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TencentOS-tiny/board/NUCLEO_STM32L073RZ/BSP/HardWare/LSM6DS3/LSM6DS3.c
Winfred LIN b6cb7147cc added fuzzy matching feature to at_echo; added set some AT+ commands for RHF76; added support for LSM6DS3; 
1. in tos_at.h, added int  fuzzy_matching; field into at_echo_st struct, if this field is set to K_TRUE, then if echo message contains the string in "echo_expect" field.
2. added __API__ int tos_at_echo_fuzzy_matching_create(at_echo_t *echo, char *buffer, size_t buffer_size, char *echo_expect_contains) api to tos_at.c, which will create an at_echo_t with fuzzy_matching = K_TRUE;
3. added RHF76_ATCMD_SET_DELAY and  rhf76_set_delay to RHF76.h to allow set/query RX delay config
4. added RHF76_ATCMD_SET_DATA_RATE and rhf76_set_data_rate to RHF76.h to allow set/query date rate config
5. added rhf76_at_cmd_exe for DEBUG purpose, so that user can execute any AT+ commands they want
6. added code in lora_demo.c to demonstrate package segmentation.
2020-04-06 23:11:48 +10:00

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/**
******************************************************************************
* @file LSM6DS3.c
* @author jieranzhi
* @update 2020/03/23 19:00 CST
* @brief This file provides code for the LSM6DS3 Initialization
* and data output codes.
******************************************************************************
* @attention
*
* 1. this code is used as one of the examples in TencentOS_tiny project, it's
* just a simple implementation of the sensor functionalities, to implement
* more functions, please refer to the datasheet or the official software
* package provided by ST (STM32CubeExpansion_LRWAN_V1.3.1)
*
* 2. in this file the host MCU need to read the output persistently, which is
* not of power efficient, to achieve better power consumption performance,
* it is recommended to use FIFO.
*
******************************************************************************
*/
#include <LSM6DS3.h>
#include <i2c.h>
// initialization of LSM6DS3
void LSM6DS3_Init()
{
uint8_t cmd = 0;
// ODR: 12.5Hz, fs: 4g, BWZ: 50Hz
cmd = 0x1B;
HAL_I2C_Mem_Write(&hi2c1, LSM6DS3_ADDR_WR, LSM6DS3_CTRL1_XL, I2C_MEMADD_SIZE_8BIT, &cmd, 1, 0xFFFF);
// ODR: 12.5Hz, fs: 250dps
cmd = 0x10;
HAL_I2C_Mem_Write(&hi2c1, LSM6DS3_ADDR_WR, LSM6DS3_CTRL2_G, I2C_MEMADD_SIZE_8BIT, &cmd, 1, 0xFFFF);
// High performance: disabled to save power
cmd = 0x10;
HAL_I2C_Mem_Write(&hi2c1, LSM6DS3_ADDR_WR, LSM6DS3_CTRL6_C, I2C_MEMADD_SIZE_8BIT, &cmd, 1, 0xFFFF);
