Skip to content

Commit c3a0dcd

Browse files
tyethtyeth
committed
[wip] ISM330DLC + ISM330DHCX
1 parent a1d66f6 commit c3a0dcd

File tree

8 files changed

+348
-1
lines changed

8 files changed

+348
-1
lines changed

‎library.properties‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -7,4 +7,4 @@ paragraph=Arduino application for Adafruit.io WipperSnapper
77
category=Communication
88
url=https://github.com/adafruit/Adafruit_Wippersnapper_Arduino
99
architectures=*
10-
depends=OmronD6T - Community Fork, SdFat - Adafruit Fork, Adafruit LIS3DH, Adafruit LSM9DS1 Library, Adafruit AS5600 Library, Adafruit NeoPixel, Adafruit SPIFlash, ArduinoJson, Adafruit DotStar, Adafruit HDC302x, Adafruit INA219, Adafruit INA237 and INA238 Library, Adafruit INA260 Library, Adafruit LTR329 and LTR303, Adafruit LTR390 Library, Adafruit MCP3421, Adafruit MLX90632 Library, Adafruit NAU7802 Library, Adafruit SleepyDog Library, Adafruit TMP117, Adafruit TinyUSB Library, Adafruit AHTX0, Adafruit BME280 Library, Adafruit BMP280 Library, Adafruit BMP3XX Library, Adafruit DPS310, Adafruit DS248x, Adafruit SCD30, Adafruit SGP30 Sensor, Adafruit SGP40 Sensor, Sensirion I2C SCD4x, Sensirion I2C SEN5X, Sensirion I2C SEN66, arduino-sht, Adafruit Si7021 Library, Adafruit MQTT Library, Adafruit MS8607, Adafruit MCP9808 Library, Adafruit MCP9600 Library, Adafruit MPL115A2, Adafruit MPRLS Library, Adafruit TSL2591 Library, Adafruit_VL53L0X, Adafruit VL53L1X, STM32duino VL53L4CD, STM32duino VL53L4CX, Adafruit_VL6180X, Adafruit PM25 AQI Sensor, Adafruit QMC5883P Library, Adafruit VCNL4020 Library, Adafruit VCNL4040, Adafruit VCNL4200 Library, Adafruit VEML7700 Library, Adafruit LC709203F, Adafruit LPS2X, Adafruit LPS28, Adafruit LPS35HW, Adafruit seesaw Library, Adafruit BME680 Library, Adafruit MAX1704X, Adafruit ADT7410 Library, Adafruit HTS221, Adafruit HTU21DF Library, Adafruit HTU31D Library, Adafruit PCT2075, hp_BH1750, ENS160 - Adafruit Fork, Adafruit BusIO, Adafruit Unified Sensor, Sensirion Core, Adafruit GFX Library, Adafruit LED Backpack Library, Adafruit LiquidCrystal, Adafruit SH110X, Adafruit SSD1306, RTClib, StreamUtils, Adafruit SHT4x Library, Adafruit GPS Library, Adafruit uBlox
10+
depends=OmronD6T - Community Fork, SdFat - Adafruit Fork, Adafruit LIS3DH, Adafruit LSM6DS Library, Adafruit LSM9DS1 Library, Adafruit AS5600 Library, Adafruit NeoPixel, Adafruit SPIFlash, ArduinoJson, Adafruit DotStar, Adafruit HDC302x, Adafruit INA219, Adafruit INA237 and INA238 Library, Adafruit INA260 Library, Adafruit LTR329 and LTR303, Adafruit LTR390 Library, Adafruit MCP3421, Adafruit MLX90632 Library, Adafruit NAU7802 Library, Adafruit SleepyDog Library, Adafruit TMP117, Adafruit TinyUSB Library, Adafruit AHTX0, Adafruit BME280 Library, Adafruit BMP280 Library, Adafruit BMP3XX Library, Adafruit DPS310, Adafruit DS248x, Adafruit SCD30, Adafruit SGP30 Sensor, Adafruit SGP40 Sensor, Sensirion I2C SCD4x, Sensirion I2C SEN5X, Sensirion I2C SEN66, arduino-sht, Adafruit Si7021 Library, Adafruit MQTT Library, Adafruit MS8607, Adafruit MCP9808 Library, Adafruit MCP9600 Library, Adafruit MPL115A2, Adafruit MPRLS Library, Adafruit TSL2591 Library, Adafruit_VL53L0X, Adafruit VL53L1X, STM32duino VL53L4CD, STM32duino VL53L4CX, Adafruit_VL6180X, Adafruit PM25 AQI Sensor, Adafruit QMC5883P Library, Adafruit VCNL4020 Library, Adafruit VCNL4040, Adafruit VCNL4200 Library, Adafruit VEML7700 Library, Adafruit LC709203F, Adafruit LPS2X, Adafruit LPS28, Adafruit LPS35HW, Adafruit seesaw Library, Adafruit BME680 Library, Adafruit MAX1704X, Adafruit ADT7410 Library, Adafruit HTS221, Adafruit HTU21DF Library, Adafruit HTU31D Library, Adafruit PCT2075, hp_BH1750, ENS160 - Adafruit Fork, Adafruit BusIO, Adafruit Unified Sensor, Sensirion Core, Adafruit GFX Library, Adafruit LED Backpack Library, Adafruit LiquidCrystal, Adafruit SH110X, Adafruit SSD1306, RTClib, StreamUtils, Adafruit SHT4x Library, Adafruit GPS Library, Adafruit uBlox

