Adafruit_LSM6DS.h

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#ifndef _ADAFRUIT_LSM6DS_H
#define _ADAFRUIT_LSM6DS_H

#include "Arduino.h"
#include <Adafruit_BusIO_Register.h>
#include <Adafruit_I2CDevice.h>
#include <Adafruit_Sensor.h>
#include <Wire.h>

#define LSM6DS_I2CADDR_DEFAULT 0x6A 

#define LSM6DS_FUNC_CFG_ACCESS 0x1 
#define LSM6DS_INT1_CTRL 0x0D      
#define LSM6DS_INT2_CTRL 0x0E      
#define LSM6DS_WHOAMI 0x0F         
#define LSM6DS_CTRL1_XL 0x10       
#define LSM6DS_CTRL2_G 0x11        
#define LSM6DS_CTRL3_C 0x12        
#define LSM6DS_CTRL8_XL 0x17       
#define LSM6DS_CTRL10_C 0x19       
#define LSM6DS_WAKEUP_SRC 0x1B     
#define LSM6DS_STATUS_REG 0X1E     
#define LSM6DS_OUT_TEMP_L 0x20     
#define LSM6DS_OUTX_L_G 0x22       
#define LSM6DS_OUTX_L_A 0x28       
#define LSM6DS_STEPCOUNTER 0x4B    
#define LSM6DS_TAP_CFG 0x58        
#define LSM6DS_WAKEUP_THS                                                      \
  0x5B 
#define LSM6DS_WAKEUP_DUR                                                      \
  0x5C 
#define LSM6DS_MD1_CFG 0x5E 


typedef enum data_rate {
  LSM6DS_RATE_SHUTDOWN,
  LSM6DS_RATE_12_5_HZ,
  LSM6DS_RATE_26_HZ,
  LSM6DS_RATE_52_HZ,
  LSM6DS_RATE_104_HZ,
  LSM6DS_RATE_208_HZ,
  LSM6DS_RATE_416_HZ,
  LSM6DS_RATE_833_HZ,
  LSM6DS_RATE_1_66K_HZ,
  LSM6DS_RATE_3_33K_HZ,
  LSM6DS_RATE_6_66K_HZ,
} lsm6ds_data_rate_t;

typedef enum accel_range {
  LSM6DS_ACCEL_RANGE_2_G,
  LSM6DS_ACCEL_RANGE_16_G,
  LSM6DS_ACCEL_RANGE_4_G,
  LSM6DS_ACCEL_RANGE_8_G
} lsm6ds_accel_range_t;

typedef enum gyro_range {
  LSM6DS_GYRO_RANGE_125_DPS = 0b0010,
  LSM6DS_GYRO_RANGE_250_DPS = 0b0000,
  LSM6DS_GYRO_RANGE_500_DPS = 0b0100,
  LSM6DS_GYRO_RANGE_1000_DPS = 0b1000,
  LSM6DS_GYRO_RANGE_2000_DPS = 0b1100,
  ISM330DHCX_GYRO_RANGE_4000_DPS = 0b0001
} lsm6ds_gyro_range_t;

typedef enum hpf_range {
  LSM6DS_HPF_ODR_DIV_50 = 0,
  LSM6DS_HPF_ODR_DIV_100 = 1,
  LSM6DS_HPF_ODR_DIV_9 = 2,
  LSM6DS_HPF_ODR_DIV_400 = 3,
} lsm6ds_hp_filter_t;

class Adafruit_LSM6DS;

class Adafruit_LSM6DS_Temp : public Adafruit_Sensor {
public:
  Adafruit_LSM6DS_Temp(Adafruit_LSM6DS *parent) { _theLSM6DS = parent; }
  bool getEvent(sensors_event_t *);
  void getSensor(sensor_t *);

private:
  int _sensorID = 0x6D0;
  Adafruit_LSM6DS *_theLSM6DS = NULL;
};

class Adafruit_LSM6DS_Accelerometer : public Adafruit_Sensor {
public:
  Adafruit_LSM6DS_Accelerometer(Adafruit_LSM6DS *parent) {
    _theLSM6DS = parent;
  }
  bool getEvent(sensors_event_t *);
  void getSensor(sensor_t *);

private:
  int _sensorID = 0x6D1;
  Adafruit_LSM6DS *_theLSM6DS = NULL;
};