// High performance: disabled to save power
cmd = 0x80;
HAL_I2C_Mem_Write(&hi2c1, LSM6DS3_ADDR_WR, LSM6DS3_CTRL7_G, I2C_MEMADD_SIZE_8BIT, &cmd, 1, 0xFFFF);
// timestamp output: enable, pedometer algorithm: enabled
cmd = 0xC0;
HAL_I2C_Mem_Write(&hi2c1, LSM6DS3_ADDR_WR, LSM6DS3_TAP_CFG, I2C_MEMADD_SIZE_8BIT, &cmd, 1, 0xFFFF);
}
void LSM6DS3_Set_Accel_FullScale(LSM6DS3_AccelFullscaleTypeDef fullscale)
{
uint8_t ctrl_reg1_value;
uint8_t fullscale_config = (uint8_t)fullscale;
HAL_I2C_Mem_Read(&hi2c1, LSM6DS3_ADDR_RD, LSM6DS3_CTRL1_XL, I2C_MEMADD_SIZE_8BIT, &ctrl_reg1_value, 1, 0xFFFF);
fullscale_config = (ctrl_reg1_value&0xF1)|(fullscale_config&0x0E);
HAL_I2C_Mem_Write(&hi2c1, LSM6DS3_ADDR_WR, LSM6DS3_CTRL1_XL, I2C_MEMADD_SIZE_8BIT, &fullscale_config, 1, 0xFFFF);
}
void LSM6DS3_Set_Gyro_FullScale(LSM6DS3_GyroFullscaleTypeDef fullscale)
{
uint8_t ctrl_reg2_value;
uint8_t fullscale_config = (uint8_t)fullscale;
HAL_I2C_Mem_Read(&hi2c1, LSM6DS3_ADDR_RD, LSM6DS3_CTRL2_G, I2C_MEMADD_SIZE_8BIT, &ctrl_reg2_value, 1, 0xFFFF);
fullscale_config = (ctrl_reg2_value&0xF1)|(fullscale_config&0x0E);
HAL_I2C_Mem_Write(&hi2c1, LSM6DS3_ADDR_WR, LSM6DS3_CTRL2_G, I2C_MEMADD_SIZE_8BIT, &fullscale_config, 1, 0xFFFF);
}
void LSM6DS3_Set_Accel_FullScale_Num(uint8_t fullscale_num)
{
LSM6DS3_AccelFullscaleTypeDef fullscale = ACCEL_FULLSCALE_2;
switch(fullscale_num)
{
case 2:
{
fullscale = ACCEL_FULLSCALE_2;
break;
}
case 16:
{
fullscale = ACCEL_FULLSCALE_16;
break;
}
case 4:
{
fullscale = ACCEL_FULLSCALE_4;
break;
}
case 8:
{
fullscale = ACCEL_FULLSCALE_8;
break;
}
default:
{
break;
}
}
LSM6DS3_Set_Accel_FullScale(fullscale);
}
void LSM6DS3_Set_Gyro_FullScale_Num(uint8_t fullscale_num)
{
LSM6DS3_GyroFullscaleTypeDef fullscale = GYRO_FULLSCALE_250;
switch(fullscale_num)
{
case 125:
{
fullscale = GYRO_FULLSCALE_125;
break;
}
case 250:
{
fullscale = GYRO_FULLSCALE_250;
break;
}
case 500:
{
fullscale = GYRO_FULLSCALE_500;
break;
}
case 1000:
{
fullscale = GYRO_FULLSCALE_1000;
break;
}
case 2000:
{
fullscale = GYRO_FULLSCALE_2000;
break;
}
default:
{
break;
}
}
LSM6DS3_Set_Gyro_FullScale(fullscale);
}
uint8_t LSM6DS3_Get_Accel_FullScale_Num(LSM6DS3_AccelFullscaleTypeDef fullscale)
{
uint8_t fullscale_num = 1;
switch(fullscale)
{
case ACCEL_FULLSCALE_2:
{
fullscale_num = 2;
break;
}
case ACCEL_FULLSCALE_16:
{
fullscale_num = 16;
break;
}
case ACCEL_FULLSCALE_4:
{
fullscale_num = 4;
break;
}
case ACCEL_FULLSCALE_8:
{
fullscale_num = 8;
break;
}
default:
{
break;
}
}
return fullscale_num;
}
uint16_t LSM6DS3_Get_Gyro_FullScale_Num(LSM6DS3_GyroFullscaleTypeDef fullscale)