‎platformio.ini‎

Lines changed: 1 addition & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -47,6 +47,7 @@ lib_deps =
4747
adafruit/Adafruit HTU21DF Library
4848
adafruit/Adafruit HTU31D Library
4949
adafruit/Adafruit LIS3DH
50+
adafruit/Adafruit LSM6DS
5051
adafruit/Adafruit LSM9DS1 Library
5152
adafruit/Adafruit LTR390 Library
5253
adafruit/Adafruit LTR329 and LTR303

‎src/components/i2c/controller.cpp‎

Lines changed: 10 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -173,6 +173,16 @@ static const std::map<std::string, FnCreateI2CSensorDriver> I2cFactorySensor = {
173173
const char *driver_name) -> drvBase * {
174174
return new drvLis3dh(i2c, addr, mux_channel, driver_name);
175175
}},
176+
{"ism330dlc",
177+
[](TwoWire *i2c, uint16_t addr, uint32_t mux_channel,
178+
const char *driver_name) -> drvBase * {
179+
return new drvIsm330dlc(i2c, addr, mux_channel, driver_name);
180+
}},
181+
{"ism330dhcx",
182+
[](TwoWire *i2c, uint16_t addr, uint32_t mux_channel,
183+
const char *driver_name) -> drvBase * {
184+
return new drvIsm330dhcx(i2c, addr, mux_channel, driver_name);
185+
}},
176186
{"lsm9ds1",
177187
[](TwoWire *i2c, uint16_t addr, uint32_t mux_channel,
178188
const char *driver_name) -> drvBase * {

‎src/components/i2c/controller.h‎

Lines changed: 2 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -41,6 +41,8 @@
4141
#include "drivers/drvIna260.h"
4242
#include "drivers/drvLc709203f.h"
4343
#include "drivers/drvLis3dh.h"
44+
#include "drivers/drvIsm330dhcx.h"
45+
#include "drivers/drvIsm330dlc.h"
4446
#include "drivers/drvLsm9ds1.h"
4547
#include "drivers/drvLps22hb.h"
4648
#include "drivers/drvLps25hb.h"

