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// Copyright Open Logistics Foundation
//
// Licensed under the Open Logistics Foundation License 1.3.
// For details on the licensing terms, see the LICENSE file.
// SPDX-License-Identifier: OLFL-1.3
#![no_std]
//! Platform-agnostic embedded-hal driver for the STMicroelectronics LSM6DSOX iNEMO inertial module.
//!
//! Provided functionality is inspired by the C implementation from ST,
//! but tries to provide a higher level interface where possible.
//!
//! To provide measurements the [accelerometer] traits and [measurements] crate are utilized.
//!
//!
//!
//! # Resources
//!
//! [Datasheet](https://www.st.com/resource/en/datasheet/lsm6dsox.pdf)
//!
//! [LSM6DSOX at st.com](https://www.st.com/en/mems-and-sensors/lsm6dsox.html)
//!
//!
//! For application hints please also refer to the
//! [application note](https://www.st.com/resource/en/application_note/an5272-lsm6dsox-alwayson-3d-accelerometer-and-3d-gyroscope-stmicroelectronics.pdf)
//! provided by ST.
//!
//! # Features
//!
//! - [`Accelerometer`](https://docs.rs/accelerometer/latest/accelerometer/trait.Accelerometer.html) trait implementation
//! - [`embedded-hal`](https://crates.io/crates/embedded-hal) I²C support
//! - Gyroscope
//! - Tap recognition
//! - Interrupts
//! - Further features may be added in the future
//!
//! # Examples
//! ```no_run
//! # extern crate embedded_hal;
//! # extern crate embedded_hal_mock;
//! # use embedded_hal::prelude::*;
//! # use embedded_hal_mock::i2c::{Mock as I2cMock, Transaction as I2cTransaction};
//! # use embedded_hal_mock::delay::MockNoop;
//! use accelerometer::Accelerometer;
//! use lsm6dsox::*;
//!
//! # fn main() {
//! # example().unwrap();
//! # }
//! # fn example() -> Result<(), Error> {
//! # let i2c = I2cMock::new(&Vec::new());
//! # let delay = MockNoop::new();
//! let mut lsm = lsm6dsox::Lsm6dsox::new(i2c, SlaveAddress::Low, delay);
//!
//! lsm.setup()?;
//! lsm.set_accel_sample_rate(DataRate::Freq52Hz)?;
//! lsm.set_accel_scale(AccelerometerScale::Accel16g)?;
//! if let Ok(reading) = lsm.accel_norm() {
//! println!("Acceleration: {:?}", reading);
//! }
//! # Ok(())
//! # }
//! ```
//! # License
//!
//! Open Logistics Foundation License\
//! Version 1.3, January 2023
//!
//! See the LICENSE file in the top-level directory.
//!
//! # Contact
//!
//! Fraunhofer IML Embedded Rust Group - <embedded-rust@iml.fraunhofer.de>
mod accel;
mod gyro;
pub mod register;
pub mod types;
pub use register::*;
pub use types::*;
pub use accelerometer;
use accelerometer::{
vector::{F32x3, I16x3},
Accelerometer, RawAccelerometer,
};
use byteorder::{ByteOrder, LittleEndian};
use embedded_hal::blocking::{delay::DelayMs, i2c};
use enumflags2::BitFlags;
/// Representation of a LSM6DSOX. Stores the address and device peripherals.
pub struct Lsm6dsox<I2C, Delay>
where
I2C: i2c::Write + i2c::WriteRead,
Delay: DelayMs<u32>,
{
delay: Delay,
config: Configuration,
registers: RegisterAccess<I2C>,
}
impl<I2C, Delay> Lsm6dsox<I2C, Delay>
where
I2C: i2c::Write + i2c::WriteRead,
Delay: DelayMs<u32>,
{
/// Create a new instance of this sensor.
pub fn new(i2c: I2C, address: SlaveAddress, delay: Delay) -> Self {
Self {
delay,
config: Configuration {
xl_odr: DataRate::PowerDown,
xl_scale: AccelerometerScale::Accel2g,
g_odr: DataRate::PowerDown,
g_scale: GyroscopeScale::Dps250,
},
registers: RegisterAccess::new(i2c, address),
}
}
/// Destroy the sensor and return the hardware peripherals
pub fn destroy(self) -> (I2C, Delay) {
(self.registers.destroy(), self.delay)
}
/// Check whether the configured Sensor returns its correct id.
///
/// Returns `Ok(id)` if `id` matches the Standard LSM6DSOX id,
/// `Err(Some(id))` or `Err(None)` if `id` doesn't match or couldn't be read.
pub fn check_id(&mut self) -> Result<u8, Option<u8>> {
match self.registers.read_reg(PrimaryRegister::WHO_AM_I) {
Ok(val) => {
if val == 0x6C {
Ok(val)
} else {
Err(Some(val))
}
}
Err(_) => Err(None),
}
}
/// Initializes the sensor.
