added new IMU library support for new revision

Author: Rocketct

src/IMUClass.cpp

@@ -0,0 +1,114 @@
+/*
+  This file is part of the Arduino_LSM6DSOX library.
+  Copyright (c) 2021 Arduino SA. All rights reserved.
+
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  This library is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+  Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General Public
+  License along with this library; if not, write to the Free Software
+  Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
+*/
+
+#include "IMUClass.h"
+
+// sets function called on slave write
+IMUClass::IMUClass( getRev_t getRevision)
+{
+  //If board_revision = 0, IMU module is LSM6DSOX, otherwise is LSM6DS3
+  board_revision = getRevision;
+}
+
+IMUClass::~IMUClass()
+{
+}
+
+int IMUClass::begin()
+{
+  _revision = board_revision();
+  if (_revision == BOARD_REVISION_2) {
+    LSM6DSOX = new LSM6DSOXClass(Wire, LSM6DSOX_ADDRESS);
+    if (LSM6DSOX == nullptr) return 0;
+    return LSM6DSOX->begin();
+  } else {
+    LSM6DS3 = new LSM6DS3Class(Wire, LSM6DS3_ADDRESS);
+    if (LSM6DS3 == nullptr) return 0;
+    return LSM6DS3->begin();
+  }
+
+}
+
+void IMUClass::end()
+{
+  if (_revision == BOARD_REVISION_2) {
+    LSM6DSOX->end();
+    delete LSM6DSOX;
+    LSM6DSOX = nullptr;
+  } else {
+    LSM6DS3->end();
+    delete LSM6DS3;
+    LSM6DS3 = nullptr;
+  }
+}
+
+int IMUClass::readAcceleration(float& x, float& y, float& z)
+{
+  if (_revision == BOARD_REVISION_2) {
+    return LSM6DSOX->readAcceleration(x,y,z);
+  } else {
+    return LSM6DS3->readAcceleration(x,y,z);
+  }
+}
+
+int IMUClass::accelerationAvailable()
+{
+  if (_revision == BOARD_REVISION_2) {
+    return LSM6DSOX->accelerationAvailable();
+  } else {
+    return LSM6DS3->accelerationAvailable();
+  }
+
+}
+
+float IMUClass::accelerationSampleRate()
+{
+  if (_revision == BOARD_REVISION_2) {
+    return LSM6DSOX->accelerationSampleRate();
+  } else {
+    return LSM6DS3->accelerationSampleRate();
+  }
+}
+
+int IMUClass::readGyroscope(float& x, float& y, float& z)
+{
+  if (_revision == BOARD_REVISION_2) {
+    return LSM6DSOX->readGyroscope(x,y,z);
+  } else {
+    return LSM6DS3->readGyroscope(x,y,z);
+  }
+}
+
+int IMUClass::gyroscopeAvailable()
+{
+  if (_revision == BOARD_REVISION_2) {
+    return LSM6DSOX->gyroscopeAvailable();
+  } else {
+    return LSM6DS3->gyroscopeAvailable();
+  }
+}
+
+float IMUClass::gyroscopeSampleRate()
+{
+  if (_revision == BOARD_REVISION_2) {
+    return LSM6DSOX->gyroscopeSampleRate();
+  } else {
+    return LSM6DS3->gyroscopeSampleRate();
+  }
+}

src/IMUClass.h

@@ -0,0 +1,37 @@
+#ifndef _IMUCLASS_H_INCLUDED
+#define _IMUCLASS_H_INCLUDED
+
+#include <Arduino.h>
+#include <MKRIoTCarrierDefines.h>
+
+
+class IMUClass {
+  public:
+    IMUClass(int (*)(void));
+    ~IMUClass();
+
+    int begin();
+    void end();
+
+    // Accelerometer
+    int readAcceleration(float& x, float& y, float& z); // Results are in g (earth gravity).
+    float accelerationSampleRate(); // Sampling rate of the sensor.
+    int accelerationAvailable(); // Check for available data from accelerometer
+
+    // Gyroscope
+    int readGyroscope(float& x, float& y, float& z); // Results are in degrees/second.
+    float gyroscopeSampleRate(); // Sampling rate of the sensor.
+    int gyroscopeAvailable(); // Check for available data from gyroscope
+
+    
+
+  private:
+    LSM6DSOXClass* LSM6DSOX;
+    LSM6DS3Class* LSM6DS3;
+  private:
+
+    int (*board_revision)(void);
+    int _revision;
+};
+
+#endif  //_IMUCLASS_H_INCLUDED