AdvRobot_Team
LSM9DS1_Library
Fork of
LSM9DS1_Library
by 
jim hamblen
LSM9DS1.h@3:9ed8bc1d0da3, 2017-06-13 (annotated)
- Committer:
- ChangYuHsuan
- Date:
- Tue Jun 13 03:51:56 2017 +0000
- Revision:
- 3:9ed8bc1d0da3
- Parent:
- 2:e8c2301f7523
F446RE test;
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| jmar7 | 0:e8167f37725c | 1 | /****************************************************************************** |
| jmar7 | 0:e8167f37725c | 2 | SFE_LSM9DS1.h |
| jmar7 | 0:e8167f37725c | 3 | SFE_LSM9DS1 Library Header File |
| jmar7 | 0:e8167f37725c | 4 | Jim Lindblom @ SparkFun Electronics |
| jmar7 | 0:e8167f37725c | 5 | Original Creation Date: February 27, 2015 |
| jmar7 | 0:e8167f37725c | 6 | https://github.com/sparkfun/LSM9DS1_Breakout |
| jmar7 | 0:e8167f37725c | 7 | |
| jmar7 | 0:e8167f37725c | 8 | This file prototypes the LSM9DS1 class, implemented in SFE_LSM9DS1.cpp. In |
| jmar7 | 0:e8167f37725c | 9 | addition, it defines every register in the LSM9DS1 (both the Gyro and Accel/ |
| jmar7 | 0:e8167f37725c | 10 | Magnetometer registers). |
| jmar7 | 0:e8167f37725c | 11 | |
| jmar7 | 0:e8167f37725c | 12 | Development environment specifics: |
| jmar7 | 0:e8167f37725c | 13 | IDE: Arduino 1.6.0 |
| jmar7 | 0:e8167f37725c | 14 | Hardware Platform: Arduino Uno |
| jmar7 | 0:e8167f37725c | 15 | LSM9DS1 Breakout Version: 1.0 |
| jmar7 | 0:e8167f37725c | 16 | |
| jmar7 | 0:e8167f37725c | 17 | This code is beerware; if you see me (or any other SparkFun employee) at the |
| jmar7 | 0:e8167f37725c | 18 | local, and you've found our code helpful, please buy us a round! |
| jmar7 | 0:e8167f37725c | 19 | |
| jmar7 | 0:e8167f37725c | 20 | Distributed as-is; no warranty is given. |
| jmar7 | 0:e8167f37725c | 21 | ******************************************************************************/ |
| jmar7 | 0:e8167f37725c | 22 | #ifndef __SparkFunLSM9DS1_H__ |
| jmar7 | 0:e8167f37725c | 23 | #define __SparkFunLSM9DS1_H__ |
| jmar7 | 0:e8167f37725c | 24 | |
| jmar7 | 0:e8167f37725c | 25 | //#if defined(ARDUINO) && ARDUINO >= 100 |
| jmar7 | 0:e8167f37725c | 26 | // #include "Arduino.h" |
| jmar7 | 0:e8167f37725c | 27 | //#else |
| jmar7 | 0:e8167f37725c | 28 | // #include "WProgram.h" |
| jmar7 | 0:e8167f37725c | 29 | // #include "pins_arduino.h" |
| jmar7 | 0:e8167f37725c | 30 | //#endif |
| jmar7 | 0:e8167f37725c | 31 | |
| jmar7 | 0:e8167f37725c | 32 | #include "mbed.h" |
| jmar7 | 0:e8167f37725c | 33 | #include <stdint.h> |
| jmar7 | 0:e8167f37725c | 34 | #include "LSM9DS1_Registers.h" |
| jmar7 | 0:e8167f37725c | 35 | #include "LSM9DS1_Types.h" |
| ChangYuHsuan | 3:9ed8bc1d0da3 | 36 | #include <vector> |
| ChangYuHsuan | 3:9ed8bc1d0da3 | 37 | using std::vector; |
| ChangYuHsuan | 3:9ed8bc1d0da3 | 38 | |
| ChangYuHsuan | 3:9ed8bc1d0da3 | 39 | #define PI 3.1415926 |
| ChangYuHsuan | 3:9ed8bc1d0da3 | 40 | #define G 9.81 |
| jmar7 | 0:e8167f37725c | 41 | |
| jmar7 | 0:e8167f37725c | 42 | #define LSM9DS1_AG_ADDR(sa0) ((sa0) == 0 ? 0x6A : 0x6B) |
| jmar7 | 0:e8167f37725c | 43 | #define LSM9DS1_M_ADDR(sa1) ((sa1) == 0 ? 0x1C : 0x1E) |
| jmar7 | 0:e8167f37725c | 44 | |
| jmar7 | 0:e8167f37725c | 45 | enum lsm9ds1_axis { |
| jmar7 | 0:e8167f37725c | 46 | X_AXIS, |
| jmar7 | 0:e8167f37725c | 47 | Y_AXIS, |
| jmar7 | 0:e8167f37725c | 48 | Z_AXIS, |
| jmar7 | 0:e8167f37725c | 49 | ALL_AXIS |
| jmar7 | 0:e8167f37725c | 50 | }; |
| jmar7 | 0:e8167f37725c | 51 | |
| jmar7 | 0:e8167f37725c | 52 | class LSM9DS1 |
| jmar7 | 0:e8167f37725c | 53 | { |
| jmar7 | 0:e8167f37725c | 54 | public: |
| jmar7 | 0:e8167f37725c | 55 | IMUSettings settings; |
| jmar7 | 0:e8167f37725c | 56 | |
| jmar7 | 0:e8167f37725c | 57 | // We'll store the gyro, accel, and magnetometer readings in a series of |
| jmar7 | 0:e8167f37725c | 58 | // public class variables. Each sensor gets three variables -- one for each |
| jmar7 | 0:e8167f37725c | 59 | // axis. Call readGyro(), readAccel(), and readMag() first, before using |
| jmar7 | 0:e8167f37725c | 60 | // these variables! |
| jmar7 | 0:e8167f37725c | 61 | // These values are the RAW signed 16-bit readings from the sensors. |
| jmar7 | 0:e8167f37725c | 62 | int16_t gx, gy, gz; // x, y, and z axis readings of the gyroscope |
| jmar7 | 0:e8167f37725c | 63 | int16_t ax, ay, az; // x, y, and z axis readings of the accelerometer |
| jmar7 | 0:e8167f37725c | 64 | int16_t mx, my, mz; // x, y, and z axis readings of the magnetometer |
| jmar7 | 0:e8167f37725c | 65 | int16_t temperature; // Chip temperature |
| jmar7 | 0:e8167f37725c | 66 | float gBias[3], aBias[3], mBias[3]; |
| jmar7 | 0:e8167f37725c | 67 | int16_t gBiasRaw[3], aBiasRaw[3], mBiasRaw[3]; |
| jmar7 | 0:e8167f37725c | 68 | |
| ChangYuHsuan | 3:9ed8bc1d0da3 | 69 | // Unit transformation |
| ChangYuHsuan | 3:9ed8bc1d0da3 | 70 | float deg2rad; // = 3.1415926/180.0; |
| ChangYuHsuan | 3:9ed8bc1d0da3 | 71 | float rad2deg; // = 180.0/3.1415926; |
| ChangYuHsuan | 3:9ed8bc1d0da3 | 72 | |
| jmar7 | 0:e8167f37725c | 73 | // LSM9DS1 -- LSM9DS1 class constructor |
| jmar7 | 0:e8167f37725c | 74 | // The constructor will set up a handful of private variables, and set the |
| jmar7 | 0:e8167f37725c | 75 | // communication mode as well. |
| jmar7 | 1:87d535bf8c53 | 76 | /**Input: |
| jmar7 | 1:87d535bf8c53 | 77 | * - interface = Either IMU_MODE_SPI or IMU_MODE_I2C, whichever you're using |
| jmar7 | 1:87d535bf8c53 | 78 | * to talk to the IC. |
| jmar7 | 1:87d535bf8c53 | 79 | * - xgAddr = If IMU_MODE_I2C, this is the I2C address of the accel/gyroscope. |
| jmar7 | 1:87d535bf8c53 | 80 | * If IMU_MODE_SPI, this is the chip select pin of the gyro (CS_AG) |