‎src/components/i2c/drivers/drvIsm330dhcx.cpp‎

Lines changed: 127 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,127 @@
1+
/*!
2+
* @file drvIsm330dhcx.cpp
3+
*
4+
* Driver wrapper for the Adafruit ISM330DHCX (LSM6DSOX core) 6-DoF IMU.
5+
*/
6+
7+
#include "drvIsm330dhcx.h"
8+
9+
#include <math.h>
10+
11+
drvIsm330dhcx::drvIsm330dhcx(TwoWire *i2c, uint16_t sensorAddress,
12+
uint32_t mux_channel, const char *driver_name)
13+
: drvBase(i2c, sensorAddress, mux_channel, driver_name) {}
14+
15+
drvIsm330dhcx::~drvIsm330dhcx() {
16+
if (_imu) {
17+
delete _imu;
18+
_imu = nullptr;
19+
}
20+
}
21+
22+
bool drvIsm330dhcx::begin() {
23+
if (_imu) {
24+
delete _imu;
25+
_imu = nullptr;
26+
}
27+
28+
_imu = new Adafruit_ISM330DHCX();
29+
if (!_imu) {
30+
return false;
31+
}
32+
33+
uint8_t addr = _address == 0 ? LSM6DS_I2CADDR_DEFAULT : (uint8_t)_address;
34+
WS_DEBUG_PRINT("[drvIsm330dhcx] Initialising @ 0x");
35+
WS_DEBUG_PRINTHEX(addr);
36+
WS_DEBUG_PRINTLN("...");
37+
38+
if (!_imu->begin_I2C(addr, _i2c)) {
39+
WS_DEBUG_PRINTLN("[drvIsm330dhcx] Failed to initialise sensor");
40+
delete _imu;
41+
_imu = nullptr;
42+
return false;
43+
}
44+
45+
_imu->setAccelRange(LSM6DS_ACCEL_RANGE_4_G);
46+
_imu->setAccelDataRate(LSM6DS_RATE_104_HZ);
47+
_imu->setGyroRange(LSM6DS_GYRO_RANGE_500_DPS);
48+
_imu->setGyroDataRate(LSM6DS_RATE_104_HZ);
49+
_imu->configInt1(false, false, false, false, true);
50+
_imu->configInt2(false, false, false);
51+
_imu->enableWakeup(true);
52+
53+
WS_DEBUG_PRINTLN("[drvIsm330dhcx] Sensor initialised successfully");
54+
return true;
55+
}
56+
57+
bool drvIsm330dhcx::readAllEvents(sensors_event_t *accel,
58+
sensors_event_t *gyro,
59+
sensors_event_t *temp) {
60+
if (!_imu) {
61+
return false;
62+
}
63+
return _imu->getEvent(accel, gyro, temp);
64+
}
65+
66+
bool drvIsm330dhcx::computeAccelMagnitude(float &magnitude) {
67+
sensors_event_t accel, gyro, temp;
68+
if (!readAllEvents(&accel, &gyro, &temp)) {
69+
return false;
70+
}
71+
magnitude = sqrtf(accel.acceleration.x * accel.acceleration.x +
72+
accel.acceleration.y * accel.acceleration.y +
73+
accel.acceleration.z * accel.acceleration.z);
74+
return true;
75+
}
76+
77+
bool drvIsm330dhcx::getEventRaw(sensors_event_t *rawEvent) {
78+
if (!_imu) {
79+
return false;
80+
}
81+
WS_DEBUG_PRINTLN("[drvIsm330dhcx] Getting raw magnitude event...");
82+
float magnitude = 0.0f;
83+
if (!computeAccelMagnitude(magnitude)) {
84+
return false;
85+
}
86+
rawEvent->data[0] = magnitude;
87+
WS_DEBUG_PRINT("[drvIsm330dhcx] Raw magnitude: ");
88+
WS_DEBUG_PRINTLN(magnitude);
89+
return true;
90+
}
91+
92+
bool drvIsm330dhcx::getEventBoolean(sensors_event_t *booleanEvent) {
93+
if (!_imu) {
94+
return false;
95+
}
96+
WS_DEBUG_PRINTLN("[drvIsm330dhcx] Checking for tap/threshold event...");
97+
bool tap = _imu->shake();
98+
booleanEvent->data[0] = tap ? 1.0f : 0.0f;
99+
if (tap) {
100+
WS_DEBUG_PRINTLN("[drvIsm330dhcx] Threshold event detected");
101+
}
102+
return true;
103+
}
104+
105+
bool drvIsm330dhcx::getEventAccelerometer(sensors_event_t *accelEvent) {
106+
if (!_imu) {
107+
return false;
108+
}
109+
WS_DEBUG_PRINTLN("[drvIsm330dhcx] Getting accelerometer event...");
110+
sensors_event_t gyro, temp;
111+
return readAllEvents(accelEvent, &gyro, &temp);
112+
}
113+
114+
bool drvIsm330dhcx::getEventGyroscope(sensors_event_t *gyroEvent) {
115+
if (!_imu) {
116+
return false;
117+
}
118+
WS_DEBUG_PRINTLN("[drvIsm330dhcx] Getting gyroscope event...");
119+
sensors_event_t accel, temp;
120+
return readAllEvents(&accel, gyroEvent, &temp);
121+
}
122+
123+
void drvIsm330dhcx::ConfigureDefaultSensorTypes() {
124+
_default_sensor_types_count = 1;
125+
_default_sensor_types[0] =
126+
wippersnapper_sensor_SensorType_SENSOR_TYPE_ACCELEROMETER;
127+
}