{
uint16_t fullscale_num = 1;
switch(fullscale)
{
case GYRO_FULLSCALE_125:
{
fullscale_num = 125;
break;
}
case GYRO_FULLSCALE_250:
{
fullscale_num = 250;
break;
}
case GYRO_FULLSCALE_500:
{
fullscale_num = 500;
break;
}
case GYRO_FULLSCALE_1000:
{
fullscale_num = 1000;
break;
}
case GYRO_FULLSCALE_2000:
{
fullscale_num = 2000;
break;
}
default:
{
break;
}
}
return fullscale_num;
}
LSM6DS3_AccelFullscaleTypeDef LSM6DS3_Get_Accel_FullScale()
{
uint8_t fullscale;
HAL_I2C_Mem_Read(&hi2c1, LSM6DS3_ADDR_RD, LSM6DS3_CTRL1_XL, I2C_MEMADD_SIZE_8BIT, &fullscale, 1, 0xFFFF);
fullscale = (fullscale<<1)>>6;
return (LSM6DS3_AccelFullscaleTypeDef)fullscale;
}
LSM6DS3_GyroFullscaleTypeDef LSM6DS3_Get_Gyro_FullScale()
{
uint8_t fullscale;
HAL_I2C_Mem_Read(&hi2c1, LSM6DS3_ADDR_RD, LSM6DS3_CTRL2_G, I2C_MEMADD_SIZE_8BIT, &fullscale, 1, 0xFFFF);
fullscale = fullscale&0x02;
if(fullscale == 0x00) fullscale = fullscale&0x0C;
return (LSM6DS3_GyroFullscaleTypeDef)fullscale;
}
uint16_t LSM6DS3_Get_Accel_Sensitivity(LSM6DS3_AccelFullscaleTypeDef fullscale)
{
uint16_t sensitivity = 1;
switch(fullscale)
{
case ACCEL_FULLSCALE_2:{
sensitivity = 61;
break;
}
case ACCEL_FULLSCALE_4:{
sensitivity = 122;
break;
}
case ACCEL_FULLSCALE_8:{
sensitivity = 244;
break;
}
case ACCEL_FULLSCALE_16:{
sensitivity = 488;
break;
}
default:{
sensitivity = 1;
}
}
return sensitivity;
}
uint32_t LSM6DS3_Get_Gyro_Sensitivity(LSM6DS3_GyroFullscaleTypeDef fullscale)
{
uint32_t sensitivity = 1;
switch(fullscale)
{
case GYRO_FULLSCALE_125:{
sensitivity = 4375;
break;
}
case GYRO_FULLSCALE_250:{
sensitivity = 8750;
break;
}
case GYRO_FULLSCALE_500:{
sensitivity = 17500;
break;
}
case GYRO_FULLSCALE_1000:{
sensitivity = 35000;
break;
}
case GYRO_FULLSCALE_2000:{
sensitivity = 70000;
break;
}
default:{
sensitivity = 1;
}
}
return sensitivity;
}
uint8_t LSM6DS3_Get_Sensor_Config(sensor_motion_t* sensor_motion)
{
LSM6DS3_AccelFullscaleTypeDef accel_fullscale = LSM6DS3_Get_Accel_FullScale();
sensor_motion->accelFullscale = LSM6DS3_Get_Accel_FullScale_Num(accel_fullscale);
sensor_motion->accelSensitivity = LSM6DS3_Get_Accel_Sensitivity(accel_fullscale);
LSM6DS3_GyroFullscaleTypeDef gyro_fullscale = LSM6DS3_Get_Gyro_FullScale();
sensor_motion->gyroFullscale = LSM6DS3_Get_Gyro_FullScale_Num(gyro_fullscale);
sensor_motion->gyroSensitivity = LSM6DS3_Get_Gyro_Sensitivity(gyro_fullscale);
return 0;
}
uint8_t LSM6DS3_Get_Accel(sensor_motion_t* sensor_motion)
{
uint8_t accelx_h, accelx_l, accely_h, accely_l, accelz_h, accelz_l;