| jmar7 | 1:87d535bf8c53 | 81 | * - mAddr = If IMU_MODE_I2C, this is the I2C address of the magnetometer. |
| jmar7 | 1:87d535bf8c53 | 82 | * If IMU_MODE_SPI, this is the cs pin of the magnetometer (CS_M) |
| jmar7 | 1:87d535bf8c53 | 83 | |
| jmar7 | 1:87d535bf8c53 | 84 | */ |
| jmar7 | 0:e8167f37725c | 85 | LSM9DS1(PinName sda, PinName scl, uint8_t xgAddr, uint8_t mAddr); |
| jmar7 | 1:87d535bf8c53 | 86 | //LSM9DS1(interface_mode interface, uint8_t xgAddr, uint8_t mAddr); |
| jmar7 | 1:87d535bf8c53 | 87 | //LSM9DS1(); |
| jmar7 | 1:87d535bf8c53 | 88 | |
| jmar7 | 1:87d535bf8c53 | 89 | |
| jmar7 | 1:87d535bf8c53 | 90 | /** begin() -- Initialize the gyro, accelerometer, and magnetometer. |
| jmar7 | 1:87d535bf8c53 | 91 | *This will set up the scale and output rate of each sensor. The values set |
| jmar7 | 1:87d535bf8c53 | 92 | * in the IMUSettings struct will take effect after calling this function. |
| jmar7 | 1:87d535bf8c53 | 93 | */ |
| jmar7 | 0:e8167f37725c | 94 | uint16_t begin(); |
| jmar7 | 0:e8167f37725c | 95 | |
| jmar7 | 0:e8167f37725c | 96 | void calibrate(bool autoCalc = true); |
| jmar7 | 0:e8167f37725c | 97 | void calibrateMag(bool loadIn = true); |
| jmar7 | 0:e8167f37725c | 98 | void magOffset(uint8_t axis, int16_t offset); |
| jmar7 | 0:e8167f37725c | 99 | |
| jmar7 | 1:87d535bf8c53 | 100 | /** accelAvailable() -- Polls the accelerometer status register to check |
| jmar7 | 1:87d535bf8c53 | 101 | * if new data is available. |
| jmar7 | 1:87d535bf8c53 | 102 | * Output: 1 - New data available |
| jmar7 | 1:87d535bf8c53 | 103 | * 0 - No new data available |
| jmar7 | 1:87d535bf8c53 | 104 | */ |
| jmar7 | 0:e8167f37725c | 105 | uint8_t accelAvailable(); |
| jmar7 | 0:e8167f37725c | 106 | |
| jmar7 | 1:87d535bf8c53 | 107 | /** gyroAvailable() -- Polls the gyroscope status register to check |
| jmar7 | 1:87d535bf8c53 | 108 | * if new data is available. |
| jmar7 | 1:87d535bf8c53 | 109 | * Output: 1 - New data available |
| jmar7 | 1:87d535bf8c53 | 110 | * 0 - No new data available |
| jmar7 | 1:87d535bf8c53 | 111 | */ |
| jmar7 | 0:e8167f37725c | 112 | uint8_t gyroAvailable(); |
| jmar7 | 0:e8167f37725c | 113 | |
| jmar7 | 1:87d535bf8c53 | 114 | /** gyroAvailable() -- Polls the temperature status register to check |
| jmar7 | 1:87d535bf8c53 | 115 | * if new data is available. |
| jmar7 | 1:87d535bf8c53 | 116 | * Output: 1 - New data available |
| jmar7 | 1:87d535bf8c53 | 117 | * 0 - No new data available |
| jmar7 | 1:87d535bf8c53 | 118 | */ |
| jmar7 | 0:e8167f37725c | 119 | uint8_t tempAvailable(); |
| jmar7 | 0:e8167f37725c | 120 | |
| jmar7 | 1:87d535bf8c53 | 121 | /** magAvailable() -- Polls the accelerometer status register to check |
| jmar7 | 1:87d535bf8c53 | 122 | * if new data is available. |
| jmar7 | 1:87d535bf8c53 | 123 | * Input: |
| jmar7 | 1:87d535bf8c53 | 124 | * - axis can be either X_AXIS, Y_AXIS, Z_AXIS, to check for new data |
| jmar7 | 1:87d535bf8c53 | 125 | * on one specific axis. Or ALL_AXIS (default) to check for new data |
| jmar7 | 1:87d535bf8c53 | 126 | * on all axes. |
| jmar7 | 1:87d535bf8c53 | 127 | * Output: 1 - New data available |
| jmar7 | 1:87d535bf8c53 | 128 | * 0 - No new data available |
| jmar7 | 1:87d535bf8c53 | 129 | */ |
| jmar7 | 0:e8167f37725c | 130 | uint8_t magAvailable(lsm9ds1_axis axis = ALL_AXIS); |
| jmar7 | 0:e8167f37725c | 131 | |
| jmar7 | 1:87d535bf8c53 | 132 | /** readGyro() -- Read the gyroscope output registers. |
| jmar7 | 1:87d535bf8c53 | 133 | * This function will read all six gyroscope output registers. |
| jmar7 | 1:87d535bf8c53 | 134 | * The readings are stored in the class' gx, gy, and gz variables. Read |
| jmar7 | 1:87d535bf8c53 | 135 | * those _after_ calling readGyro(). |
| jmar7 | 1:87d535bf8c53 | 136 | */ |
| jmar7 | 0:e8167f37725c | 137 | void readGyro(); |
| jmar7 | 0:e8167f37725c | 138 | |
| jmar7 | 1:87d535bf8c53 | 139 | /** int16_t readGyro(axis) -- Read a specific axis of the gyroscope. |
| jmar7 | 1:87d535bf8c53 | 140 | * [axis] can be any of X_AXIS, Y_AXIS, or Z_AXIS. |
| jmar7 | 1:87d535bf8c53 | 141 | * Input: |
| jmar7 | 1:87d535bf8c53 | 142 | * - axis: can be either X_AXIS, Y_AXIS, or Z_AXIS. |
| jmar7 | 1:87d535bf8c53 | 143 | * Output: |
| jmar7 | 1:87d535bf8c53 | 144 | * A 16-bit signed integer with sensor data on requested axis. |
| jmar7 | 1:87d535bf8c53 | 145 | */ |
| jmar7 | 0:e8167f37725c | 146 | int16_t readGyro(lsm9ds1_axis axis); |
| jmar7 | 0:e8167f37725c | 147 | |
| ChangYuHsuan | 3:9ed8bc1d0da3 | 148 | /** readGyroFloatVectorRad() -- Read the gyroscope output registers. |
| ChangYuHsuan | 3:9ed8bc1d0da3 | 149 | * This function will read all six gyroscope output registers and |
| ChangYuHsuan | 3:9ed8bc1d0da3 | 150 | * transform the data into rad/s^2 unit. |
| ChangYuHsuan | 3:9ed8bc1d0da3 | 151 | * The readings are stored in the class' gx, gy, and gz variables. Read |
| ChangYuHsuan | 3:9ed8bc1d0da3 | 152 | * those _after_ calling readGyro(). |
| ChangYuHsuan | 3:9ed8bc1d0da3 | 153 | */ |
| ChangYuHsuan | 3:9ed8bc1d0da3 | 154 | void readGyroFloatVectorRad(vector<float> &v_out); |
| ChangYuHsuan | 3:9ed8bc1d0da3 | 155 | |
| ChangYuHsuan | 3:9ed8bc1d0da3 | 156 | /** readGyroFloatVectorDeg() -- Read the gyroscope output registers. |
| ChangYuHsuan | 3:9ed8bc1d0da3 | 157 | * This function will read all six gyroscope output registers and |
| ChangYuHsuan | 3:9ed8bc1d0da3 | 158 | * transform the data into rad/s^2 unit. |
| ChangYuHsuan | 3:9ed8bc1d0da3 | 159 | * The readings are stored in the class' gx, gy, and gz variables. Read |
| ChangYuHsuan | 3:9ed8bc1d0da3 | 160 | * those _after_ calling readGyro(). |
| ChangYuHsuan | 3:9ed8bc1d0da3 | 161 | */ |
