Merge pull request #9 from cparata/master

Add begin and end APIs
stm32duino · Jan 25, 2021 · c4f7f9f · c4f7f9f
2 parents 960ee9c + fccea8d
commit c4f7f9f
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Showing 5 changed files with 76 additions and 91 deletions.
diff --git a/README.md b/README.md
@@ -6,32 +6,36 @@ Arduino library to support the LSM6DSO 3D accelerometer and 3D gyroscope
 This sensor uses I2C or SPI to communicate.
 For I2C it is then required to create a TwoWire interface before accessing to the sensors:  
 
-    dev_i2c = new TwoWire(I2C_SDA, I2C_SCL);  
-    dev_i2c->begin();
+    TwoWire dev_i2c(I2C_SDA, I2C_SCL);  
+    dev_i2c.begin();
 
 For SPI it is then required to create a SPI interface before accessing to the sensors:  
 
-    dev_spi = new SPIClass(SPI_MOSI, SPI_MISO, SPI_SCK);  
-    dev_spi->begin();
+    SPIClass dev_spi(SPI_MOSI, SPI_MISO, SPI_SCK);  
+    dev_spi.begin();
 
-An instance can be created and enbaled when the I2C bus is used following the procedure below:  
+An instance can be created and enabled when the I2C bus is used following the procedure below:  
 
-    AccGyr = new LSM6DSOSensor(dev_i2c);  
-    AccGyr->Enable_X();  
-    AccGyr->Enable_G();
+    LSM6DSOSensor AccGyr(&dev_i2c);
+    AccGyr.begin();
+    AccGyr.Enable_X();  
+    AccGyr.Enable_G();
 
-An instance can be created and enbaled when the SPI bus is used following the procedure below:  
+An instance can be created and enabled when the SPI bus is used following the procedure below:  
 
-    AccGyr = new LSM6DSOSensor(dev_spi, CS_PIN);  
-    AccGyr->Enable_X();  
-    AccGyr->Enable_G();
+    LSM6DSOSensor AccGyr(&dev_spi, CS_PIN);
+    AccGyr.begin();	
+    AccGyr.Enable_X();  
+    AccGyr.Enable_G();
 
 The access to the sensor values is done as explained below:  
 
   Read accelerometer and gyroscope.
 
-    AccGyr->Get_X_Axes(accelerometer);  
-    AccGyr->Get_G_Axes(gyroscope);
+    int32_t accelerometer[3];
+    int32_t gyroscope[3];
+    AccGyr.Get_X_Axes(accelerometer);  
+    AccGyr.Get_G_Axes(gyroscope);
 
 ## Documentation
 

diff --git a/keywords.txt b/keywords.txt
@@ -12,6 +12,8 @@ LSM6DSOSensor	KEYWORD1
 # Methods and Functions (KEYWORD2)
 #######################################
 
+begin	KEYWORD2
+end	KEYWORD2
 ReadID	KEYWORD2
 Enable_X	KEYWORD2
 Disable_X	KEYWORD2

diff --git a/library.properties b/library.properties
@@ -1,5 +1,5 @@
 name=STM32duino LSM6DSO
-version=1.1.1
+version=2.0.0
 author=SRA
 maintainer=stm32duino
 sentence=Ultra Low Power inertial measurement unit.

diff --git a/src/LSM6DSOSensor.cpp b/src/LSM6DSOSensor.cpp
@@ -54,67 +54,8 @@ LSM6DSOSensor::LSM6DSOSensor(TwoWire *i2c, uint8_t address) : dev_i2c(i2c), addr
   reg_ctx.write_reg = LSM6DSO_io_write;
   reg_ctx.read_reg = LSM6DSO_io_read;
   reg_ctx.handle = (void *)this;
-
-  /* Disable I3C */
-  if (lsm6dso_i3c_disable_set(&reg_ctx, LSM6DSO_I3C_DISABLE) != LSM6DSO_OK)
-  {
-    return;
-  }
-
-  /* Enable register address automatically incremented during a multiple byte
-  access with a serial interface. */
-  if (lsm6dso_auto_increment_set(&reg_ctx, PROPERTY_ENABLE) != LSM6DSO_OK)
-  {
-    return;
-  }
-
-  /* Enable BDU */
-  if (lsm6dso_block_data_update_set(&reg_ctx, PROPERTY_ENABLE) != LSM6DSO_OK)
-  {
-    return;
-  }
-
-  /* FIFO mode selection */
-  if (lsm6dso_fifo_mode_set(&reg_ctx, LSM6DSO_BYPASS_MODE) != LSM6DSO_OK)
-  {
-    return;
-  }
-
-  /* Select default output data rate. */
-  acc_odr = LSM6DSO_XL_ODR_104Hz;
-
-  /* Output data rate selection - power down. */
-  if (lsm6dso_xl_data_rate_set(&reg_ctx, LSM6DSO_XL_ODR_OFF) != LSM6DSO_OK)
-  {
-    return;
-  }
-
-  /* Full scale selection. */
-  if (lsm6dso_xl_full_scale_set(&reg_ctx, LSM6DSO_2g) != LSM6DSO_OK)
-  {
-    return;
-  }
-
-  /* Select default output data rate. */
-  gyro_odr = LSM6DSO_GY_ODR_104Hz;
-
-  /* Output data rate selection - power down. */
-  if (lsm6dso_gy_data_rate_set(&reg_ctx, LSM6DSO_GY_ODR_OFF) != LSM6DSO_OK)
-  {
-    return;
-  }
-
-  /* Full scale selection. */
-  if (lsm6dso_gy_full_scale_set(&reg_ctx, LSM6DSO_2000dps) != LSM6DSO_OK)
-  {
-    return;
-  }
-
   acc_is_enabled = 0;
   gyro_is_enabled = 0;
-
-
-  return;
 }
 
