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Dependencies: Eigen
Diff: LSM9DS1.cpp
- Revision:
- 4:3c21fb0c9e84
- Parent:
- 3:6811c0ce95f6
- Child:
- 5:eee47600b772
diff -r 6811c0ce95f6 -r 3c21fb0c9e84 LSM9DS1.cpp
--- a/LSM9DS1.cpp Tue Dec 04 15:49:48 2018 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,1221 +0,0 @@
-/******************************************************************************
-SFE_LSM9DS1.cpp
-SFE_LSM9DS1 Library Source File
-Jim Lindblom @ SparkFun Electronics
-Original Creation Date: February 27, 2015
-https://github.com/sparkfun/LSM9DS1_Breakout
-
-This file implements all functions of the LSM9DS1 class. Functions here range
-from higher level stuff, like reading/writing LSM9DS1 registers to low-level,
-hardware reads and writes. Both SPI and I2C handler functions can be found
-towards the bottom of this file.
-
-Development environment specifics:
- IDE: Arduino 1.6
- Hardware Platform: Arduino Uno
- LSM9DS1 Breakout Version: 1.0
-
-This code is beerware; if you see me (or any other SparkFun employee) at the
-local, and you've found our code helpful, please buy us a round!
-
-Distributed as-is; no warranty is given.
-******************************************************************************/
-
-#include "LSM9DS1.h"
-#include "LSM9DS1_Registers.h"
-#include "LSM9DS1_Types.h"
-
-#define LSM9DS1_COMMUNICATION_TIMEOUT 1000
-
-float magSensitivity[4] = {0.00014, 0.00029, 0.00043, 0.00058};
-extern Serial pc;
-int16_t magn_ellipsoid_center[3] = {-425, 655, 204};
-float RM[3][3] = {{0.980752, -0.0124288, 0.00453175}, {-0.0124288, 0.977401, 0.0483545}, {0.00453175, 0.0483545, 0.857327}};
-
-
-
-LSM9DS1::LSM9DS1(SPI* _spi, DigitalOut* csM_, DigitalOut* csAG_) : spi(_spi)
-{
- // spi = _spi;
- _mAddress = csM_;
- _xgAddress = csAG_;
-
- init(IMU_MODE_SPI, 0, 0); // dont know about 0xD6 or 0x3B
-}
-
-
-/*
-LSM9DS1::LSM9DS1()
-{
- //init(IMU_MODE_I2C, LSM9DS1_AG_ADDR(1), LSM9DS1_M_ADDR(1));
-}*/
-
-/*
-LSM9DS1::LSM9DS1(interface_mode interface, uint8_t xgAddr, uint8_t mAddr)
-{
- init(interface, xgAddr, mAddr);
-}
-*/
-
-void LSM9DS1::init(interface_mode interface, uint8_t xgAddr, uint8_t mAddr)
-{
- settings.device.commInterface = interface;
- settings.device.agAddress = xgAddr;
- settings.device.mAddress = mAddr;
-
- settings.gyro.enabled = true;
- settings.gyro.enableX = true;
- settings.gyro.enableY = true;
- settings.gyro.enableZ = true;
- // gyro scale can be 245, 500, or 2000
- settings.gyro.scale = 500;
- // gyro sample rate: value between 1-6
- // 1 = 14.9 4 = 238
- // 2 = 59.5 5 = 476
- // 3 = 119 6 = 952
- settings.gyro.sampleRate = 6;
- // gyro cutoff frequency: value between 0-3
- // Actual value of cutoff frequency depends
- // on sample rate.
- settings.gyro.bandwidth = 0;
- settings.gyro.lowPowerEnable = false;
- settings.gyro.HPFEnable = false;
- // Gyro HPF cutoff frequency: value between 0-9
- // Actual value depends on sample rate. Only applies
- // if gyroHPFEnable is true.
- settings.gyro.HPFCutoff = 0;
- settings.gyro.flipX = false;
- settings.gyro.flipY = false;
- settings.gyro.flipZ = false;
- settings.gyro.orientation = 0;
- settings.gyro.latchInterrupt = true;
-
- settings.accel.enabled = true;
- settings.accel.enableX = true;
- settings.accel.enableY = true;
- settings.accel.enableZ = true;
- // accel scale can be 2, 4, 8, or 16
- settings.accel.scale = 2;
- // accel sample rate can be 1-6
- // 1 = 10 Hz 4 = 238 Hz
- // 2 = 50 Hz 5 = 476 Hz
- // 3 = 119 Hz 6 = 952 Hz
- settings.accel.sampleRate = 6;
- // Accel cutoff freqeuncy can be any value between -1 - 3.