| ChangYuHsuan | 3:9ed8bc1d0da3 | 162 | void readGyroFloatVectorDeg(vector<float> &v_out); |
| ChangYuHsuan | 3:9ed8bc1d0da3 | 163 | |
| ChangYuHsuan | 3:9ed8bc1d0da3 | 164 | /** float readGyroFloatRad(axis) -- Read a specific axis of the gyroscope in rad/s^2 unit. |
| ChangYuHsuan | 3:9ed8bc1d0da3 | 165 | * [axis] can be any of X_AXIS, Y_AXIS, or Z_AXIS. |
| ChangYuHsuan | 3:9ed8bc1d0da3 | 166 | * Input: |
| ChangYuHsuan | 3:9ed8bc1d0da3 | 167 | * - axis: can be either X_AXIS, Y_AXIS, or Z_AXIS. |
| ChangYuHsuan | 3:9ed8bc1d0da3 | 168 | * Output: |
| ChangYuHsuan | 3:9ed8bc1d0da3 | 169 | * A float with sensor data on requested axis. |
| ChangYuHsuan | 3:9ed8bc1d0da3 | 170 | */ |
| ChangYuHsuan | 3:9ed8bc1d0da3 | 171 | float readGyroFloatRad(lsm9ds1_axis axis); |
| ChangYuHsuan | 3:9ed8bc1d0da3 | 172 | |
| ChangYuHsuan | 3:9ed8bc1d0da3 | 173 | /** float readGyroFloatDeg(axis) -- Read a specific axis of the gyroscope in rad/s^2 unit. |
| ChangYuHsuan | 3:9ed8bc1d0da3 | 174 | * [axis] can be any of X_AXIS, Y_AXIS, or Z_AXIS. |
| ChangYuHsuan | 3:9ed8bc1d0da3 | 175 | * Input: |
| ChangYuHsuan | 3:9ed8bc1d0da3 | 176 | * - axis: can be either X_AXIS, Y_AXIS, or Z_AXIS. |
| ChangYuHsuan | 3:9ed8bc1d0da3 | 177 | * Output: |
| ChangYuHsuan | 3:9ed8bc1d0da3 | 178 | * A float with sensor data on requested axis. |
| ChangYuHsuan | 3:9ed8bc1d0da3 | 179 | */ |
| ChangYuHsuan | 3:9ed8bc1d0da3 | 180 | float readGyroFloatDeg(lsm9ds1_axis axis); |
| ChangYuHsuan | 3:9ed8bc1d0da3 | 181 | |
| jmar7 | 1:87d535bf8c53 | 182 | /** readAccel() -- Read the accelerometer output registers. |
| jmar7 | 1:87d535bf8c53 | 183 | * This function will read all six accelerometer output registers. |
| jmar7 | 1:87d535bf8c53 | 184 | * The readings are stored in the class' ax, ay, and az variables. Read |
| jmar7 | 1:87d535bf8c53 | 185 | * those _after_ calling readAccel(). |
| jmar7 | 1:87d535bf8c53 | 186 | */ |
| jmar7 | 0:e8167f37725c | 187 | void readAccel(); |
| jmar7 | 0:e8167f37725c | 188 | |
| jmar7 | 1:87d535bf8c53 | 189 | /** int16_t readAccel(axis) -- Read a specific axis of the accelerometer. |
| jmar7 | 1:87d535bf8c53 | 190 | * [axis] can be any of X_AXIS, Y_AXIS, or Z_AXIS. |
| jmar7 | 1:87d535bf8c53 | 191 | * Input: |
| jmar7 | 1:87d535bf8c53 | 192 | * - axis: can be either X_AXIS, Y_AXIS, or Z_AXIS. |
| jmar7 | 1:87d535bf8c53 | 193 | * Output: |
| jmar7 | 1:87d535bf8c53 | 194 | * A 16-bit signed integer with sensor data on requested axis. |
| jmar7 | 1:87d535bf8c53 | 195 | */ |
| jmar7 | 0:e8167f37725c | 196 | int16_t readAccel(lsm9ds1_axis axis); |
| jmar7 | 0:e8167f37725c | 197 | |
| ChangYuHsuan | 3:9ed8bc1d0da3 | 198 | /** readAccel() -- Read the accelerometer output registers. |
| ChangYuHsuan | 3:9ed8bc1d0da3 | 199 | * This function will read all six accelerometer output registers and |
| ChangYuHsuan | 3:9ed8bc1d0da3 | 200 | * transform the data into m/s^2 unit. |
| ChangYuHsuan | 3:9ed8bc1d0da3 | 201 | * The readings are stored in the class' ax, ay, and az variables. Read |
| ChangYuHsuan | 3:9ed8bc1d0da3 | 202 | * those _after_ calling readAccel(). |
| ChangYuHsuan | 3:9ed8bc1d0da3 | 203 | */ |
| ChangYuHsuan | 3:9ed8bc1d0da3 | 204 | void readAccelFloatVector(vector<float> &v_out); |
| ChangYuHsuan | 3:9ed8bc1d0da3 | 205 | |
| ChangYuHsuan | 3:9ed8bc1d0da3 | 206 | /** float readAccelFloat(axis) -- Read a specific axis of the accelerometer. |
| ChangYuHsuan | 3:9ed8bc1d0da3 | 207 | * [axis] can be any of X_AXIS, Y_AXIS, or Z_AXIS. |
| ChangYuHsuan | 3:9ed8bc1d0da3 | 208 | * Input: |
| ChangYuHsuan | 3:9ed8bc1d0da3 | 209 | * - axis: can be either X_AXIS, Y_AXIS, or Z_AXIS. |
| ChangYuHsuan | 3:9ed8bc1d0da3 | 210 | * Output: |
| ChangYuHsuan | 3:9ed8bc1d0da3 | 211 | * A float with sensor data on requested axis. |
| ChangYuHsuan | 3:9ed8bc1d0da3 | 212 | */ |
| ChangYuHsuan | 3:9ed8bc1d0da3 | 213 | float readAccelFloat(lsm9ds1_axis axis); |
| ChangYuHsuan | 3:9ed8bc1d0da3 | 214 | |
| ChangYuHsuan | 3:9ed8bc1d0da3 | 215 | |
| jmar7 | 1:87d535bf8c53 | 216 | /** readMag() -- Read the magnetometer output registers. |
| jmar7 | 1:87d535bf8c53 | 217 | * This function will read all six magnetometer output registers. |
| jmar7 | 1:87d535bf8c53 | 218 | * The readings are stored in the class' mx, my, and mz variables. Read |
| jmar7 | 1:87d535bf8c53 | 219 | * those _after_ calling readMag(). |
| jmar7 | 1:87d535bf8c53 | 220 | */ |
| jmar7 | 0:e8167f37725c | 221 | void readMag(); |
| ChangYuHsuan | 3:9ed8bc1d0da3 | 222 | |
| jmar7 | 1:87d535bf8c53 | 223 | /** int16_t readMag(axis) -- Read a specific axis of the magnetometer. |
| jmar7 | 1:87d535bf8c53 | 224 | * [axis] can be any of X_AXIS, Y_AXIS, or Z_AXIS. |
| jmar7 | 1:87d535bf8c53 | 225 | * Input: |
| jmar7 | 1:87d535bf8c53 | 226 | * - axis: can be either X_AXIS, Y_AXIS, or Z_AXIS. |
| jmar7 | 1:87d535bf8c53 | 227 | * Output: |
| jmar7 | 1:87d535bf8c53 | 228 | * A 16-bit signed integer with sensor data on requested axis. |
| jmar7 | 1:87d535bf8c53 | 229 | */ |
| jmar7 | 0:e8167f37725c | 230 | int16_t readMag(lsm9ds1_axis axis); |
| jmar7 | 0:e8167f37725c | 231 | |
| jmar7 | 1:87d535bf8c53 | 232 | /** readTemp() -- Read the temperature output register. |
| jmar7 | 1:87d535bf8c53 | 233 | * This function will read two temperature output registers. |
| jmar7 | 1:87d535bf8c53 | 234 | * The combined readings are stored in the class' temperature variables. Read |
| jmar7 | 1:87d535bf8c53 | 235 | * those _after_ calling readTemp(). |
| jmar7 | 1:87d535bf8c53 | 236 | */ |
| jmar7 | 0:e8167f37725c | 237 | void readTemp(); |
| jmar7 | 0:e8167f37725c | 238 | |
| jmar7 | 1:87d535bf8c53 | 239 | /** calcGyro() -- Convert from RAW signed 16-bit value to degrees per second |
