LSM6DSOX - Get Configuration

LKExp-Sensors-LSM6DSOX_Examples/.mbed

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+MBED_OS_DIR=./lib/mbed-os
+TARGET=disco_f769ni
+TOOLCHAIN=GCC_ARM
+ROOT=.

LKExp-Sensors-LSM6DSOX_Examples/.mbedignore

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+### Ignored directories to speed up compilation time
+
+test/**
+lib/mbed-os/components/**
+lib/mbed-os/features/cellular/**
+lib/mbed-os/features/cryptocell/**
+lib/mbed-os/features/deprecated_warnings/**
+
+lib/mbed-os/features/FEATURE_BLE/**
+lib/mbed-os/features/FEATURE_BOOTLOADER/**
+
+lib/mbed-os/features/lorawan/**
+lib/mbed-os/features/lwipstack/**
+
+lib/mbed-os/features/nanostack/**
+lib/mbed-os/features/netsocket/**
+lib/mbed-os/features/nfc/**
+lib/mbed-os/features/unsupported/**
+
+### Needed directories
+
+# lib/mbed-os/features/device_key/**
+# lib/mbed-os/features/frameworks/**
+# lib/mbed-os/features/mbedtls/**

LKExp-Sensors-LSM6DSOX_Examples/README.md

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+# LKExp - LSM6DSOX Examples
+
+## Goal
+
+Create an abstraction class of lsm6dsox driver for Leka applications.  
+Construction relies on examples provided by ST.
+
+## Ressources
+[STMems\_Standard\_C\_drivers](https://github.com/STMicroelectronics/STMems_Standard_C_drivers) for:
+
+* [Driver](https://github.com/STMicroelectronics/STMems_Standard_C_drivers/tree/master/lsm6dsox_STdC/driver) -> commit `3fca83f875bbcbb6a428a7deb0ff01c0e5a2b033` (30 April 2020)
+* [Examples](https://github.com/STMicroelectronics/STMems_Standard_C_drivers/tree/master/lsm6dsox_STdC/example)
+

LKExp-Sensors-LSM6DSOX_Examples/lib/accelerometer/accelerometer.cpp

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+/**
+******************************************************************************
+* @file    accelerometer.h
+* @author  Yann Locatelli
+* @brief   Implement accelerometer of LSM6DSOX for Leka.
+******************************************************************************
+*/
+
+/* Includes ------------------------------------------------------------------*/
+
+#include "accelerometer.h"
+
+/* Class Implementation ------------------------------------------------------*/
+
+/** Constructor
+ * @param i2c object which handles the I2C peripheral
+ * @param address the address of the component
+ */
+Accelerometer::Accelerometer(I2C *i2c, uint8_t address) : _i2c(i2c), _address(address)
+{
+	assert (i2c);
+
+	_reg_ctx.write_reg = LSM6DSOX_acc_io_write;
+	_reg_ctx.read_reg = LSM6DSOX_acc_io_read;
+	_reg_ctx.handle = (void *)this;
+}
+
+/**
+ * @brief  Initializing the component
+ * @param  init pointer to device specific initalization structure
+ * @retval 0 in case of success, an error code otherwise
+ */
+LSM6DSOXAccStatusTypeDef Accelerometer::init(void *init)
+{
+	///* Output data rate selection - power down. */
+	//if (lsm6dsox_xl_data_rate_set(&_reg_ctx, LSM6DSOX_XL_ODR_OFF) != LSM6DSOX_OK)
+	//{
+	//	return LSM6DSOX_ERROR;
+	//}
+
+	///* Full scale selection. */
+	//if (lsm6dsox_xl_full_scale_set(&_reg_ctx, LSM6DSOX_2g) != LSM6DSOX_OK)
+	//{
+	//	return LSM6DSOX_ERROR;
+	//}
+
+	return LSM6DSOX_Acc_OK;
+}
+
+/**
+ * @brief  Read component ID
+ * @param  id the WHO_AM_I value
+ * @retval 0 in case of success, an error code otherwise
+ */
+LSM6DSOXAccStatusTypeDef Accelerometer::read_id(uint8_t *id)
+{
+	if (lsm6dsox_device_id_get(&_reg_ctx, id) != LSM6DSOX_Acc_OK)
+	{
+		return LSM6DSOX_Acc_ERROR;
+	}
+
+	return LSM6DSOX_Acc_OK;
+}
+
+int32_t LSM6DSOX_acc_io_write(void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite)
+{
+  return ((Accelerometer *)handle)->io_write(pBuffer, WriteAddr, nBytesToWrite);
+}
+
+int32_t LSM6DSOX_acc_io_read(void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead)
+{
+  return ((Accelerometer *)handle)->io_read(pBuffer, ReadAddr, nBytesToRead);
+}