 /** Constructor
@@ -126,37 +67,49 @@ LSM6DSOSensor::LSM6DSOSensor(SPIClass *spi, int cs_pin, uint32_t spi_speed) : de
 {
   reg_ctx.write_reg = LSM6DSO_io_write;
   reg_ctx.read_reg = LSM6DSO_io_read;
-  reg_ctx.handle = (void *)this;
-
-  // Configure CS pin
-  pinMode(cs_pin, OUTPUT);
-  digitalWrite(cs_pin, HIGH); 
+  reg_ctx.handle = (void *)this; 
   dev_i2c = NULL;
   address = 0;
+  acc_is_enabled = 0U;
+  gyro_is_enabled = 0U;
+}
+
+/**
+ * @brief  Configure the sensor in order to be used
+ * @retval 0 in case of success, an error code otherwise
+ */
+LSM6DSOStatusTypeDef LSM6DSOSensor::begin()
+{
+  if(dev_spi)
+  {
+    // Configure CS pin
+    pinMode(cs_pin, OUTPUT);
+    digitalWrite(cs_pin, HIGH); 
+  }
 
   /* Disable I3C */
   if (lsm6dso_i3c_disable_set(&reg_ctx, LSM6DSO_I3C_DISABLE) != LSM6DSO_OK)
   {
-    return;
+    return LSM6DSO_ERROR;
   }
 
   /* Enable register address automatically incremented during a multiple byte
   access with a serial interface. */
   if (lsm6dso_auto_increment_set(&reg_ctx, PROPERTY_ENABLE) != LSM6DSO_OK)
   {
-    return;
+    return LSM6DSO_ERROR;
   }
 
   /* Enable BDU */
   if (lsm6dso_block_data_update_set(&reg_ctx, PROPERTY_ENABLE) != LSM6DSO_OK)
   {
-    return;
+    return LSM6DSO_ERROR;
   }
 
   /* FIFO mode selection */
   if (lsm6dso_fifo_mode_set(&reg_ctx, LSM6DSO_BYPASS_MODE) != LSM6DSO_OK)
   {
-    return;
+    return LSM6DSO_ERROR;
   }
 
   /* Select default output data rate. */
@@ -165,13 +118,13 @@ LSM6DSOSensor::LSM6DSOSensor(SPIClass *spi, int cs_pin, uint32_t spi_speed) : de
   /* Output data rate selection - power down. */
   if (lsm6dso_xl_data_rate_set(&reg_ctx, LSM6DSO_XL_ODR_OFF) != LSM6DSO_OK)
   {
-    return;
+    return LSM6DSO_ERROR;
   }
 
   /* Full scale selection. */
   if (lsm6dso_xl_full_scale_set(&reg_ctx, LSM6DSO_2g) != LSM6DSO_OK)
   {
-    return;
+    return LSM6DSO_ERROR;
   }
 
   /* Select default output data rate. */
@@ -180,23 +133,47 @@ LSM6DSOSensor::LSM6DSOSensor(SPIClass *spi, int cs_pin, uint32_t spi_speed) : de
   /* Output data rate selection - power down. */
   if (lsm6dso_gy_data_rate_set(&reg_ctx, LSM6DSO_GY_ODR_OFF) != LSM6DSO_OK)
   {
-    return;
+    return LSM6DSO_ERROR;
   }
 
   /* Full scale selection. */
   if (lsm6dso_gy_full_scale_set(&reg_ctx, LSM6DSO_2000dps) != LSM6DSO_OK)
   {
-    return;
+    return LSM6DSO_ERROR;
   }
-  
+
   acc_is_enabled = 0;
   gyro_is_enabled = 0;
 
-
-  return;  
-
+  return LSM6DSO_OK;
 }
 
+/**
+ * @brief  Disable the sensor and relative resources
+ * @retval 0 in case of success, an error code otherwise
+ */
+LSM6DSOStatusTypeDef LSM6DSOSensor::end()
+{
+  /* Disable both acc and gyro */
+  if (Disable_X() != LSM6DSO_OK)
+  {
+    return LSM6DSO_ERROR;
+  }
+
+  if (Disable_G() != LSM6DSO_OK)
+  {
+    return LSM6DSO_ERROR;
+  }
+
+  /* Reset CS configuration */
+  if(dev_spi)
+  {
+    // Configure CS pin
+    pinMode(cs_pin, INPUT); 
+  }
+
+  return LSM6DSO_OK;
+}
 
 /**
  * @brief  Read component ID

diff --git a/src/LSM6DSOSensor.h b/src/LSM6DSOSensor.h
@@ -114,6 +114,8 @@ class LSM6DSOSensor
   public:
     LSM6DSOSensor(TwoWire *i2c, uint8_t address=LSM6DSO_I2C_ADD_H);
     LSM6DSOSensor(SPIClass *spi, int cs_pin, uint32_t spi_speed=2000000);
+    LSM6DSOStatusTypeDef begin();
+    LSM6DSOStatusTypeDef end();
     LSM6DSOStatusTypeDef ReadID(uint8_t *Id);
     LSM6DSOStatusTypeDef Enable_X();
     LSM6DSOStatusTypeDef Disable_X();