| jmar7 | 1:87d535bf8c53 | 240 | * This function reads in a signed 16-bit value and returns the scaled |
| jmar7 | 1:87d535bf8c53 | 241 | * DPS. This function relies on gScale and gRes being correct. |
| jmar7 | 1:87d535bf8c53 | 242 | * Input: |
| jmar7 | 1:87d535bf8c53 | 243 | * - gyro = A signed 16-bit raw reading from the gyroscope. |
| jmar7 | 1:87d535bf8c53 | 244 | */ |
| jmar7 | 0:e8167f37725c | 245 | float calcGyro(int16_t gyro); |
| jmar7 | 0:e8167f37725c | 246 | |
| jmar7 | 1:87d535bf8c53 | 247 | /** calcAccel() -- Convert from RAW signed 16-bit value to gravity (g's). |
| jmar7 | 1:87d535bf8c53 | 248 | * This function reads in a signed 16-bit value and returns the scaled |
| jmar7 | 1:87d535bf8c53 | 249 | * g's. This function relies on aScale and aRes being correct. |
| jmar7 | 1:87d535bf8c53 | 250 | * Input: |
| jmar7 | 1:87d535bf8c53 | 251 | * - accel = A signed 16-bit raw reading from the accelerometer. |
| jmar7 | 1:87d535bf8c53 | 252 | */ |
| jmar7 | 0:e8167f37725c | 253 | float calcAccel(int16_t accel); |
| jmar7 | 0:e8167f37725c | 254 | |
| jmar7 | 1:87d535bf8c53 | 255 | /** calcMag() -- Convert from RAW signed 16-bit value to Gauss (Gs) |
| jmar7 | 1:87d535bf8c53 | 256 | * This function reads in a signed 16-bit value and returns the scaled |
| jmar7 | 1:87d535bf8c53 | 257 | * Gs. This function relies on mScale and mRes being correct. |
| jmar7 | 1:87d535bf8c53 | 258 | * Input: |
| jmar7 | 1:87d535bf8c53 | 259 | * - mag = A signed 16-bit raw reading from the magnetometer. |
| jmar7 | 1:87d535bf8c53 | 260 | */ |
| jmar7 | 0:e8167f37725c | 261 | float calcMag(int16_t mag); |
| jmar7 | 0:e8167f37725c | 262 | |
| jmar7 | 1:87d535bf8c53 | 263 | /** setGyroScale() -- Set the full-scale range of the gyroscope. |
| jmar7 | 1:87d535bf8c53 | 264 | * This function can be called to set the scale of the gyroscope to |
| jmar7 | 1:87d535bf8c53 | 265 | * 245, 500, or 200 degrees per second. |
| jmar7 | 1:87d535bf8c53 | 266 | * Input: |
| jmar7 | 1:87d535bf8c53 | 267 | * - gScl = The desired gyroscope scale. Must be one of three possible |
| jmar7 | 1:87d535bf8c53 | 268 | * values from the gyro_scale. |
| jmar7 | 1:87d535bf8c53 | 269 | */ |
| jmar7 | 0:e8167f37725c | 270 | void setGyroScale(uint16_t gScl); |
| jmar7 | 0:e8167f37725c | 271 | |
| jmar7 | 1:87d535bf8c53 | 272 | /** setAccelScale() -- Set the full-scale range of the accelerometer. |
| jmar7 | 1:87d535bf8c53 | 273 | * This function can be called to set the scale of the accelerometer to |
| jmar7 | 1:87d535bf8c53 | 274 | * 2, 4, 6, 8, or 16 g's. |
| jmar7 | 1:87d535bf8c53 | 275 | * Input: |
| jmar7 | 1:87d535bf8c53 | 276 | * - aScl = The desired accelerometer scale. Must be one of five possible |
| jmar7 | 1:87d535bf8c53 | 277 | * values from the accel_scale. |
| jmar7 | 1:87d535bf8c53 | 278 | */ |
| jmar7 | 0:e8167f37725c | 279 | void setAccelScale(uint8_t aScl); |
| jmar7 | 0:e8167f37725c | 280 | |
| jmar7 | 1:87d535bf8c53 | 281 | /** setMagScale() -- Set the full-scale range of the magnetometer. |
| jmar7 | 1:87d535bf8c53 | 282 | * This function can be called to set the scale of the magnetometer to |
| jmar7 | 1:87d535bf8c53 | 283 | * 2, 4, 8, or 12 Gs. |
| jmar7 | 1:87d535bf8c53 | 284 | * Input: |
| jmar7 | 1:87d535bf8c53 | 285 | * - mScl = The desired magnetometer scale. Must be one of four possible |
| jmar7 | 1:87d535bf8c53 | 286 | * values from the mag_scale. |
| jmar7 | 1:87d535bf8c53 | 287 | */ |
| jmar7 | 0:e8167f37725c | 288 | void setMagScale(uint8_t mScl); |
| jmar7 | 0:e8167f37725c | 289 | |
| jmar7 | 1:87d535bf8c53 | 290 | /** setGyroODR() -- Set the output data rate and bandwidth of the gyroscope |
| jmar7 | 1:87d535bf8c53 | 291 | * Input: |
| jmar7 | 1:87d535bf8c53 | 292 | * - gRate = The desired output rate and cutoff frequency of the gyro. |
| jmar7 | 1:87d535bf8c53 | 293 | */ |
| jmar7 | 0:e8167f37725c | 294 | void setGyroODR(uint8_t gRate); |
| jmar7 | 0:e8167f37725c | 295 | |
| jmar7 | 0:e8167f37725c | 296 | // setAccelODR() -- Set the output data rate of the accelerometer |
| jmar7 | 0:e8167f37725c | 297 | // Input: |
| jmar7 | 0:e8167f37725c | 298 | // - aRate = The desired output rate of the accel. |
| jmar7 | 0:e8167f37725c | 299 | void setAccelODR(uint8_t aRate); |
| jmar7 | 0:e8167f37725c | 300 | |
| jmar7 | 0:e8167f37725c | 301 | // setMagODR() -- Set the output data rate of the magnetometer |
| jmar7 | 0:e8167f37725c | 302 | // Input: |
| jmar7 | 0:e8167f37725c | 303 | // - mRate = The desired output rate of the mag. |
| jmar7 | 0:e8167f37725c | 304 | void setMagODR(uint8_t mRate); |
| jmar7 | 0:e8167f37725c | 305 | |
| jmar7 | 0:e8167f37725c | 306 | // configInactivity() -- Configure inactivity interrupt parameters |
| jmar7 | 0:e8167f37725c | 307 | // Input: |
| jmar7 | 0:e8167f37725c | 308 | // - duration = Inactivity duration - actual value depends on gyro ODR |
| jmar7 | 0:e8167f37725c | 309 | // - threshold = Activity Threshold |
| jmar7 | 0:e8167f37725c | 310 | // - sleepOn = Gyroscope operating mode during inactivity. |
| jmar7 | 0:e8167f37725c | 311 | // true: gyroscope in sleep mode |
| jmar7 | 0:e8167f37725c | 312 | // false: gyroscope in power-down |
| jmar7 | 0:e8167f37725c | 313 | void configInactivity(uint8_t duration, uint8_t threshold, bool sleepOn); |
| jmar7 | 0:e8167f37725c | 314 | |
| jmar7 | 0:e8167f37725c | 315 | // configAccelInt() -- Configure Accelerometer Interrupt Generator |
| jmar7 | 0:e8167f37725c | 316 | // Input: |
| jmar7 | 0:e8167f37725c | 317 | // - generator = Interrupt axis/high-low events |
| jmar7 | 0:e8167f37725c | 318 | // Any OR'd combination of ZHIE_XL, ZLIE_XL, YHIE_XL, YLIE_XL, XHIE_XL, XLIE_XL |