class Adafruit_LSM6DS_Gyro : public Adafruit_Sensor {
public:
  Adafruit_LSM6DS_Gyro(Adafruit_LSM6DS *parent) { _theLSM6DS = parent; }
  bool getEvent(sensors_event_t *);
  void getSensor(sensor_t *);

private:
  int _sensorID = 0x6D2;
  Adafruit_LSM6DS *_theLSM6DS = NULL;
};

class Adafruit_LSM6DS {
public:
  Adafruit_LSM6DS();
  virtual ~Adafruit_LSM6DS();

  bool begin_I2C(uint8_t i2c_addr = LSM6DS_I2CADDR_DEFAULT,
                 TwoWire *wire = &Wire, int32_t sensorID = 0);

  bool begin_SPI(uint8_t cs_pin, SPIClass *theSPI = &SPI, int32_t sensorID = 0,
                 uint32_t frequency = 1000000);
  bool begin_SPI(int8_t cs_pin, int8_t sck_pin, int8_t miso_pin,
                 int8_t mosi_pin, int32_t sensorID = 0,
                 uint32_t frequency = 1000000);

  bool getEvent(sensors_event_t *accel, sensors_event_t *gyro,
                sensors_event_t *temp);

  lsm6ds_data_rate_t getAccelDataRate(void);
  void setAccelDataRate(lsm6ds_data_rate_t data_rate);

  lsm6ds_accel_range_t getAccelRange(void);
  void setAccelRange(lsm6ds_accel_range_t new_range);

  lsm6ds_data_rate_t getGyroDataRate(void);
  void setGyroDataRate(lsm6ds_data_rate_t data_rate);

  lsm6ds_gyro_range_t getGyroRange(void);
  void setGyroRange(lsm6ds_gyro_range_t new_range);

  void reset(void);
  void configIntOutputs(bool active_low, bool open_drain);
  void configInt1(bool drdy_temp, bool drdy_g, bool drdy_xl,
                  bool step_detect = false, bool wakeup = false);
  void configInt2(bool drdy_temp, bool drdy_g, bool drdy_xl);
  void highPassFilter(bool enabled, lsm6ds_hp_filter_t filter);

  void enableWakeup(bool enable, uint8_t duration = 0, uint8_t thresh = 20);
  bool awake(void);
  bool shake(void);

  void enablePedometer(bool enable);
  void resetPedometer(void);
  uint16_t readPedometer(void);

  // Arduino compatible API
  int readAcceleration(float &x, float &y, float &z);
  float accelerationSampleRate(void);
  int accelerationAvailable(void);

  int readGyroscope(float &x, float &y, float &z);
  float gyroscopeSampleRate(void);
  int gyroscopeAvailable(void);

  int16_t rawAccX, 
      rawAccY,     
      rawAccZ,     
      rawTemp,     
      rawGyroX,    
      rawGyroY,    
      rawGyroZ;    

  float temperature, 
      accX,          
      accY,          
      accZ,          
      gyroX,         
      gyroY,         
      gyroZ;         

  Adafruit_Sensor *getTemperatureSensor(void);
  Adafruit_Sensor *getAccelerometerSensor(void);
  Adafruit_Sensor *getGyroSensor(void);

protected:
  uint8_t chipID(void);
  uint8_t status(void);
  virtual void _read(void);
  virtual bool _init(int32_t sensor_id);

  uint16_t _sensorid_accel, 
      _sensorid_gyro,       
      _sensorid_temp;       

  Adafruit_I2CDevice *i2c_dev = NULL; 
  Adafruit_SPIDevice *spi_dev = NULL; 

  float temperature_sensitivity =
      256.0; 
  Adafruit_LSM6DS_Temp *temp_sensor = NULL; 
  Adafruit_LSM6DS_Accelerometer *accel_sensor =
      NULL;                                 
  Adafruit_LSM6DS_Gyro *gyro_sensor = NULL; 

  lsm6ds_accel_range_t accelRangeBuffered = LSM6DS_ACCEL_RANGE_2_G;
  lsm6ds_gyro_range_t gyroRangeBuffered = LSM6DS_GYRO_RANGE_250_DPS;

private:
  friend class Adafruit_LSM6DS_Temp; 
  friend class Adafruit_LSM6DS_Accelerometer; 
  friend class Adafruit_LSM6DS_Gyro; 

  void fillTempEvent(sensors_event_t *temp, uint32_t timestamp);
  void fillAccelEvent(sensors_event_t *accel, uint32_t timestamp);
  void fillGyroEvent(sensors_event_t *gyro, uint32_t timestamp);
};

#endif