uint8_t status_dat = 0;
while((status_dat&LSM6DS3_XL_DA) != LSM6DS3_XL_DA)
{
HAL_I2C_Mem_Read(&hi2c1, LSM6DS3_ADDR_RD, LSM6DS3_STATUS_REG, I2C_MEMADD_SIZE_8BIT, &status_dat, 1, 0xFFFF);
}
HAL_I2C_Mem_Read(&hi2c1, LSM6DS3_ADDR_RD, LSM6DS3_OUTX_H_XL, I2C_MEMADD_SIZE_8BIT, &accelx_h, 1, 0xFFFF);
HAL_I2C_Mem_Read(&hi2c1, LSM6DS3_ADDR_RD, LSM6DS3_OUTX_L_XL, I2C_MEMADD_SIZE_8BIT, &accelx_l, 1, 0xFFFF);
sensor_motion->accelX = (uint16_t)accelx_h<<8|accelx_l;
HAL_I2C_Mem_Read(&hi2c1, LSM6DS3_ADDR_RD, LSM6DS3_OUTY_H_XL, I2C_MEMADD_SIZE_8BIT, &accely_h, 1, 0xFFFF);
HAL_I2C_Mem_Read(&hi2c1, LSM6DS3_ADDR_RD, LSM6DS3_OUTY_L_XL, I2C_MEMADD_SIZE_8BIT, &accely_l, 1, 0xFFFF);
sensor_motion->accelY = (uint16_t)accely_h<<8|accely_l;
HAL_I2C_Mem_Read(&hi2c1, LSM6DS3_ADDR_RD, LSM6DS3_OUTZ_H_XL, I2C_MEMADD_SIZE_8BIT, &accelz_h, 1, 0xFFFF);
HAL_I2C_Mem_Read(&hi2c1, LSM6DS3_ADDR_RD, LSM6DS3_OUTZ_L_XL, I2C_MEMADD_SIZE_8BIT, &accelz_l, 1, 0xFFFF);
sensor_motion->accelZ = (uint16_t)accelz_h<<8|accelz_l;
return 0;
}
uint8_t LSM6DS3_Get_Gyro(sensor_motion_t* sensor_motion)
{
uint8_t gyrox_h, gyrox_l, gyroy_h, gyroy_l, gyroz_h, gyroz_l;
uint8_t status_dat = 0;
while((status_dat&LSM6DS3_G_DA) != LSM6DS3_G_DA)
{
HAL_I2C_Mem_Read(&hi2c1, LSM6DS3_ADDR_RD, LSM6DS3_STATUS_REG, I2C_MEMADD_SIZE_8BIT, &status_dat, 1, 0xFFFF);
}
HAL_I2C_Mem_Read(&hi2c1, LSM6DS3_ADDR_RD, LSM6DS3_OUTX_H_G, I2C_MEMADD_SIZE_8BIT, &gyrox_h, 1, 0xFFFF);
HAL_I2C_Mem_Read(&hi2c1, LSM6DS3_ADDR_RD, LSM6DS3_OUTX_L_G, I2C_MEMADD_SIZE_8BIT, &gyrox_l, 1, 0xFFFF);
sensor_motion->gyroX = (uint16_t)gyrox_h<<8|gyrox_l;
HAL_I2C_Mem_Read(&hi2c1, LSM6DS3_ADDR_RD, LSM6DS3_OUTY_H_G, I2C_MEMADD_SIZE_8BIT, &gyroy_h, 1, 0xFFFF);
HAL_I2C_Mem_Read(&hi2c1, LSM6DS3_ADDR_RD, LSM6DS3_OUTY_L_G, I2C_MEMADD_SIZE_8BIT, &gyroy_l, 1, 0xFFFF);
sensor_motion->gyroY = (uint16_t)gyroy_h<<8|gyroy_l;
HAL_I2C_Mem_Read(&hi2c1, LSM6DS3_ADDR_RD, LSM6DS3_OUTZ_H_G, I2C_MEMADD_SIZE_8BIT, &gyroz_h, 1, 0xFFFF);
HAL_I2C_Mem_Read(&hi2c1, LSM6DS3_ADDR_RD, LSM6DS3_OUTZ_L_G, I2C_MEMADD_SIZE_8BIT, &gyroz_l, 1, 0xFFFF);
sensor_motion->gyroZ = (uint16_t)gyroz_h<<8|gyroz_l;
return 0;
}
uint8_t LSM6DS3_Get_Step(sensor_motion_t* sensor_motion)
{
uint8_t step_h, step_l;
HAL_I2C_Mem_Read(&hi2c1, LSM6DS3_ADDR_RD, LSM6DS3_STEP_COUNTER_H, I2C_MEMADD_SIZE_8BIT, &step_h, 1, 0xFFFF);
HAL_I2C_Mem_Read(&hi2c1, LSM6DS3_ADDR_RD, LSM6DS3_STEP_COUNTER_L, I2C_MEMADD_SIZE_8BIT, &step_l, 1, 0xFFFF);
sensor_motion->stepCount = (uint16_t)step_h<<8|step_l;
return 0;
}
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