| jmar7 | 0:e8167f37725c | 319 | // - andInterrupts = AND/OR combination of interrupt events |
| jmar7 | 0:e8167f37725c | 320 | // true: AND combination |
| jmar7 | 0:e8167f37725c | 321 | // false: OR combination |
| jmar7 | 0:e8167f37725c | 322 | void configAccelInt(uint8_t generator, bool andInterrupts = false); |
| jmar7 | 0:e8167f37725c | 323 | |
| jmar7 | 0:e8167f37725c | 324 | // configAccelThs() -- Configure the threshold of an accelereomter axis |
| jmar7 | 0:e8167f37725c | 325 | // Input: |
| jmar7 | 0:e8167f37725c | 326 | // - threshold = Interrupt threshold. Possible values: 0-255. |
| jmar7 | 0:e8167f37725c | 327 | // Multiply by 128 to get the actual raw accel value. |
| jmar7 | 0:e8167f37725c | 328 | // - axis = Axis to be configured. Either X_AXIS, Y_AXIS, or Z_AXIS |
| jmar7 | 0:e8167f37725c | 329 | // - duration = Duration value must be above or below threshold to trigger interrupt |
| jmar7 | 0:e8167f37725c | 330 | // - wait = Wait function on duration counter |
| jmar7 | 0:e8167f37725c | 331 | // true: Wait for duration samples before exiting interrupt |
| jmar7 | 0:e8167f37725c | 332 | // false: Wait function off |
| jmar7 | 0:e8167f37725c | 333 | void configAccelThs(uint8_t threshold, lsm9ds1_axis axis, uint8_t duration = 0, bool wait = 0); |
| jmar7 | 0:e8167f37725c | 334 | |
| jmar7 | 0:e8167f37725c | 335 | // configGyroInt() -- Configure Gyroscope Interrupt Generator |
| jmar7 | 0:e8167f37725c | 336 | // Input: |
| jmar7 | 0:e8167f37725c | 337 | // - generator = Interrupt axis/high-low events |
| jmar7 | 0:e8167f37725c | 338 | // Any OR'd combination of ZHIE_G, ZLIE_G, YHIE_G, YLIE_G, XHIE_G, XLIE_G |
| jmar7 | 0:e8167f37725c | 339 | // - aoi = AND/OR combination of interrupt events |
| jmar7 | 0:e8167f37725c | 340 | // true: AND combination |
| jmar7 | 0:e8167f37725c | 341 | // false: OR combination |
| jmar7 | 0:e8167f37725c | 342 | // - latch: latch gyroscope interrupt request. |
| jmar7 | 0:e8167f37725c | 343 | void configGyroInt(uint8_t generator, bool aoi, bool latch); |
| jmar7 | 0:e8167f37725c | 344 | |
| jmar7 | 0:e8167f37725c | 345 | // configGyroThs() -- Configure the threshold of a gyroscope axis |
| jmar7 | 0:e8167f37725c | 346 | // Input: |
| jmar7 | 0:e8167f37725c | 347 | // - threshold = Interrupt threshold. Possible values: 0-0x7FF. |
| jmar7 | 0:e8167f37725c | 348 | // Value is equivalent to raw gyroscope value. |
| jmar7 | 0:e8167f37725c | 349 | // - axis = Axis to be configured. Either X_AXIS, Y_AXIS, or Z_AXIS |
| jmar7 | 0:e8167f37725c | 350 | // - duration = Duration value must be above or below threshold to trigger interrupt |
| jmar7 | 0:e8167f37725c | 351 | // - wait = Wait function on duration counter |
| jmar7 | 0:e8167f37725c | 352 | // true: Wait for duration samples before exiting interrupt |
| jmar7 | 0:e8167f37725c | 353 | // false: Wait function off |
| jmar7 | 0:e8167f37725c | 354 | void configGyroThs(int16_t threshold, lsm9ds1_axis axis, uint8_t duration, bool wait); |
| jmar7 | 0:e8167f37725c | 355 | |
| jmar7 | 0:e8167f37725c | 356 | // configInt() -- Configure INT1 or INT2 (Gyro and Accel Interrupts only) |
| jmar7 | 0:e8167f37725c | 357 | // Input: |
| jmar7 | 0:e8167f37725c | 358 | // - interrupt = Select INT1 or INT2 |
| jmar7 | 0:e8167f37725c | 359 | // Possible values: XG_INT1 or XG_INT2 |
| jmar7 | 0:e8167f37725c | 360 | // - generator = Or'd combination of interrupt generators. |
| jmar7 | 0:e8167f37725c | 361 | // Possible values: INT_DRDY_XL, INT_DRDY_G, INT1_BOOT (INT1 only), INT2_DRDY_TEMP (INT2 only) |
| jmar7 | 0:e8167f37725c | 362 | // INT_FTH, INT_OVR, INT_FSS5, INT_IG_XL (INT1 only), INT1_IG_G (INT1 only), INT2_INACT (INT2 only) |
| jmar7 | 0:e8167f37725c | 363 | // - activeLow = Interrupt active configuration |
| jmar7 | 0:e8167f37725c | 364 | // Can be either INT_ACTIVE_HIGH or INT_ACTIVE_LOW |
| jmar7 | 0:e8167f37725c | 365 | // - pushPull = Push-pull or open drain interrupt configuration |
| jmar7 | 0:e8167f37725c | 366 | // Can be either INT_PUSH_PULL or INT_OPEN_DRAIN |
| jmar7 | 0:e8167f37725c | 367 | void configInt(interrupt_select interupt, uint8_t generator, |
| jmar7 | 0:e8167f37725c | 368 | h_lactive activeLow = INT_ACTIVE_LOW, pp_od pushPull = INT_PUSH_PULL); |
| jmar7 | 0:e8167f37725c | 369 | |
| jmar7 | 1:87d535bf8c53 | 370 | /** configMagInt() -- Configure Magnetometer Interrupt Generator |
| jmar7 | 1:87d535bf8c53 | 371 | * Input: |
| jmar7 | 1:87d535bf8c53 | 372 | * - generator = Interrupt axis/high-low events |
| jmar7 | 1:87d535bf8c53 | 373 | * Any OR'd combination of ZIEN, YIEN, XIEN |
| jmar7 | 1:87d535bf8c53 | 374 | * - activeLow = Interrupt active configuration |
| jmar7 | 1:87d535bf8c53 | 375 | * Can be either INT_ACTIVE_HIGH or INT_ACTIVE_LOW |
| 4180_1 | 2:e8c2301f7523 | 376 | * - latch: latch gyroscope interrupt request. |
| 4180_1 | 2:e8c2301f7523 | 377 | */ |
| jmar7 | 0:e8167f37725c | 378 | void configMagInt(uint8_t generator, h_lactive activeLow, bool latch = true); |
| jmar7 | 0:e8167f37725c | 379 | |
| jmar7 | 1:87d535bf8c53 | 380 | /** configMagThs() -- Configure the threshold of a gyroscope axis |
| jmar7 | 1:87d535bf8c53 | 381 | * Input: |
| jmar7 | 1:87d535bf8c53 | 382 | * - threshold = Interrupt threshold. Possible values: 0-0x7FF. |
| jmar7 | 1:87d535bf8c53 | 383 | * Value is equivalent to raw magnetometer value. |
| jmar7 | 1:87d535bf8c53 | 384 | */ |
| jmar7 | 0:e8167f37725c | 385 | void configMagThs(uint16_t threshold); |
| jmar7 | 0:e8167f37725c | 386 | |
| jmar7 | 1:87d535bf8c53 | 387 | //! getGyroIntSrc() -- Get contents of Gyroscope interrupt source register |
| jmar7 | 0:e8167f37725c | 388 | uint8_t getGyroIntSrc(); |