- // -1 = bandwidth determined by sample rate
- // 0 = 408 Hz 2 = 105 Hz
- // 1 = 211 Hz 3 = 50 Hz
- settings.accel.bandwidth = -1;
- settings.accel.highResEnable = false;
- // accelHighResBandwidth can be any value between 0-3
- // LP cutoff is set to a factor of sample rate
- // 0 = ODR/50 2 = ODR/9
- // 1 = ODR/100 3 = ODR/400
- settings.accel.highResBandwidth = 0;
-
- settings.mag.enabled = true;
- // mag scale can be 4, 8, 12, or 16
- settings.mag.scale = 4;
- // mag data rate can be 0-7
- // 0 = 0.625 Hz 4 = 10 Hz
- // 1 = 1.25 Hz 5 = 20 Hz
- // 2 = 2.5 Hz 6 = 40 Hz
- // 3 = 5 Hz 7 = 80 Hz
- settings.mag.sampleRate = 7;
- settings.mag.tempCompensationEnable = false;
- // magPerformance can be any value between 0-3
- // 0 = Low power mode 2 = high performance
- // 1 = medium performance 3 = ultra-high performance
- settings.mag.XYPerformance = 3;
- settings.mag.ZPerformance = 3;
- settings.mag.lowPowerEnable = false;
- // magOperatingMode can be 0-2
- // 0 = continuous conversion
- // 1 = single-conversion
- // 2 = power down
- settings.mag.operatingMode = 0;
-
- settings.temp.enabled = true;
- for (int i=0; i<3; i++) {
- gBias[i] = 0;
- aBias[i] = 0;
- mBias[i] = 0;
- gBiasRaw[i] = 0;
- aBiasRaw[i] = 0;
- mBiasRaw[i] = 0;
- }
- _autoCalc = false;
-}
-
-
-uint16_t LSM9DS1::begin()
-{
- //! Todo: don't use _xgAddress or _mAddress, duplicating memory
- //_xgAddress = settings.device.agAddress;
- // _mAddress = settings.device.mAddress;
-
- constrainScales();
- // Once we have the scale values, we can calculate the resolution
- // of each sensor. That's what these functions are for. One for each sensor
- calcgRes(); // Calculate DPS / ADC tick, stored in gRes variable
- calcmRes(); // Calculate Gs / ADC tick, stored in mRes variable
- calcaRes(); // Calculate g / ADC tick, stored in aRes variable
-
- // Now, initialize our hardware interface.
- if (settings.device.commInterface == IMU_MODE_I2C) // If we're using I2C
- initI2C(); // Initialize I2C
- else if (settings.device.commInterface == IMU_MODE_SPI) // else, if we're using SPI
- initSPI(); // Initialize SPI
-
- // To verify communication, we can read from the WHO_AM_I register of
- // each device. Store those in a variable so we can return them.
- uint8_t mTest = mReadByte(WHO_AM_I_M); // Read the gyro WHO_AM_I
- uint8_t xgTest = xgReadByte(WHO_AM_I_XG); // Read the accel/mag WHO_AM_I
- pc.printf("%x, %x, %x, %x\n\r", mTest, xgTest, _xgAddress, _mAddress);
- uint16_t whoAmICombined = (xgTest << 8) | mTest;
-
- if (whoAmICombined != ((WHO_AM_I_AG_RSP << 8) | WHO_AM_I_M_RSP))
- return 0;
-
- // Gyro initialization stuff:
- initGyro(); // This will "turn on" the gyro. Setting up interrupts, etc.
-
- // Accelerometer initialization stuff:
- initAccel(); // "Turn on" all axes of the accel. Set up interrupts, etc.
-
- // Magnetometer initialization stuff:
- initMag(); // "Turn on" all axes of the mag. Set up interrupts, etc.
-
- // Once everything is initialized, return the WHO_AM_I registers we read:
- return whoAmICombined;
-}
-
-void LSM9DS1::initGyro()
-{
- uint8_t tempRegValue = 0;
-
- // CTRL_REG1_G (Default value: 0x00)
- // [ODR_G2][ODR_G1][ODR_G0][FS_G1][FS_G0][0][BW_G1][BW_G0]
- // ODR_G[2:0] - Output data rate selection
- // FS_G[1:0] - Gyroscope full-scale selection
- // BW_G[1:0] - Gyroscope bandwidth selection
-
- // To disable gyro, set sample rate bits to 0. We'll only set sample
- // rate if the gyro is enabled.
