/* * Author: Jon Trulson * Copyright (c) 2017 Intel Corporation. * * The MIT License * * Permission is hereby granted, free of charge, to any person obtaining * a copy of this software and associated documentation files (the * "Software"), to deal in the Software without restriction, including * without limitation the rights to use, copy, modify, merge, publish, * distribute, sublicense, and/or sell copies of the Software, and to * permit persons to whom the Software is furnished to do so, subject to * the following conditions: * * The above copyright notice and this permission notice shall be * included in all copies or substantial portions of the Software. * * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ #pragma once #include #include #include #include #include #include "upm.h" #include "lsm6ds3h_defs.h" #ifdef __cplusplus extern "C" { #endif /** * @file lsm6ds3h.h * @library lsm6ds3h * @brief C API for the lsm6ds3h driver * * @include lsm6ds3h.c */ /** * Device context */ typedef struct _lsm6ds3h_context { mraa_i2c_context i2c; mraa_spi_context spi; mraa_gpio_context gpioCS; // SPI CS pin mraa_gpio_context gpioINT1; // intr 1 mraa_gpio_context gpioINT2; // intr 2 // uncompensated temperature float temperature; // uncompensated acc data float accX; float accY; float accZ; // uncompensated gyr data float gyrX; float gyrY; float gyrZ; // acc scaling float accScale; } *lsm6ds3h_context; /** * LSM6DS3H initialization. * * This device can support both I2C and SPI. For SPI, set the addr * to -1, and specify a positive integer representing the Chip * Select (CS) pin for the cs argument. If you are using a * hardware CS pin (like Intel Edison with Arduino breakout), then * you can connect the proper pin to the hardware CS pin on your * MCU and supply -1 for cs. * * @param bus I2C or SPI bus to use * @param addr The address for this device, or -1 for SPI * @param cs The gpio pin to use for the SPI Chip Select. Use -1 for * I2C or for SPI with a hardware controlled pin. * @return The device context, or NULL on error */ lsm6ds3h_context lsm6ds3h_init(int bus, int addr, int cs); /** * LSM6DS3H Destructor * * @param dev The device context */ void lsm6ds3h_close(lsm6ds3h_context dev); /** * Update the internal stored values from sensor data * * @param dev The device context * @return UPM result */ upm_result_t lsm6ds3h_update(const lsm6ds3h_context dev); /** * Return the chip ID * * @param dev The device context * @return The chip ID (LSM6DS3H_CHIPID) */ uint8_t lsm6ds3h_get_chip_id(const lsm6ds3h_context dev); /** * Initialize the device and start operation. This function is * called from lsm6ds3h_init(), so it will not need to be called * by a user unless the device is reset. It sets the * accelerometer and gyroscope ODR and FS modes, and enables BDU, * register auto-increment, and high performance mode. * * @param dev The device context * @param acc_odr One of the LSM6DS3H_XL_ODR_T values * @param acc_fs One of the LSM6DS3H_XL_FS_T values * @param gyr_odr One of the LSM6DS3H_G_ODR_T values * @param gyr_fs One of the LSM6DS3H_G_FS_T values * @return UPM result */ upm_result_t lsm6ds3h_devinit(const lsm6ds3h_context dev, LSM6DS3H_XL_ODR_T acc_odr, LSM6DS3H_XL_FS_T acc_fs, LSM6DS3H_G_ODR_T gyr_odr, LSM6DS3H_G_FS_T gyr_fs); /** * Set the output data rate (ODR) of the accelerometer * * @param dev The device context * @param odr One of the LSM6DS3H_XL_ODR_T values * @return UPM result */ upm_result_t lsm6ds3h_set_acc_odr(const lsm6ds3h_context dev, LSM6DS3H_XL_ODR_T odr); /** * Set the output data rate (ODR) of the gyroscope * * @param dev The device context * @param odr One of the LSM6DS3H_G_ODR_T values * @return UPM result */ upm_result_t lsm6ds3h_set_gyr_odr(const lsm6ds3h_context dev, LSM6DS3H_G_ODR_T odr); /** * Set the full scale (FS) of the accelerometer. This device * supports a full scale of 2, 4, 8, and 16G. * * @param dev The device context * @param fs One of the LSM6DS3H_XL_FS_T values * @return UPM result */ upm_result_t lsm6ds3h_set_acc_full_scale(const lsm6ds3h_context dev, LSM6DS3H_XL_FS_T fs); /** * Set the full scale (FS) of the gyroscope. This device supports * a full scale of 125, 245, 500, 1000, and 2000 degrees per * second (DPS) * * @param dev The device context * @param fs One of the LSM6DS3H_G_FS_T values * @return UPM result */ upm_result_t lsm6ds3h_set_gyr_full_scale(const lsm6ds3h_context dev, LSM6DS3H_G_FS_T fs); /** * Return accelerometer data in gravities (g). lsm6ds3h_update() * must have been called prior to calling this function. * * @param dev The device context * @param x Pointer