);
    LSM6DS3StatusTypeDef setAcceleratorFullScale                     (float fullScale);
    LSM6DS3StatusTypeDef setGyroFullScale                     (float fullScale);
    LSM6DS3StatusTypeDef enableFreeFallDetection   (void);
    LSM6DS3StatusTypeDef enableFreeFallDetection   (LSM6DS3_Interrupt_Pin_t int_pin);
    LSM6DS3StatusTypeDef disableFreeFallDetection  (void);
    LSM6DS3StatusTypeDef setFreeFallThreshold      (uint8_t thr);
    LSM6DS3StatusTypeDef enablePedometer             (void);
    LSM6DS3StatusTypeDef disablePedometer            (void);
    LSM6DS3StatusTypeDef getStepCounter             (uint16_t *step_count);
    LSM6DS3StatusTypeDef resetStepCounter           (void);
    LSM6DS3StatusTypeDef setPedometerThreshold      (uint8_t thr);
    LSM6DS3StatusTypeDef enableTiltDetection        (void);
    LSM6DS3StatusTypeDef enableTiltDetection        (LSM6DS3_Interrupt_Pin_t int_pin);
    LSM6DS3StatusTypeDef disableTiltDetection       (void);
    LSM6DS3StatusTypeDef enableWakeUpDetection     (void);
    LSM6DS3StatusTypeDef enableWakeUpDetection     (LSM6DS3_Interrupt_Pin_t int_pin);
    LSM6DS3StatusTypeDef disableWakeUpDetection    (void);
    LSM6DS3StatusTypeDef setWakeUpThreshold        (uint8_t thr);
    LSM6DS3StatusTypeDef enableSingleTapDetection  (void);
    LSM6DS3StatusTypeDef enableSingleTapDetection  (LSM6DS3_Interrupt_Pin_t int_pin);
    LSM6DS3StatusTypeDef disableSingleTapDetection (void);
    LSM6DS3StatusTypeDef enableDoubleTapDetection  (void);
    LSM6DS3StatusTypeDef enableDoubleTapDetection  (LSM6DS3_Interrupt_Pin_t int_pin);
    LSM6DS3StatusTypeDef disableDoubleTapDetection (void);
    LSM6DS3StatusTypeDef setTapThreshold            (uint8_t thr);
    LSM6DS3StatusTypeDef setTapShockTime           (uint8_t time);
    LSM6DS3StatusTypeDef setTapQuietTime           (uint8_t time);
    LSM6DS3StatusTypeDef setTapDurationTime        (uint8_t time);
    LSM6DS3StatusTypeDef enable6dOrientation        (void);
    LSM6DS3StatusTypeDef enable6dOrientation        (LSM6DS3_Interrupt_Pin_t int_pin);
    LSM6DS3StatusTypeDef disable6dOrientation       (void);
    LSM6DS3StatusTypeDef get6dOrientationXl        (uint8_t *xl);
    LSM6DS3StatusTypeDef get6dOrientationXh        (uint8_t *xh);
    LSM6DS3StatusTypeDef get6dOrientationYl        (uint8_t *yl);
    LSM6DS3StatusTypeDef get6dOrientationYh        (uint8_t *yh);
    LSM6DS3StatusTypeDef get6dOrientationZl        (uint8_t *zl);
    LSM6DS3StatusTypeDef get6dOrientationZh        (uint8_t *zh);
    LSM6DS3StatusTypeDef getEventStatus             (LSM6DS3_Event_Status_t *status);
    LSM6DS3StatusTypeDef readRegister                      (uint8_t reg, uint8_t *data);
    LSM6DS3StatusTypeDef writeRegister                     (uint8_t reg, uint8_t data);
    
    uint8_t ioRead(uint8_t* pBuffer, uint8_t RegisterAddr, uint16_t NumByteToRead)
    {
      if (dev_i2c) {
        dev_i2c->beginTransmission(((uint8_t)(((address) >> 1) & 0x7F)));
        dev_i2c->write(RegisterAddr);
        dev_i2c->endTransmission(false);
 
        dev_i2c->requestFrom(((uint8_t)(((address) >> 1) & 0x7F)), (byte) NumByteToRead);
 
        int i=0;
        while (dev_i2c->available())
        {
          pBuffer[i] = dev_i2c->read();
          i++;
        }
 
        return 0;
      }
 
      return 1;
    }
    
    uint8_t ioWrite(uint8_t* pBuffer, uint8_t RegisterAddr, uint16_t NumByteToWrite)
    {
      if (dev_i2c) {
        dev_i2c->beginTransmission(((uint8_t)(((address) >> 1) & 0x7F)));
 
        dev_i2c->write(RegisterAddr);
        for (int i = 0 ; i < NumByteToWrite ; i++)
          dev_i2c->write(pBuffer[i]);
 
        dev_i2c->endTransmission(true);
 
        return 0;
      }
 
      return 1;
    }
 
  private:
    LSM6DS3StatusTypeDef setAcceleratorOdrWhenEnabled(float odr);
    LSM6DS3StatusTypeDef setGyroOdrWhenEnabled(float odr);
    LSM6DS3StatusTypeDef setAcceleratorOdrWhenDisabled(float odr);
    LSM6DS3StatusTypeDef setGyroOdrWhenDisabled(float odr);
 
    /* Helper classes. */
    TwoWire *dev_i2c;
    /* Configuration */
    uint8_t address;
 
    uint8_t X_isEnabled;
    float X_Last_ODR;
    uint8_t G_isEnabled;
    float G_Last_ODR;
};
 
#ifdef __cplusplus
extern "C" {
#endif
uint8_t lsm6ds3IoWrite( void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite );
uint8_t lsm6ds3IoRead( void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead );
#ifdef __cplusplus
}
#endif
 
#endif