Feature/cpp migration

README.md

@@ -1,6 +1,6 @@
-# LSM6DS3
+# LSM6DS
 
-Biblioteca adaptada do [driver da ST](https://github.com/STMicroelectronics/STMems_Standard_C_drivers/tree/master/lsm6ds3_STdC) para utilizar o sensor de 6 eixos LSM6DS3 (Os arquivos `lsm6ds3_reg.h/.c` não foram modificados)
+Biblioteca adaptada do driver da ST para utilizar tanto o sensor de 6 eixos [LSM6DS3](https://github.com/STMicroelectronics/lsm6ds3-pid) quanto o [LSM6DSO](https://github.com/STMicroelectronics/stm32-lsm6dso)
 
 # Utilização
 ## Cube:
@@ -11,7 +11,10 @@ Biblioteca adaptada do [driver da ST](https://github.com/STMicroelectronics/STMe
     * CPOL deve ter valor 1 (High) e CPHA deve ter valor 1 (2 Edge)
     * É necessário escolher um pino e setar como GPIO_Output, esse pino será usado como Chip Select
 
-## No arquivo lsm6ds3.c:
+## No arquivo lsm6ds.c:
+
+Neste arquivo, no momento em que a placa é ligada, já é identificado qual sensor está sendo utilizado.
+
 * Descomentar a linha com o protocolo usado e comentar a outra
   * Para I2C:
     ```c
@@ -61,35 +64,35 @@ Biblioteca adaptada do [driver da ST](https://github.com/STMicroelectronics/STMe
 * Criar uma struct que contém os valores desejados de sensibilidades e de frequências de amostragem do acelerômetro e do giroscópio
   ```c
   // Exemplo
-  lsm6ds3_settings_t lsm6ds3_settings = {
-      .lsm6ds3_xl_fs = LSM6DS3_16g,
-      .lsm6ds3_fs_g = LSM6DS3_2000dps,
-      .lsm6ds3_odr_xl = LSM6DS3_XL_ODR_6k66Hz,
-      .lsm6ds3_odr_g = LSM6DS3_GY_ODR_1k66Hz
+  lsm6ds_settings_t lsm6ds_settings = {
+      .lsm6ds_xl_fs = LSM6DS_16g,
+      .lsm6ds_fs_g = LSM6DS_2000dps,
+      .lsm6ds_odr_xl = LSM6DS_XL_ODR_6k66Hz,
+      .lsm6ds_odr_g = LSM6DS_GY_ODR_1k66Hz
   };
   ```
 * Para inicializar o sensor, use a função
   ```c
-  int8_t lsm6ds3_init(lsm6ds3_settings_t lsm6ds3_settings)
+  int8_t lsm6ds_init(lsm6ds_settings_t lsm6ds_settings)
   ```
-* A função `lsm6ds3_init` retorna `1` caso haja erro na leitura do registrador `WHO_AM_I` do sensor
+* A função `lsm6ds_init` retorna `1` caso haja erro na leitura do registrador `WHO_AM_I` do sensor
 
 ## Para obter as leituras do sensor:
 * Primeiro é necessário atualizar os dados brutos:
   * Se os pinos INT não estão sendo usados, use a função:
     ```c
-    void lsm6ds3_update_data()
+    void lsm6ds_update_data()
     ```
   * Se os pinos INT estão sendo usados, use a função:
     ```c
-    void lsm6ds3_update_data_interrupt()
+    void lsm6ds_update_data_interrupt()
     ```
 * Depois disso, para obter as leituras já convertidas, use as funções 
   ```c
-  float* lsm6ds3_get_acc_data_mg()
-  float* lsm6ds3_get_gyro_data_mdps()
+  float* lsm6ds_get_acc_data_mg()
+  float* lsm6ds_get_gyro_data_mdps()
   ```
 
 ---------------------
 
-Equipe ThundeRatz de Robótica
+Equipe ThundeRatz de Robótica

cmake/FindLSM6DS3.cmake

@@ -0,0 +1,27 @@
+set(LSM6DS3_PATH ./lib/LSM6DS3)
+set(CUBE_INC_PATH ${CMAKE_SOURCE_DIR}/cube/Inc)
+
+file(GLOB_RECURSE SOURCES LIST_DIRECTORIES false "${LSM6DS3_PATH}/src/*")
+
+list(APPEND LIB_SOURCES
+    ${SOURCES}
+)
+
+list(APPEND LIB_INCLUDE_DIRECTORIES
+    ${LSM6DS3_PATH}/inc
+    ${LSM6DS3_PATH}/inc/types
+    ${LSM6DS3_PATH}/inc/reg
+    ${LSM6DS3_PATH}/inc/proxys
+    ${LSM6DS3_PATH}/inc/interfaces
+    ${LSM6DS3_PATH}/inc/platforms
+)
+
+if(NOT EXISTS ${CUBE_INC_PATH}/i2c.h)
+    list(APPEND LIB_INCLUDE_DIRECTORIES
+        ${LSM6DS3_PATH}/inc/cube_mock/i2c_mock
+    )
+elseif(NOT EXISTS ${CUBE_INC_PATH}/spi.h)
+    list(APPEND LIB_INCLUDE_DIRECTORIES
+        ${LSM6DS3_PATH}/inc/cube_mock/spi_mock
+    )
+endif()

inc/cube_mock/i2c_mock/i2c.h

@@ -0,0 +1,17 @@
+/**
+ * @file i2c.h
+ *
+ * @brief This file is a mock file for when "i2c.h" is not defined
+ *
+ * @author Bruno Machado <[email protected]>
+ * @author Pedro Machado <[email protected]>
+ *
+ * @date 08/2023
+ */
+
+
+#ifndef __I2C_H__
+#define __I2C_H__
+
+
+#endif