to a floating point value that will have the * current x component placed into it * @param y Pointer to a floating point value that will have the * current y component placed into it * @param z Pointer to a floating point value that will have the * current z component placed into it */ void lsm6ds3h_get_accelerometer(const lsm6ds3h_context dev, float *x, float *y, float *z); /** * Return gyroscope data in degrees per second (DPS). * lsm6ds3h_update() must have been called prior to calling this * function. * * @param dev The device context * @param x Pointer to a floating point value that will have the * current x component placed into it * @param y Pointer to a floating point value that will have the * current y component placed into it * @param z Pointer to a floating point value that will have the * current z component placed into it */ void lsm6ds3h_get_gyroscope(const lsm6ds3h_context dev, float *x, float *y, float *z); /** * Return the current measured temperature. Note, this is not * ambient temperature. lsm6ds3h_update() must have been called * prior to calling this function. * * @param dev The device context * @return The temperature in degrees Celsius */ float lsm6ds3h_get_temperature(const lsm6ds3h_context dev); /** * Enable accelerometer and gyroscope high performance modes. * These are further defined by the respective ODR settings to * allow low power, and normal/high-performance modes. * * @param dev The device context * @param enable true to enable high performance mode, false otherwise * @return UPM result */ upm_result_t lsm6ds3h_high_performance(const lsm6ds3h_context dev, bool enable); /** * Reset the device as if during a power on reset. All configured * values are lost when this happens. You should call * lsm6ds3h_devinit() afterwards, or at least perform the same * initialization lsm6ds3h_devinit() does before continuing. * * @param dev The device context * @return UPM result */ upm_result_t lsm6ds3h_reset(const lsm6ds3h_context dev); /** * Indicate whether the interrupt should be active high (default) * or active low. See the datasheet for details. * * @param dev The device context * @param high true for active high, false for active low * @return UPM result */ upm_result_t lsm6ds3h_set_interrupt_active_high(const lsm6ds3h_context dev, bool high); /** * Indicate whether interrupts are push-pull (default) or open * drain. See the datasheet for details. * * @param dev The device context * @param pp true for push-pull, false for open-drain * @return UPM result */ upm_result_t lsm6ds3h_set_interrupt_push_pull(const lsm6ds3h_context dev, bool pp); /** * Return the contents of the status register * * @param dev The device context * @return A bitmask of values from LSM6DS3H_STATUS_BITS_T */ uint8_t lsm6ds3h_get_status(const lsm6ds3h_context dev); /** * Install an interrupt handler * * @param dev The device context * @param intr One of the LSM6DS3H_INTERRUPT_PINS_T values * specifying which interrupt pin you are installing * @param gpio GPIO pin to use as interrupt pin * @param level The interrupt trigger level (one of mraa_gpio_edge_t * values). Make sure that you have configured the interrupt pin * properly for whatever level you choose. * @param isr The interrupt handler, accepting a void * argument * @param arg The argument to pass the the interrupt handler * @return UPM result */ upm_result_t lsm6ds3h_install_isr(const lsm6ds3h_context dev, LSM6DS3H_INTERRUPT_PINS_T intr, int gpio, mraa_gpio_edge_t level, void (*isr)(void *), void *arg); /** * Uninstall a previously installed interrupt handler * * @param dev The device context * @param intr One of the LSM6DS3H_INTERRUPT_PINS_T values * specifying which interrupt pin you are removing */ void lsm6ds3h_uninstall_isr(const lsm6ds3h_context dev, LSM6DS3H_INTERRUPT_PINS_T intr); /** * Read a register * * @param dev The device context * @param reg The register to read * @return The value of the register */ uint8_t lsm6ds3h_read_reg(const lsm6ds3h_context dev, uint8_t reg); /** * Read contiguous registers into a buffer * * @param dev The device context * @param buffer The buffer to store the results * @param len The number of registers to read * @return The number of bytes read, or -1 on error */ int lsm6ds3h_read_regs(const lsm6ds3h_context dev, uint8_t reg, uint8_t *buffer, int len); /** * Write to a register * * @param dev The device context * @param reg The register to write to * @param val The value to write * @return UPM result */ upm_result_t lsm6ds3h_write_reg(const lsm6ds3h_context dev, uint8_t reg, uint8_t val); #ifdef __cplusplus } #endif