| jmar7 | 0:e8167f37725c | 389 | |
| jmar7 | 1:87d535bf8c53 | 390 | //! getGyroIntSrc() -- Get contents of accelerometer interrupt source register |
| jmar7 | 0:e8167f37725c | 391 | uint8_t getAccelIntSrc(); |
| jmar7 | 0:e8167f37725c | 392 | |
| jmar7 | 1:87d535bf8c53 | 393 | //! getGyroIntSrc() -- Get contents of magnetometer interrupt source register |
| jmar7 | 0:e8167f37725c | 394 | uint8_t getMagIntSrc(); |
| jmar7 | 0:e8167f37725c | 395 | |
| jmar7 | 1:87d535bf8c53 | 396 | //! getGyroIntSrc() -- Get status of inactivity interrupt |
| jmar7 | 0:e8167f37725c | 397 | uint8_t getInactivity(); |
| jmar7 | 0:e8167f37725c | 398 | |
| jmar7 | 1:87d535bf8c53 | 399 | /** sleepGyro() -- Sleep or wake the gyroscope |
| jmar7 | 1:87d535bf8c53 | 400 | * Input: |
| jmar7 | 1:87d535bf8c53 | 401 | * - enable: True = sleep gyro. False = wake gyro. |
| jmar7 | 1:87d535bf8c53 | 402 | */ |
| jmar7 | 0:e8167f37725c | 403 | void sleepGyro(bool enable = true); |
| jmar7 | 0:e8167f37725c | 404 | |
| jmar7 | 1:87d535bf8c53 | 405 | /** enableFIFO() - Enable or disable the FIFO |
| jmar7 | 1:87d535bf8c53 | 406 | * Input: |
| jmar7 | 1:87d535bf8c53 | 407 | * - enable: true = enable, false = disable. |
| jmar7 | 1:87d535bf8c53 | 408 | */ |
| jmar7 | 0:e8167f37725c | 409 | void enableFIFO(bool enable = true); |
| jmar7 | 0:e8167f37725c | 410 | |
| jmar7 | 1:87d535bf8c53 | 411 | /** setFIFO() - Configure FIFO mode and Threshold |
| jmar7 | 1:87d535bf8c53 | 412 | * Input: |
| jmar7 | 1:87d535bf8c53 | 413 | * - fifoMode: Set FIFO mode to off, FIFO (stop when full), continuous, bypass |
| jmar7 | 1:87d535bf8c53 | 414 | * Possible inputs: FIFO_OFF, FIFO_THS, FIFO_CONT_TRIGGER, FIFO_OFF_TRIGGER, FIFO_CONT |
| jmar7 | 1:87d535bf8c53 | 415 | * - fifoThs: FIFO threshold level setting |
| jmar7 | 1:87d535bf8c53 | 416 | * Any value from 0-0x1F is acceptable. |
| jmar7 | 1:87d535bf8c53 | 417 | */ |
| jmar7 | 0:e8167f37725c | 418 | void setFIFO(fifoMode_type fifoMode, uint8_t fifoThs); |
| jmar7 | 0:e8167f37725c | 419 | |
| jmar7 | 1:87d535bf8c53 | 420 | //! getFIFOSamples() - Get number of FIFO samples |
| jmar7 | 0:e8167f37725c | 421 | uint8_t getFIFOSamples(); |
| jmar7 | 0:e8167f37725c | 422 | |
| jmar7 | 0:e8167f37725c | 423 | |
| jmar7 | 0:e8167f37725c | 424 | protected: |
| jmar7 | 0:e8167f37725c | 425 | // x_mAddress and gAddress store the I2C address or SPI chip select pin |
| jmar7 | 0:e8167f37725c | 426 | // for each sensor. |
| jmar7 | 0:e8167f37725c | 427 | uint8_t _mAddress, _xgAddress; |
| jmar7 | 0:e8167f37725c | 428 | |
| jmar7 | 0:e8167f37725c | 429 | // gRes, aRes, and mRes store the current resolution for each sensor. |
| jmar7 | 0:e8167f37725c | 430 | // Units of these values would be DPS (or g's or Gs's) per ADC tick. |
| jmar7 | 0:e8167f37725c | 431 | // This value is calculated as (sensor scale) / (2^15). |
| jmar7 | 0:e8167f37725c | 432 | float gRes, aRes, mRes; |
| jmar7 | 0:e8167f37725c | 433 | |
| jmar7 | 0:e8167f37725c | 434 | // _autoCalc keeps track of whether we're automatically subtracting off |
| jmar7 | 0:e8167f37725c | 435 | // accelerometer and gyroscope bias calculated in calibrate(). |
| jmar7 | 0:e8167f37725c | 436 | bool _autoCalc; |
| jmar7 | 0:e8167f37725c | 437 | |
| jmar7 | 0:e8167f37725c | 438 | // init() -- Sets up gyro, accel, and mag settings to default. |
| jmar7 | 0:e8167f37725c | 439 | // - interface - Sets the interface mode (IMU_MODE_I2C or IMU_MODE_SPI) |
| jmar7 | 0:e8167f37725c | 440 | // - xgAddr - Sets either the I2C address of the accel/gyro or SPI chip |
| jmar7 | 0:e8167f37725c | 441 | // select pin connected to the CS_XG pin. |
| jmar7 | 0:e8167f37725c | 442 | // - mAddr - Sets either the I2C address of the magnetometer or SPI chip |
| jmar7 | 0:e8167f37725c | 443 | // select pin connected to the CS_M pin. |
| jmar7 | 0:e8167f37725c | 444 | void init(interface_mode interface, uint8_t xgAddr, uint8_t mAddr); |
| jmar7 | 0:e8167f37725c | 445 | |
| jmar7 | 0:e8167f37725c | 446 | // initGyro() -- Sets up the gyroscope to begin reading. |
| jmar7 | 0:e8167f37725c | 447 | // This function steps through all five gyroscope control registers. |
| jmar7 | 0:e8167f37725c | 448 | // Upon exit, the following parameters will be set: |
| jmar7 | 0:e8167f37725c | 449 | // - CTRL_REG1_G = 0x0F: Normal operation mode, all axes enabled. |
| jmar7 | 0:e8167f37725c | 450 | // 95 Hz ODR, 12.5 Hz cutoff frequency. |
| jmar7 | 0:e8167f37725c | 451 | // - CTRL_REG2_G = 0x00: HPF set to normal mode, cutoff frequency |
| jmar7 | 0:e8167f37725c | 452 | // set to 7.2 Hz (depends on ODR). |
| jmar7 | 0:e8167f37725c | 453 | // - CTRL_REG3_G = 0x88: Interrupt enabled on INT_G (set to push-pull and |
| jmar7 | 0:e8167f37725c | 454 | // active high). Data-ready output enabled on DRDY_G. |
| jmar7 | 0:e8167f37725c | 455 | // - CTRL_REG4_G = 0x00: Continuous update mode. Data LSB stored in lower |
| jmar7 | 0:e8167f37725c | 456 | // address. Scale set to 245 DPS. SPI mode set to 4-wire. |
| jmar7 | 0:e8167f37725c | 457 | // - CTRL_REG5_G = 0x00: FIFO disabled. HPF disabled. |
| jmar7 | 0:e8167f37725c | 458 | void initGyro(); |
| jmar7 | 0:e8167f37725c | 459 | |
| jmar7 | 0:e8167f37725c | 460 | // initAccel() -- Sets up the accelerometer to begin reading. |
| jmar7 | 0:e8167f37725c | 461 | // This function steps through all accelerometer related control registers. |
| jmar7 | 0:e8167f37725c | 462 | // Upon exit these registers will be set as: |
| jmar7 | 0:e8167f37725c | 463 | // - CTRL_REG0_XM = 0x00: FIFO disabled. HPF bypassed. Normal mode. |
| jmar7 | 0:e8167f37725c | 464 | // - CTRL_REG1_XM = 0x57: 100 Hz data rate. Continuous update. |
