Merge pull request #5 from cparata/master

cparata · web-flow · commit 092a2b471e15 · 2021-01-27T15:37:46.000+01:00
Add begin and end APIs
diff --git a/README.md b/README.md
@@ -6,30 +6,34 @@ Arduino library to support the LSM6DSR automotive 3D accelerometer and 3D gyrosc
 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 LSM6DSRSensor(dev_i2c);  
-    AccGyr->Enable_X();  
-    AccGyr->Enable_G();
+    LSM6DSRSensor 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 LSM6DSRSensor(dev_spi, CS_PIN);  
-    AccGyr->Enable_X();  
-    AccGyr->Enable_G();
+    LSM6DSRSensor 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.
 
+    int32_t accelerometer[3];
+    int32_t gyroscope[3];
     AccGyr->Get_X_Axes(accelerometer);  
     AccGyr->Get_G_Axes(gyroscope);
 
diff --git a/examples/LSM6DSR_I2C_HelloWorld/LSM6DSR_I2C_HelloWorld.ino b/examples/LSM6DSR_I2C_HelloWorld/LSM6DSR_I2C_HelloWorld.ino
@@ -56,7 +56,7 @@
 #define INT_1 A5
 
 // Components
-LSM6DSRSensor *AccGyr;
+LSM6DSRSensor AccGyr(&DEV_I2C, LSM6DSR_I2C_ADD_L);
 
 void setup() {
   // Led.
@@ -75,9 +75,9 @@ void setup() {
   // Initialize I2C bus.
   DEV_I2C.begin();
 
-  AccGyr = new LSM6DSRSensor (&DEV_I2C, LSM6DSR_I2C_ADD_L);
-  AccGyr->Enable_X();
-  AccGyr->Enable_G();
+  AccGyr.begin();
+  AccGyr.Enable_X();
+  AccGyr.Enable_G();
 }
 
 void loop() {
@@ -90,8 +90,8 @@ void loop() {
   // Read accelerometer and gyroscope.
   int32_t accelerometer[3];
   int32_t gyroscope[3];
-  AccGyr->Get_X_Axes(accelerometer);
-  AccGyr->Get_G_Axes(gyroscope);
+  AccGyr.Get_X_Axes(accelerometer);
+  AccGyr.Get_G_Axes(gyroscope);
 
   // Output data.
   SerialPort.print("LSM6DSR: | Acc[mg]: ");
diff --git a/examples/LSM6DSR_SPI_HelloWorld/LSM6DSR_SPI_HelloWorld.ino b/examples/LSM6DSR_SPI_HelloWorld/LSM6DSR_SPI_HelloWorld.ino
@@ -46,10 +46,10 @@
 #define SerialPort Serial
 
 // SPI
-SPIClass *dev_spi;
+SPIClass dev_spi(D11, D12, D3);
 
 // Components
-LSM6DSRSensor *AccGyr;
+LSM6DSRSensor AccGyr(&dev_spi, D10);
 
 void setup() {
   // Led.
@@ -59,12 +59,11 @@ void setup() {
   SerialPort.begin(115200);
   
   // Initialize SPI bus.
-  dev_spi = new SPIClass(D11, D12, D3);  
-  dev_spi->begin();
+  dev_spi.begin();
   
-  AccGyr = new LSM6DSRSensor (dev_spi, D10);
-  AccGyr->Enable_X();
-  AccGyr->Enable_G();
+  AccGyr.begin();
+  AccGyr.Enable_X();
+  AccGyr.Enable_G();
 }
 
 void loop() {
@@ -77,8 +76,8 @@ void loop() {
   // Read accelerometer and gyroscope.
   int32_t accelerometer[3];
   int32_t gyroscope[3];
-  AccGyr->Get_X_Axes(accelerometer);
-  AccGyr->Get_G_Axes(gyroscope);
+  AccGyr.Get_X_Axes(accelerometer);
+  AccGyr.Get_G_Axes(gyroscope);
 