///
/// A software reset is performed and common settings are applied. The accelerometer and
/// gyroscope are initialized with [`DataRate::PowerDown`].
pub fn setup(&mut self) -> Result<(), Error> {
self.update_reg_command(Command::SwReset)?;
// Give it 5 tries
// A delay is necessary here, otherwise reset may never finish because the lsm is too busy.
let mut ctrl3_c_val = 0xFF;
for _ in 0..5 {
self.delay.delay_ms(10);
ctrl3_c_val = self.registers.read_reg(PrimaryRegister::CTRL3_C)?;
if ctrl3_c_val & 1 == 0 {
break;
}
}
if ctrl3_c_val & 1 != 0 {
Err(Error::ResetFailed)
} else {
/* Disable I3C interface */
self.registers
.update_reg(PrimaryRegister::CTRL9_XL, 0x02, 0x02)?;
self.registers
.update_reg(PrimaryRegister::I3C_BUS_AVB, 0x00, 0b0001_1000)?;
/* Enable Block Data Update */
self.registers
.update_reg(PrimaryRegister::CTRL3_C, 0b0100_0000, 0b0100_0000)?;
self.set_accel_sample_rate(self.config.xl_odr)?;
self.set_accel_scale(self.config.xl_scale)?;
self.set_gyro_sample_rate(self.config.g_odr)?;
self.set_gyro_scale(self.config.g_scale)?;
/* Wait stable output */
self.delay.delay_ms(100);
Ok(())
}
}
/// Checks the interrupt status of all possible sources.
///
/// The interrupt flags will be cleared after this check, or according to the LIR mode of the specific source.
pub fn check_interrupt_sources(&mut self) -> Result<BitFlags<InterruptCause>, Error> {
let all_int_src = self.registers.read_reg(PrimaryRegister::ALL_INT_SRC)?;
let flags = BitFlags::from_bits(all_int_src).map_err(|_| Error::InvalidData)?;
Ok(flags)
}
/// Sets both Accelerometer and Gyroscope in power-down mode.
pub fn power_down_mode(&mut self) -> core::result::Result<(), Error> {
self.update_reg_command(Command::SetDataRateXl(DataRate::PowerDown))?;
self.config.xl_odr = DataRate::PowerDown;
self.update_reg_command(Command::SetDataRateG(DataRate::PowerDown))?;
self.config.g_odr = DataRate::PowerDown;
Ok(())
}
/// Maps an available interrupt source to a available interrupt line.
///
/// Toggles whether a interrupt source will generate interrupts on the specified line.
///
/// Note: Interrupt sources [SHUB](InterruptSource::SHUB) and [Timestamp](InterruptSource::Timestamp) are not available on both [interrupt lines](InterruptLine).
///
/// Interrupts need to be enabled globally for a mapping to take effect. See [`Lsm6dsox::enable_interrupts()`].
pub fn map_interrupt(
&mut self,
int_src: InterruptSource,
int_line: InterruptLine,
active: bool,
) -> Result<(), types::Error> {
// TODO track interrupt mapping state in config
// This would allow us to automatically enable or disable interrupts globally.
match (int_line, int_src) {
(InterruptLine::INT1, InterruptSource::Timestamp) => Err(Error::NotSupported),
(InterruptLine::INT2, InterruptSource::SHUB) => Err(Error::NotSupported),
(_, _) => self.update_reg_command(Command::MapInterrupt(int_line, int_src, active)),
}
}
/// Enable basic interrupts
///
/// Enables/disables interrupts for 6D/4D, free-fall, wake-up, tap, inactivity.
pub fn enable_interrupts(&mut self, enabled: bool) -> Result<(), Error> {
self.update_reg_command(Command::InterruptEnable(enabled))
}
/// Updates a register according to a given [`Command`].
fn update_reg_command(&mut self, command: Command) -> Result<(), Error> {
self.registers
.update_reg(command.register(), command.bits(), command.mask())
}
/// Gives direct access to the internal sensor registers
///
/// # Safety
/// Directly accessing the internal registers may misconfigure the sensor or invalidate some
/// of the assumptions made in the driver implementation. It is mainly provided to allow
/// configuring the machine learning core with a configuration generated from an external tool
/// but it may also be useful for testing, debugging, prototyping or to use features which have
/// not been implemented on a higher level.
pub unsafe fn register_access(&mut self) -> &mut RegisterAccess<I2C> {
&mut self.registers
}
}