| jmar7 | 0:e8167f37725c | 465 | // all axes enabled. |
| jmar7 | 0:e8167f37725c | 466 | // - CTRL_REG2_XM = 0x00: 2g scale. 773 Hz anti-alias filter BW. |
| jmar7 | 0:e8167f37725c | 467 | // - CTRL_REG3_XM = 0x04: Accel data ready signal on INT1_XM pin. |
| jmar7 | 0:e8167f37725c | 468 | void initAccel(); |
| jmar7 | 0:e8167f37725c | 469 | |
| jmar7 | 0:e8167f37725c | 470 | // initMag() -- Sets up the magnetometer to begin reading. |
| jmar7 | 0:e8167f37725c | 471 | // This function steps through all magnetometer-related control registers. |
| jmar7 | 0:e8167f37725c | 472 | // Upon exit these registers will be set as: |
| jmar7 | 0:e8167f37725c | 473 | // - CTRL_REG4_XM = 0x04: Mag data ready signal on INT2_XM pin. |
| jmar7 | 0:e8167f37725c | 474 | // - CTRL_REG5_XM = 0x14: 100 Hz update rate. Low resolution. Interrupt |
| jmar7 | 0:e8167f37725c | 475 | // requests don't latch. Temperature sensor disabled. |
| jmar7 | 0:e8167f37725c | 476 | // - CTRL_REG6_XM = 0x00: 2 Gs scale. |
| jmar7 | 0:e8167f37725c | 477 | // - CTRL_REG7_XM = 0x00: Continuous conversion mode. Normal HPF mode. |
| jmar7 | 0:e8167f37725c | 478 | // - INT_CTRL_REG_M = 0x09: Interrupt active-high. Enable interrupts. |
| jmar7 | 0:e8167f37725c | 479 | void initMag(); |
| jmar7 | 0:e8167f37725c | 480 | |
| jmar7 | 0:e8167f37725c | 481 | // gReadByte() -- Reads a byte from a specified gyroscope register. |
| jmar7 | 0:e8167f37725c | 482 | // Input: |
| jmar7 | 0:e8167f37725c | 483 | // - subAddress = Register to be read from. |
| jmar7 | 0:e8167f37725c | 484 | // Output: |
| jmar7 | 0:e8167f37725c | 485 | // - An 8-bit value read from the requested address. |
| jmar7 | 0:e8167f37725c | 486 | uint8_t mReadByte(uint8_t subAddress); |
| jmar7 | 0:e8167f37725c | 487 | |
| jmar7 | 0:e8167f37725c | 488 | // gReadBytes() -- Reads a number of bytes -- beginning at an address |
| jmar7 | 0:e8167f37725c | 489 | // and incrementing from there -- from the gyroscope. |
| jmar7 | 0:e8167f37725c | 490 | // Input: |
| jmar7 | 0:e8167f37725c | 491 | // - subAddress = Register to be read from. |
| jmar7 | 0:e8167f37725c | 492 | // - * dest = A pointer to an array of uint8_t's. Values read will be |
| jmar7 | 0:e8167f37725c | 493 | // stored in here on return. |
| jmar7 | 0:e8167f37725c | 494 | // - count = The number of bytes to be read. |
| jmar7 | 0:e8167f37725c | 495 | // Output: No value is returned, but the `dest` array will store |
| jmar7 | 0:e8167f37725c | 496 | // the data read upon exit. |
| jmar7 | 0:e8167f37725c | 497 | void mReadBytes(uint8_t subAddress, uint8_t * dest, uint8_t count); |
| jmar7 | 0:e8167f37725c | 498 | |
| jmar7 | 0:e8167f37725c | 499 | // gWriteByte() -- Write a byte to a register in the gyroscope. |
| jmar7 | 0:e8167f37725c | 500 | // Input: |
| jmar7 | 0:e8167f37725c | 501 | // - subAddress = Register to be written to. |
| jmar7 | 0:e8167f37725c | 502 | // - data = data to be written to the register. |
| jmar7 | 0:e8167f37725c | 503 | void mWriteByte(uint8_t subAddress, uint8_t data); |
| jmar7 | 0:e8167f37725c | 504 | |
| jmar7 | 0:e8167f37725c | 505 | // xmReadByte() -- Read a byte from a register in the accel/mag sensor |
| jmar7 | 0:e8167f37725c | 506 | // Input: |
| jmar7 | 0:e8167f37725c | 507 | // - subAddress = Register to be read from. |
| jmar7 | 0:e8167f37725c | 508 | // Output: |
| jmar7 | 0:e8167f37725c | 509 | // - An 8-bit value read from the requested register. |
| jmar7 | 0:e8167f37725c | 510 | uint8_t xgReadByte(uint8_t subAddress); |
| jmar7 | 0:e8167f37725c | 511 | |
| jmar7 | 0:e8167f37725c | 512 | // xmReadBytes() -- Reads a number of bytes -- beginning at an address |
| jmar7 | 0:e8167f37725c | 513 | // and incrementing from there -- from the accelerometer/magnetometer. |
| jmar7 | 0:e8167f37725c | 514 | // Input: |
| jmar7 | 0:e8167f37725c | 515 | // - subAddress = Register to be read from. |
| jmar7 | 0:e8167f37725c | 516 | // - * dest = A pointer to an array of uint8_t's. Values read will be |
| jmar7 | 0:e8167f37725c | 517 | // stored in here on return. |
| jmar7 | 0:e8167f37725c | 518 | // - count = The number of bytes to be read. |
| jmar7 | 0:e8167f37725c | 519 | // Output: No value is returned, but the `dest` array will store |
| jmar7 | 0:e8167f37725c | 520 | // the data read upon exit. |
| jmar7 | 0:e8167f37725c | 521 | void xgReadBytes(uint8_t subAddress, uint8_t * dest, uint8_t count); |
| jmar7 | 0:e8167f37725c | 522 | |
| jmar7 | 0:e8167f37725c | 523 | // xmWriteByte() -- Write a byte to a register in the accel/mag sensor. |
| jmar7 | 0:e8167f37725c | 524 | // Input: |
| jmar7 | 0:e8167f37725c | 525 | // - subAddress = Register to be written to. |
| jmar7 | 0:e8167f37725c | 526 | // - data = data to be written to the register. |
| jmar7 | 0:e8167f37725c | 527 | void xgWriteByte(uint8_t subAddress, uint8_t data); |
| jmar7 | 0:e8167f37725c | 528 | |
| jmar7 | 0:e8167f37725c | 529 | // calcgRes() -- Calculate the resolution of the gyroscope. |
| jmar7 | 0:e8167f37725c | 530 | // This function will set the value of the gRes variable. gScale must |
| jmar7 | 0:e8167f37725c | 531 | // be set prior to calling this function. |
| jmar7 | 0:e8167f37725c | 532 | void calcgRes(); |
| jmar7 | 0:e8167f37725c | 533 | |
| jmar7 | 0:e8167f37725c | 534 | // calcmRes() -- Calculate the resolution of the magnetometer. |
| jmar7 | 0:e8167f37725c | 535 | // This function will set the value of the mRes variable. mScale must |
| jmar7 | 0:e8167f37725c | 536 | // be set prior to calling this function. |
| jmar7 | 0:e8167f37725c | 537 | void calcmRes(); |
| jmar7 | 0:e8167f37725c | 538 | |
| jmar7 | 0:e8167f37725c | 539 | // calcaRes() -- Calculate the resolution of the accelerometer. |