   // Output data.
   SerialPort.print("LSM6DSR: | Acc[mg]: ");
diff --git a/keywords.txt b/keywords.txt
@@ -12,6 +12,8 @@ LSM6DSRSensor	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 LSM6DSR
-version=1.0.1
+version=2.0.0
 author=SRA
 maintainer=stm32duino
 sentence=iNEMO inertial measurement unit.
diff --git a/src/LSM6DSRSensor.cpp b/src/LSM6DSRSensor.cpp
@@ -54,66 +54,8 @@ LSM6DSRSensor::LSM6DSRSensor(TwoWire *i2c, uint8_t address) : dev_i2c(i2c), addr
   reg_ctx.write_reg = LSM6DSR_io_write;
   reg_ctx.read_reg = LSM6DSR_io_read;
   reg_ctx.handle = (void *)this;
-
-  /* Disable I3C */
-  if (lsm6dsr_i3c_disable_set(&reg_ctx, LSM6DSR_I3C_DISABLE) != LSM6DSR_OK)
-  {
-    return;
-  }
-
-  /* Enable register address automatically incremented during a multiple byte
-  access with a serial interface. */
-  if (lsm6dsr_auto_increment_set(&reg_ctx, PROPERTY_ENABLE) != LSM6DSR_OK)
-  {
-    return;
-  }
-
-  /* Enable BDU */
-  if (lsm6dsr_block_data_update_set(&reg_ctx, PROPERTY_ENABLE) != LSM6DSR_OK)
-  {
-    return;
-  }
-
-  /* FIFO mode selection */
-  if (lsm6dsr_fifo_mode_set(&reg_ctx, LSM6DSR_BYPASS_MODE) != LSM6DSR_OK)
-  {
-    return;
-  }
-
-  /* Select default output data rate. */
-  acc_odr = LSM6DSR_XL_ODR_104Hz;
-
-  /* Output data rate selection - power down. */
-  if (lsm6dsr_xl_data_rate_set(&reg_ctx, LSM6DSR_XL_ODR_OFF) != LSM6DSR_OK)
-  {
-    return;
-  }
-
-  /* Full scale selection. */
-  if (lsm6dsr_xl_full_scale_set(&reg_ctx, LSM6DSR_2g) != LSM6DSR_OK)
-  {
-    return;
-  }
-
-  /* Select default output data rate. */
-  gyro_odr = LSM6DSR_GY_ODR_104Hz;
-
-  /* Output data rate selection - power down. */
-  if (lsm6dsr_gy_data_rate_set(&reg_ctx, LSM6DSR_GY_ODR_OFF) != LSM6DSR_OK)
-  {
-    return;
-  }
-
-  /* Full scale selection. */
-  if (lsm6dsr_gy_full_scale_set(&reg_ctx, LSM6DSR_2000dps) != LSM6DSR_OK)
-  {
-    return;
-  }
-
-  acc_is_enabled = 0;
-  gyro_is_enabled = 0;
-  
-  return;
+  acc_is_enabled = 0U;
+  gyro_is_enabled = 0U;
 }
 
 /** Constructor
@@ -126,36 +68,48 @@ LSM6DSRSensor::LSM6DSRSensor(SPIClass *spi, int cs_pin, uint32_t spi_speed) : de
   reg_ctx.write_reg = LSM6DSR_io_write;
   reg_ctx.read_reg = LSM6DSR_io_read;
   reg_ctx.handle = (void *)this;
-
-  // Configure CS pin
-  pinMode(cs_pin, OUTPUT);
-  digitalWrite(cs_pin, HIGH); 
   dev_i2c = NULL;
-  address = 0;
+  address = 0U;
+  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
+ */
+LSM6DSRStatusTypeDef LSM6DSRSensor::begin()
+{
+  if(dev_spi)
+  {
+    // Configure CS pin
+    pinMode(cs_pin, OUTPUT);
+    digitalWrite(cs_pin, HIGH); 
+  }
 