‎src/components/i2c/drivers/drvIsm330dhcx.h‎

Lines changed: 37 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,37 @@
1+
/*!
2+
* @file drvIsm330dhcx.h
3+
*
4+
* Driver wrapper for the Adafruit ISM330DHCX (LSM6DSOX core) 6-DoF IMU.
5+
*/
6+
#ifndef DRV_ISM330DHCX_H
7+
#define DRV_ISM330DHCX_H
8+
9+
#include "Wippersnapper_V2.h"
10+
#include "drvBase.h"
11+
#include <Adafruit_ISM330DHCX.h>
12+
13+
#define ISM330_TAP_THRESHOLD_MSS 15.0f
14+
15+
class drvIsm330dhcx : public drvBase {
16+
public:
17+
drvIsm330dhcx(TwoWire *i2c, uint16_t sensorAddress, uint32_t mux_channel,
18+
const char *driver_name);
19+
~drvIsm330dhcx();
20+
21+
bool begin() override;
22+
bool getEventBoolean(sensors_event_t *booleanEvent) override;
23+
bool getEventRaw(sensors_event_t *rawEvent) override;
24+
bool getEventAccelerometer(sensors_event_t *accelEvent) override;
25+
bool getEventGyroscope(sensors_event_t *gyroEvent) override;
26+
27+
void ConfigureDefaultSensorTypes() override;
28+
29+
private:
30+
bool readAllEvents(sensors_event_t *accel, sensors_event_t *gyro,
31+
sensors_event_t *temp);
32+
bool computeAccelMagnitude(float &magnitude);
33+
34+
Adafruit_ISM330DHCX *_imu = nullptr; ///< Pointer to the ISM330DHCX sensor
35+
};
36+
37+
#endif // DRV_ISM330DHCX_H

‎src/components/i2c/drivers/drvIsm330dlc.cpp‎

Lines changed: 127 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,127 @@
1+
/*!
2+
* @file drvIsm330dlc.cpp
3+
*
4+
* Driver wrapper for the Adafruit ISM330DLC (LSM6DSL core) 6-DoF IMU.
5+
*/
6+
7+
#include "drvIsm330dlc.h"
8+
9+
#include <math.h>
10+
11+
drvIsm330dlc::drvIsm330dlc(TwoWire *i2c, uint16_t sensorAddress,
12+
uint32_t mux_channel, const char *driver_name)
13+
: drvBase(i2c, sensorAddress, mux_channel, driver_name) {}
14+
15+
drvIsm330dlc::~drvIsm330dlc() {
16+
if (_imu) {
17+
delete _imu;
18+
_imu = nullptr;
19+
}
20+
}
21+
22+
bool drvIsm330dlc::begin() {
23+
if (_imu) {
24+
delete _imu;
25+
_imu = nullptr;
26+
}
27+
28+
_imu = new Adafruit_LSM6DSL();
29+
if (!_imu) {
30+
return false;
31+
}
32+
33+
uint8_t addr = _address == 0 ? LSM6DS_I2CADDR_DEFAULT : (uint8_t)_address;
34+
WS_DEBUG_PRINT("[drvIsm330dlc] Initialising @ 0x");
35+
WS_DEBUG_PRINTHEX(addr);
36+
WS_DEBUG_PRINTLN("...");
37+
38+
if (!_imu->begin_I2C(addr, _i2c)) {
39+
WS_DEBUG_PRINTLN("[drvIsm330dlc] Failed to initialise sensor");
40+
delete _imu;
41+
_imu = nullptr;
42+
return false;
43+
}
44+
45+
_imu->setAccelRange(LSM6DS_ACCEL_RANGE_4_G);
46+
_imu->setAccelDataRate(LSM6DS_RATE_104_HZ);
47+
_imu->setGyroRange(LSM6DS_GYRO_RANGE_500_DPS);
48+
_imu->setGyroDataRate(LSM6DS_RATE_104_HZ);
49+
_imu->configInt1(false, false, false, false, true);
50+
_imu->configInt2(false, false, false);
51+
_imu->enableWakeup(true);
52+
53+
WS_DEBUG_PRINTLN("[drvIsm330dlc] Sensor initialised successfully");
54+
return true;
55+
}
56+
57+
bool drvIsm330dlc::readAllEvents(sensors_event_t *accel,
58+
sensors_event_t *gyro,
59+
sensors_event_t *temp) {
60+
if (!_imu) {
61+
return false;
62+
}
63+
return _imu->getEvent(accel, gyro, temp);
64+
}
65+
66+
bool drvIsm330dlc::computeAccelMagnitude(float &magnitude) {
67+
sensors_event_t accel, gyro, temp;
68+
if (!readAllEvents(&accel, &gyro, &temp)) {
69+
return false;
70+
}
71+
magnitude = sqrtf(accel.acceleration.x * accel.acceleration.x +
72+
accel.acceleration.y * accel.acceleration.y +
73+
accel.acceleration.z * accel.acceleration.z);
74+
return true;
75+
}
76+
77+
bool drvIsm330dlc::getEventRaw(sensors_event_t *rawEvent) {
78+
if (!_imu) {
79+
return false;
80+
}
81+
WS_DEBUG_PRINTLN("[drvIsm330dlc] Getting raw magnitude event...");
82+
float magnitude = 0.0f;
83+
if (!computeAccelMagnitude(magnitude)) {
84+
return false;
85+
}
86+
rawEvent->data[0] = magnitude;
87+
WS_DEBUG_PRINT("[drvIsm330dlc] Raw magnitude: ");
88+
WS_DEBUG_PRINTLN(magnitude);
89+
return true;
90+
}
91+
92+
bool drvIsm330dlc::getEventBoolean(sensors_event_t *booleanEvent) {
93+
if (!_imu) {
94+
return false;
95+
}
96+
WS_DEBUG_PRINTLN("[drvIsm330dlc] Checking for tap/threshold event...");
97+
bool tap = _imu->shake();
98+
booleanEvent->data[0] = tap ? 1.0f : 0.0f;
99+
if (tap) {
100+
WS_DEBUG_PRINTLN("[drvIsm330dlc] Threshold event detected");
101+
}
102+
return true;
103+
}
104+
105+
bool drvIsm330dlc::getEventAccelerometer(sensors_event_t *accelEvent) {
106+
if (!_imu) {
107+
return false;
108+
}
109+
WS_DEBUG_PRINTLN("[drvIsm330dlc] Getting accelerometer event...");
110+
sensors_event_t gyro, temp;
111+
return readAllEvents(accelEvent, &gyro, &temp);
112+
}
113+
114+
bool drvIsm330dlc::getEventGyroscope(sensors_event_t *gyroEvent) {
115+
if (!_imu) {
116+
return false;
117+
}
118+
WS_DEBUG_PRINTLN("[drvIsm330dlc] Getting gyroscope event...");
119+
sensors_event_t accel, temp;
120+
return readAllEvents(&accel, gyroEvent, &temp);
121+
}
122+
123+
void drvIsm330dlc::ConfigureDefaultSensorTypes() {
124+
_default_sensor_types_count = 1;
125+
_default_sensor_types[0] =
126+
wippersnapper_sensor_SensorType_SENSOR_TYPE_ACCELEROMETER;
127+
}