| jmar7 | 0:e8167f37725c | 540 | // This function will set the value of the aRes variable. aScale must |
| jmar7 | 0:e8167f37725c | 541 | // be set prior to calling this function. |
| jmar7 | 0:e8167f37725c | 542 | void calcaRes(); |
| jmar7 | 0:e8167f37725c | 543 | |
| jmar7 | 0:e8167f37725c | 544 | ////////////////////// |
| jmar7 | 0:e8167f37725c | 545 | // Helper Functions // |
| jmar7 | 0:e8167f37725c | 546 | ////////////////////// |
| jmar7 | 0:e8167f37725c | 547 | void constrainScales(); |
| jmar7 | 0:e8167f37725c | 548 | |
| jmar7 | 0:e8167f37725c | 549 | /////////////////// |
| jmar7 | 0:e8167f37725c | 550 | // SPI Functions // |
| jmar7 | 0:e8167f37725c | 551 | /////////////////// |
| jmar7 | 0:e8167f37725c | 552 | // initSPI() -- Initialize the SPI hardware. |
| jmar7 | 0:e8167f37725c | 553 | // This function will setup all SPI pins and related hardware. |
| jmar7 | 0:e8167f37725c | 554 | void initSPI(); |
| jmar7 | 0:e8167f37725c | 555 | |
| jmar7 | 0:e8167f37725c | 556 | // SPIwriteByte() -- Write a byte out of SPI to a register in the device |
| jmar7 | 0:e8167f37725c | 557 | // Input: |
| jmar7 | 0:e8167f37725c | 558 | // - csPin = The chip select pin of the slave device. |
| jmar7 | 0:e8167f37725c | 559 | // - subAddress = The register to be written to. |
| jmar7 | 0:e8167f37725c | 560 | // - data = Byte to be written to the register. |
| jmar7 | 0:e8167f37725c | 561 | void SPIwriteByte(uint8_t csPin, uint8_t subAddress, uint8_t data); |
| jmar7 | 0:e8167f37725c | 562 | |
| jmar7 | 0:e8167f37725c | 563 | // SPIreadByte() -- Read a single byte from a register over SPI. |
| jmar7 | 0:e8167f37725c | 564 | // Input: |
| jmar7 | 0:e8167f37725c | 565 | // - csPin = The chip select pin of the slave device. |
| jmar7 | 0:e8167f37725c | 566 | // - subAddress = The register to be read from. |
| jmar7 | 0:e8167f37725c | 567 | // Output: |
| jmar7 | 0:e8167f37725c | 568 | // - The byte read from the requested address. |
| jmar7 | 0:e8167f37725c | 569 | uint8_t SPIreadByte(uint8_t csPin, uint8_t subAddress); |
| jmar7 | 0:e8167f37725c | 570 | |
| jmar7 | 0:e8167f37725c | 571 | // SPIreadBytes() -- Read a series of bytes, starting at a register via SPI |
| jmar7 | 0:e8167f37725c | 572 | // Input: |
| jmar7 | 0:e8167f37725c | 573 | // - csPin = The chip select pin of a slave device. |
| jmar7 | 0:e8167f37725c | 574 | // - subAddress = The register to begin reading. |
| jmar7 | 0:e8167f37725c | 575 | // - * dest = Pointer to an array where we'll store the readings. |
| jmar7 | 0:e8167f37725c | 576 | // - count = Number of registers to be read. |
| jmar7 | 0:e8167f37725c | 577 | // Output: No value is returned by the function, but the registers read are |
| jmar7 | 0:e8167f37725c | 578 | // all stored in the *dest array given. |
| jmar7 | 0:e8167f37725c | 579 | void SPIreadBytes(uint8_t csPin, uint8_t subAddress, |
| jmar7 | 0:e8167f37725c | 580 | uint8_t * dest, uint8_t count); |
| jmar7 | 0:e8167f37725c | 581 | |
| jmar7 | 0:e8167f37725c | 582 | /////////////////// |
| jmar7 | 0:e8167f37725c | 583 | // I2C Functions // |
| jmar7 | 0:e8167f37725c | 584 | /////////////////// |
| jmar7 | 0:e8167f37725c | 585 | // initI2C() -- Initialize the I2C hardware. |
| jmar7 | 0:e8167f37725c | 586 | // This function will setup all I2C pins and related hardware. |
| jmar7 | 0:e8167f37725c | 587 | void initI2C(); |
| jmar7 | 0:e8167f37725c | 588 | |
| jmar7 | 0:e8167f37725c | 589 | // I2CwriteByte() -- Write a byte out of I2C to a register in the device |
| jmar7 | 0:e8167f37725c | 590 | // Input: |
| jmar7 | 0:e8167f37725c | 591 | // - address = The 7-bit I2C address of the slave device. |
| jmar7 | 0:e8167f37725c | 592 | // - subAddress = The register to be written to. |
| jmar7 | 0:e8167f37725c | 593 | // - data = Byte to be written to the register. |
| jmar7 | 0:e8167f37725c | 594 | void I2CwriteByte(uint8_t address, uint8_t subAddress, uint8_t data); |
| jmar7 | 0:e8167f37725c | 595 | |
| jmar7 | 0:e8167f37725c | 596 | // I2CreadByte() -- Read a single byte from a register over I2C. |
| jmar7 | 0:e8167f37725c | 597 | // Input: |
| jmar7 | 0:e8167f37725c | 598 | // - address = The 7-bit I2C address of the slave device. |
| jmar7 | 0:e8167f37725c | 599 | // - subAddress = The register to be read from. |
| jmar7 | 0:e8167f37725c | 600 | // Output: |
| jmar7 | 0:e8167f37725c | 601 | // - The byte read from the requested address. |
| jmar7 | 0:e8167f37725c | 602 | uint8_t I2CreadByte(uint8_t address, uint8_t subAddress); |
| jmar7 | 0:e8167f37725c | 603 | |
| jmar7 | 0:e8167f37725c | 604 | // I2CreadBytes() -- Read a series of bytes, starting at a register via SPI |
| jmar7 | 0:e8167f37725c | 605 | // Input: |
| jmar7 | 0:e8167f37725c | 606 | // - address = The 7-bit I2C address of the slave device. |
| jmar7 | 0:e8167f37725c | 607 | // - subAddress = The register to begin reading. |
| jmar7 | 0:e8167f37725c | 608 | // - * dest = Pointer to an array where we'll store the readings. |
| jmar7 | 0:e8167f37725c | 609 | // - count = Number of registers to be read. |
| jmar7 | 0:e8167f37725c | 610 | // Output: No value is returned by the function, but the registers read are |
| jmar7 | 0:e8167f37725c | 611 | // all stored in the *dest array given. |
| jmar7 | 0:e8167f37725c | 612 | uint8_t I2CreadBytes(uint8_t address, uint8_t subAddress, uint8_t * dest, uint8_t count); |
| jmar7 | 0:e8167f37725c | 613 | |
| jmar7 | 0:e8167f37725c | 614 | private: |
| jmar7 | 0:e8167f37725c | 615 | I2C i2c; |
| jmar7 | 0:e8167f37725c | 616 | }; |
| jmar7 | 0:e8167f37725c | 617 | |
| jmar7 | 0:e8167f37725c | 618 | #endif // SFE_LSM9DS1_H // |