Revision 0:02ce07ee3af9, committed 2016-02-25

Comitter:

YCTung

Date:

Thu Feb 25 12:49:55 2016 +0000

Commit message:

Test the LSM6DS3 6-axis sensor

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Feb 25 12:49:55 2016 +0000
@@ -0,0 +1,143 @@
+#include "mbed.h"
+
+#define sensor_CTRL_REG_address 0x10
+#define sensorG_OUT_X_L_address 0x22
+#define sensorX_OUT_X_L_address 0x28
+ 
+SPI spi1(D4, D5, D3);
+DigitalOut sensor_CS(D6);
+
+DigitalOut myled(LED1);
+Serial pc(D1, D0);
+
+int16_t Gyro_axis_data[3];
+int16_t Acce_axis_data[3];
+
+void sensor_setup(void);
+void sensorG_read_3axis(void);
+void sensorX_read_3axis(void);
+ 
+int main() {
+        
+    sensor_CS = 1;
+    spi1.format(8, 0b11);
+    
+    sensor_setup();
+//    sensor_CS = 0;
+//    spi1.write(0x10 | 0x00);
+//    spi1.write(0x7C);
+//    sensor_CS = 1;
+    
+    while(1) {
+        myled = !myled;
+        
+//        sensor_CS = 0;
+//        spi1.write(0x0F00 | 0x8000);//read reg
+//        uint8_t c = spi1.write(0x00);
+//        uint8_t c = spi1.write(0x0F00 | 0x8000);
+//        spi1.write(0x22 | 0x80);
+//        uint8_t c = spi1.write(0x00);
+//        sensor_CS = 1;
+//        pc.printf("0x%d\r\n", c);
+        
+        sensorX_read_3axis();
+        pc.printf("%d\r\n", Acce_axis_data[1]);
+        
+        wait_us(100000);
+    }
+}
+
+void sensor_setup(void)
+{
+    static unsigned char sensor_CTRL_REG[11];
+
+    sensor_CTRL_REG[1] = 0b01111100; //(10h) XL_ODR = 833Hz, XL_FS = +-8g
+    sensor_CTRL_REG[2] = 0b01111100; //(11h) G_ODR = 833Hz, G_FS = 2000dps, LPfc = 110Hz
+    sensor_CTRL_REG[3] = 0b00000100; //(12h) register address automatically incremented
+    sensor_CTRL_REG[4] = 0b00000000; //(13h) 
+    sensor_CTRL_REG[5] = 0b00000000; //(14h) 
+    sensor_CTRL_REG[6] = 0b00000000; //(15h)
+    sensor_CTRL_REG[7] = 0b00000000; //(16h)
+    sensor_CTRL_REG[8] = 0b00000000; //(17h)
+    sensor_CTRL_REG[9] = 0b00111000; //(18h) XL_XYZ enable
+    sensor_CTRL_REG[10]= 0b00111000; //(19h) G_XYZ enable
+
+    // write mode (R/W = 0)
+    sensor_CTRL_REG[0] = sensor_CTRL_REG_address | 0x00; // (10h)
+
+// start
+    sensor_CS = 0;
+    
+    spi1.write(sensor_CTRL_REG[0]);
+    spi1.write(sensor_CTRL_REG[1]);
+    spi1.write(sensor_CTRL_REG[2]);
+    spi1.write(sensor_CTRL_REG[3]);
+    spi1.write(sensor_CTRL_REG[4]);
+    spi1.write(sensor_CTRL_REG[5]);
+    spi1.write(sensor_CTRL_REG[6]);
+    spi1.write(sensor_CTRL_REG[7]);
+    spi1.write(sensor_CTRL_REG[8]);
+    spi1.write(sensor_CTRL_REG[9]);
+    spi1.write(sensor_CTRL_REG[10]);
+    
+    sensor_CS = 1;
+// end
+}
+
+void sensorG_read_3axis(void)
+{
+    static unsigned char sensorG_data_write;
+    static int  sensorG_data_read[6];
+
+// read mode (R/W = 1)
+    sensorG_data_write = sensorG_OUT_X_L_address | 0x80; // write first bit
+
+// start
+    sensor_CS = 0;
+    
+    spi1.write(sensorG_data_write);
+    sensorG_data_read[0] = spi1.write(0x00); // XL
+    sensorG_data_read[1] = spi1.write(0x00); // XH
+    sensorG_data_read[2] = spi1.write(0x00); // YL
+    sensorG_data_read[3] = spi1.write(0x00); // YH
+    sensorG_data_read[4] = spi1.write(0x00); // ZL
+    sensorG_data_read[5] = spi1.write(0x00); // YH
+    
+    sensor_CS = 1;
+// end
+
+    // Data reconstruction  
+    Gyro_axis_data[0] = (sensorG_data_read[1]<<8) | sensorG_data_read[0];
+    Gyro_axis_data[1] = (sensorG_data_read[3]<<8) | sensorG_data_read[2]; 
+    Gyro_axis_data[2] = (sensorG_data_read[5]<<8) | sensorG_data_read[4]; 
+}
+
+void sensorX_read_3axis(void)
+{
+    static unsigned char sensorX_data_write;
+    static int  sensorX_data_read[6];
+
+    // read mode (R/W = 1)
+    sensorX_data_write = sensorX_OUT_X_L_address | 0x80; // write first bit
+    
+// start    
+    sensor_CS = 0;
+    
+    spi1.write(sensorX_data_write);
+    //accelerater outputs
+    sensorX_data_read[0] = spi1.write(0x00); // XL
+    sensorX_data_read[1] = spi1.write(0x00); // XH
+    sensorX_data_read[2] = spi1.write(0x00); // YL
+    sensorX_data_read[3] = spi1.write(0x00); // YH
+    sensorX_data_read[4] = spi1.write(0x00); // ZL
+    sensorX_data_read[5] = spi1.write(0x00); // ZH
+    
+    sensor_CS = 1;
+// end
+
+    // Data reconstruction
+    Acce_axis_data[0] = (sensorX_data_read[1]<<8) | sensorX_data_read[0]; // X
+    Acce_axis_data[1] = (sensorX_data_read[3]<<8) | sensorX_data_read[2]; // Y
+    Acce_axis_data[2] = (sensorX_data_read[5]<<8) | sensorX_data_read[4]; // Z
+    
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Thu Feb 25 12:49:55 2016 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/252557024ec3
\ No newline at end of file