‎src/components/i2c/drivers/drvIsm330dlc.h‎

Lines changed: 43 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,43 @@
1+
/*!
2+
* @file drvIsm330dlc.h
3+
*
4+
* Driver wrapper for the Adafruit ISM330DLC (LSM6DSL core) 6-DoF IMU.
5+
*
6+
* Adafruit invests time and resources providing this open source code,
7+
* please support Adafruit and open-source hardware by purchasing
8+
* products from Adafruit!
9+
*
10+
* MIT license, all text here must be included in any redistribution.
11+
*/
12+
#ifndef DRV_ISM330DLC_H
13+
#define DRV_ISM330DLC_H
14+
15+
#include "Wippersnapper_V2.h"
16+
#include "drvBase.h"
17+
#include <Adafruit_LSM6DSL.h>
18+
19+
#define ISM330_TAP_THRESHOLD_MSS 15.0f
20+
21+
class drvIsm330dlc : public drvBase {
22+
public:
23+
drvIsm330dlc(TwoWire *i2c, uint16_t sensorAddress, uint32_t mux_channel,
24+
const char *driver_name);
25+
~drvIsm330dlc();
26+
27+
bool begin() override;
28+
bool getEventBoolean(sensors_event_t *booleanEvent) override;
29+
bool getEventRaw(sensors_event_t *rawEvent) override;
30+
bool getEventAccelerometer(sensors_event_t *accelEvent) override;
31+
bool getEventGyroscope(sensors_event_t *gyroEvent) override;
32+
33+
void ConfigureDefaultSensorTypes() override;
34+
35+
private:
36+
bool readAllEvents(sensors_event_t *accel, sensors_event_t *gyro,
37+
sensors_event_t *temp);
38+
bool computeAccelMagnitude(float &magnitude);
39+
40+
Adafruit_LSM6DSL *_imu = nullptr; ///< Pointer to the ISM330DLC sensor
41+
};
42+
43+
#endif // DRV_ISM330DLC_H

0 commit comments

Comments
 (0)