inc/cube_mock/spi_mock/spi.h

@@ -0,0 +1,17 @@
+/**
+ * @file spi.h
+ *
+ * @brief This file is a mock file for when "spi.h" is not defined
+ *
+ * @author Bruno Machado <[email protected]>
+ * @author Pedro Machado <[email protected]>
+ *
+ * @date 08/2023
+ */
+
+#ifndef __SPI_H__
+#define __SPI_H__
+
+
+
+#endif

inc/interfaces/lsm6ds_c_interface.h

@@ -0,0 +1,75 @@
+/**
+ * @file lsm6ds_c_interface.h
+ *
+ * @brief This file is a declaration for a c compatible interface
+ *
+ * @author Bruno Machado <[email protected]>
+ * @author Pedro Machado <[email protected]>
+ *
+ * @date 08/2023
+ */
+
+#ifndef __LSM6DS_C_INTERFACE_H__
+#define __LSM6DS_C_INTERFACE_H__
+
+#include "lsm6ds_settings_type.h"
+#include "lsm6ds_pinout.h"
+#include "lsm6ds_common.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @brief  Initialize the sensor and set acc/gyro sensitivities and data rates
+ *
+ * @param  lsm6ds_settings    Struct of acc/gyro sensitivities and data rates settings
+ * @param  I2C_pinout_config  Struct of sensor pinout configurations in I2C mode
+ *
+ */
+int8_t lsm6ds_init_I2C(lsm6ds_settings_t lsm6ds_settings, lsm6ds_I2C_pinout_t I2C_pinout_config);
+
+/**
+ * @brief  Initialize the sensor and set acc/gyro sensitivities and data rates
+ *
+ * @param  lsm6ds_settings    Struct of acc/gyro sensitivities and data rates settings
+ * @param  SPI_pinout_config  Struct of sensor pinout configurations in SPI mode
+ *
+ */
+int8_t lsm6ds_init_SPI(lsm6ds_settings_t lsm6ds_settings, lsm6ds_SPI_pinout_t SPI_pinout_config);
+
+/**
+ * @brief Update sensor data if available (Use this function if not using interrupt pins)
+ */
+void lsm6ds_update_data();
+
+/**
+ * @brief Update sensor data (Use this function when using interrupt pins)
+ */
+void lsm6ds_update_data_ready_interrupt();
+
+/**
+ * @brief Update sensor data (Use this function if using fifo continuous mode with interrupt pins)
+ */
+void lsm6ds_update_data_fifo_full_interrupt();
+
+/**
+ * @brief Resets fifo data
+ */
+void lsm6ds_reset_fifo();
+
+/**
+ * @brief Get accelerometer data array in mg
+ */
+float* lsm6ds_get_acc_data_mg();
+
+/**
+ * @brief Get gyroscope data array in mdps
+ */
+float* lsm6ds_get_gyro_data_mdps();
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // __LSM6DS_C_INTERFACE_H__

inc/interfaces/lsm6ds_interface.hpp

@@ -0,0 +1,83 @@
+/**
+ * @file lsm6ds_interface.hpp
+ *
+ * @brief This file is a declaration of the LSM6DS_Interface class
+ *
+ * @author Bruno Machado <[email protected]>
+ * @author Pedro Machado <[email protected]>
+ *
+ * @date 08/2023
+ */
+
+#ifndef __LSM6DS_INTERFACE_HPP__
+#define __LSM6DS_INTERFACE_HPP__
+
+#include "lsm6ds_proxy.hpp"
+
+class LSM6DS_Interface {
+    public:
+        /**
+         * @brief Construct a new LSM6DS_Interface object
+         *
+         */
+        LSM6DS_Interface() = default;
+
+        /**
+         * @brief Destroy the LSM6DS_Interface object
+         *
+         */
+        ~LSM6DS_Interface() = default;
+
+        /**
+         * @brief  Initialize the sensor and set acc/gyro sensitivities and data rates
+         *
+         * @param  lsm6ds_settings    Struct of acc/gyro sensitivities and data rates settings
+         * @param  I2C_pinout_config  Struct of sensor pinout configurations in I2C mode
+         *
+         */
+        int8_t init(lsm6ds_settings_t lsm6ds_settings, lsm6ds_I2C_pinout_t I2C_pinout_config);
+
+        /**
+         * @brief  Initialize the sensor and set acc/gyro sensitivities and data rates
+         *
+         * @param  lsm6ds_settings    Struct of acc/gyro sensitivities and data rates settings
+         * @param  SPI_pinout_config  Struct of sensor pinout configurations in SPI mode
+         *
+         */
+        int8_t init(lsm6ds_settings_t lsm6ds_settings, lsm6ds_SPI_pinout_t SPI_pinout_config);
+
+        /**
+         * @brief Update sensor data if available (Use this function if not using interrupt pins)
+         */
+        void update_data();
+
+        /**
+         * @brief Update sensor data (Use this function when using interrupt pins)
+         */
+        void update_data_ready_interrupt();
+
+        /**
+         * @brief Update sensor data (Use this function if using fifo continuous mode with interrupt pins)
+         */
+        void update_data_fifo_full_interrupt();
+
+        /**
+         * @brief Resets fifo data
+         */
+        void reset_fifo();
+
+        /**
+         * @brief Get accelerometer data array in mg
+         */
+        float* get_acc_data_mg();
+
+        /**
+         * @brief Get gyroscope data array in mdps
+         */
+        float* get_gyro_data_mdps();
+
+    private:
+        std::unique_ptr<LSM6DS_Proxy> lsm6ds_sensor;
+};
+
+#endif // __LSM6DS_INTERFACE_HPP__