   /* Disable I3C */
   if (lsm6dsr_i3c_disable_set(&reg_ctx, LSM6DSR_I3C_DISABLE) != LSM6DSR_OK)
   {
-    return;
+    return LSM6DSR_ERROR;
   }
 
   /* Enable register address automatically incremented during a multiple byte
   access with a serial interface. */
   if (lsm6dsr_auto_increment_set(&reg_ctx, PROPERTY_ENABLE) != LSM6DSR_OK)
   {
-    return;
+    return LSM6DSR_ERROR;
   }
 
   /* Enable BDU */
   if (lsm6dsr_block_data_update_set(&reg_ctx, PROPERTY_ENABLE) != LSM6DSR_OK)
   {
-    return;
+    return LSM6DSR_ERROR;
   }
 
   /* FIFO mode selection */
   if (lsm6dsr_fifo_mode_set(&reg_ctx, LSM6DSR_BYPASS_MODE) != LSM6DSR_OK)
   {
-    return;
+    return LSM6DSR_ERROR;
   }
 
   /* Select default output data rate. */
@@ -164,13 +118,13 @@ LSM6DSRSensor::LSM6DSRSensor(SPIClass *spi, int cs_pin, uint32_t spi_speed) : de
   /* Output data rate selection - power down. */
   if (lsm6dsr_xl_data_rate_set(&reg_ctx, LSM6DSR_XL_ODR_OFF) != LSM6DSR_OK)
   {
-    return;
+    return LSM6DSR_ERROR;
   }
 
   /* Full scale selection. */
   if (lsm6dsr_xl_full_scale_set(&reg_ctx, LSM6DSR_2g) != LSM6DSR_OK)
   {
-    return;
+    return LSM6DSR_ERROR;
   }
 
   /* Select default output data rate. */
@@ -179,21 +133,47 @@ LSM6DSRSensor::LSM6DSRSensor(SPIClass *spi, int cs_pin, uint32_t spi_speed) : de
   /* Output data rate selection - power down. */
   if (lsm6dsr_gy_data_rate_set(&reg_ctx, LSM6DSR_GY_ODR_OFF) != LSM6DSR_OK)
   {
-    return;
+    return LSM6DSR_ERROR;
   }
 
   /* Full scale selection. */
   if (lsm6dsr_gy_full_scale_set(&reg_ctx, LSM6DSR_2000dps) != LSM6DSR_OK)
   {
-    return;
+    return LSM6DSR_ERROR;
   }
   
   acc_is_enabled = 0;
   gyro_is_enabled = 0;
 
-  return;
+  return LSM6DSR_OK;
 }
 
+/**
+ * @brief  Disable the sensor and relative resources
+ * @retval 0 in case of success, an error code otherwise
+ */
+LSM6DSRStatusTypeDef LSM6DSRSensor::end()
+{
+  /* Disable both acc and gyro */
+  if (Disable_X() != LSM6DSR_OK)
+  {
+    return LSM6DSR_ERROR;
+  }
+
+  if (Disable_G() != LSM6DSR_OK)
+  {
+    return LSM6DSR_ERROR;
+  }
+
+  /* Reset CS configuration */
+  if(dev_spi)
+  {
+    // Configure CS pin
+    pinMode(cs_pin, INPUT); 
+  }
+
+  return LSM6DSR_OK;
+}
 
 /**
  * @brief  Read component ID
diff --git a/src/LSM6DSRSensor.h b/src/LSM6DSRSensor.h
@@ -96,6 +96,8 @@ class LSM6DSRSensor
   public:
     LSM6DSRSensor(TwoWire *i2c, uint8_t address=LSM6DSR_I2C_ADD_H);
     LSM6DSRSensor(SPIClass *spi, int cs_pin, uint32_t spi_speed=2000000);
+    LSM6DSRStatusTypeDef begin();
+    LSM6DSRStatusTypeDef end();
     LSM6DSRStatusTypeDef ReadID(uint8_t *Id);
     LSM6DSRStatusTypeDef Enable_X();
     LSM6DSRStatusTypeDef Disable_X();