LKExp-Sensors-LSM6DSOX_Examples/lib/accelerometer/accelerometer.h

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+/**
+******************************************************************************
+* @file    accelerometer.cpp
+* @author  Yann Locatelli
+* @brief   Implement accelerometer of LSM6DSOX for Leka.
+******************************************************************************
+*/
+
+/* Prevent recursive inclusion -----------------------------------------------*/
+
+#ifndef __ACCELEROMETER_H__
+#define __ACCELEROMETER_H__
+
+/* Includes ------------------------------------------------------------------*/
+
+#include <assert.h>
+#include "mbed.h"
+#include "lsm6dsox_reg.h"
+
+/* Defines -------------------------------------------------------------------*/
+
+/* Typedefs ------------------------------------------------------------------*/
+
+typedef enum
+{
+	LSM6DSOX_Acc_OK = 0,
+	LSM6DSOX_Acc_ERROR = -1
+} LSM6DSOXAccStatusTypeDef;
+
+typedef enum
+{
+	Transmission_Acc_OK = 0,
+	Transmission_Acc_ERROR = -1,
+	Transmission_Acc_OVERFLOW = -2
+} TransmissionAccStatusTypeDef;
+
+/* Class Declaration ---------------------------------------------------------*/
+
+/**
+ * Abstract class of an LSM6DSOX Inertial Measurement Unit (IMU) 6 axes
+ * sensor.
+ */
+
+class Accelerometer
+{
+	public:
+		Accelerometer(I2C *i2c, uint8_t address=LSM6DSOX_I2C_ADD_L);
+		LSM6DSOXAccStatusTypeDef init(void *init);
+		LSM6DSOXAccStatusTypeDef read_id(uint8_t *id);
+
+	/**
+	 * @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)
+	{
+		//if (!_i2c) return Transmission_ERROR;
+
+		int ret;
+
+		/* Send device address, with no STOP condition */
+		ret = _i2c->write(_address, (const char*)&RegisterAddr, 1, true);
+		if(!ret) {
+			/* Read data, with STOP condition  */
+			ret = _i2c->read(_address, (char*)pBuffer, NumByteToRead, false);
+		}
+
+		if(ret) return Transmission_Acc_ERROR;
+		return Transmission_Acc_OK;
+	}
+
+	/**
+	 * @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)
+	{
+		//if (!_i2c) return Transmission_ERROR;
+
+		int ret;
+		uint8_t tmp[TEMP_BUF_SIZE];
+
+		if(NumByteToWrite >= TEMP_BUF_SIZE) return Transmission_Acc_OVERFLOW;
+
+		/* First, send device address. Then, send data and STOP condition */
+		tmp[0] = RegisterAddr;
+		memcpy(tmp+1, pBuffer, NumByteToWrite);
+
+		ret = _i2c->write(_address, (const char*)tmp, NumByteToWrite+1, false);
+
+		if(ret) return Transmission_Acc_ERROR;
+		return Transmission_Acc_OK;
+	}
+
+	private:
+		I2C *_i2c;
+		uint8_t _address;
+
+		stmdev_ctx_t _reg_ctx;
+		static const unsigned int TEMP_BUF_SIZE = 32;
+
+};
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+int32_t LSM6DSOX_acc_io_write( void *handle, uint8_t WriteAddr, uint8_t *pBuffer, uint16_t nBytesToWrite );
+int32_t LSM6DSOX_acc_io_read( void *handle, uint8_t ReadAddr, uint8_t *pBuffer, uint16_t nBytesToRead );
+#ifdef __cplusplus
+	}
+#endif
+
+#endif // __ACCELEROMETER_H__