- if (settings.gyro.enabled) {
- tempRegValue = (settings.gyro.sampleRate & 0x07) << 5;
- }
- switch (settings.gyro.scale) {
- case 500:
- tempRegValue |= (0x1 << 3);
- break;
- case 2000:
- tempRegValue |= (0x3 << 3);
- break;
- // Otherwise we'll set it to 245 dps (0x0 << 4)
- }
- tempRegValue |= (settings.gyro.bandwidth & 0x3);
- xgWriteByte(CTRL_REG1_G, tempRegValue);
-
- // CTRL_REG2_G (Default value: 0x00)
- // [0][0][0][0][INT_SEL1][INT_SEL0][OUT_SEL1][OUT_SEL0]
- // INT_SEL[1:0] - INT selection configuration
- // OUT_SEL[1:0] - Out selection configuration
- xgWriteByte(CTRL_REG2_G, 0x00);
-
- // CTRL_REG3_G (Default value: 0x00)
- // [LP_mode][HP_EN][0][0][HPCF3_G][HPCF2_G][HPCF1_G][HPCF0_G]
- // LP_mode - Low-power mode enable (0: disabled, 1: enabled)
- // HP_EN - HPF enable (0:disabled, 1: enabled)
- // HPCF_G[3:0] - HPF cutoff frequency
- tempRegValue = settings.gyro.lowPowerEnable ? (1<<7) : 0;
- if (settings.gyro.HPFEnable) {
- tempRegValue |= (1<<6) | (settings.gyro.HPFCutoff & 0x0F);
- }
- xgWriteByte(CTRL_REG3_G, tempRegValue);
-
- // CTRL_REG4 (Default value: 0x38)
- // [0][0][Zen_G][Yen_G][Xen_G][0][LIR_XL1][4D_XL1]
- // Zen_G - Z-axis output enable (0:disable, 1:enable)
- // Yen_G - Y-axis output enable (0:disable, 1:enable)
- // Xen_G - X-axis output enable (0:disable, 1:enable)
- // LIR_XL1 - Latched interrupt (0:not latched, 1:latched)
- // 4D_XL1 - 4D option on interrupt (0:6D used, 1:4D used)
- tempRegValue = 0;
- if (settings.gyro.enableZ) tempRegValue |= (1<<5);
- if (settings.gyro.enableY) tempRegValue |= (1<<4);
- if (settings.gyro.enableX) tempRegValue |= (1<<3);
- if (settings.gyro.latchInterrupt) tempRegValue |= (1<<1);
- xgWriteByte(CTRL_REG4, tempRegValue);
-
- // ORIENT_CFG_G (Default value: 0x00)
- // [0][0][SignX_G][SignY_G][SignZ_G][Orient_2][Orient_1][Orient_0]
- // SignX_G - Pitch axis (X) angular rate sign (0: positive, 1: negative)
- // Orient [2:0] - Directional user orientation selection
- tempRegValue = 0;
- if (settings.gyro.flipX) tempRegValue |= (1<<5);
- if (settings.gyro.flipY) tempRegValue |= (1<<4);
- if (settings.gyro.flipZ) tempRegValue |= (1<<3);
- xgWriteByte(ORIENT_CFG_G, tempRegValue);
-}
-
-void LSM9DS1::initAccel()
-{
- uint8_t tempRegValue = 0;
-
- // CTRL_REG5_XL (0x1F) (Default value: 0x38)
- // [DEC_1][DEC_0][Zen_XL][Yen_XL][Zen_XL][0][0][0]
- // DEC[0:1] - Decimation of accel data on OUT REG and FIFO.
- // 00: None, 01: 2 samples, 10: 4 samples 11: 8 samples
- // Zen_XL - Z-axis output enabled
- // Yen_XL - Y-axis output enabled
- // Xen_XL - X-axis output enabled
- if (settings.accel.enableZ) tempRegValue |= (1<<5);
- if (settings.accel.enableY) tempRegValue |= (1<<4);
- if (settings.accel.enableX) tempRegValue |= (1<<3);
-
- xgWriteByte(CTRL_REG5_XL, tempRegValue);
-
- // CTRL_REG6_XL (0x20) (Default value: 0x00)
- // [ODR_XL2][ODR_XL1][ODR_XL0][FS1_XL][FS0_XL][BW_SCAL_ODR][BW_XL1][BW_XL0]
- // ODR_XL[2:0] - Output data rate & power mode selection
- // FS_XL[1:0] - Full-scale selection
- // BW_SCAL_ODR - Bandwidth selection
- // BW_XL[1:0] - Anti-aliasing filter bandwidth selection
- tempRegValue = 0;
- // To disable the accel, set the sampleRate bits to 0.
- if (settings.accel.enabled) {
- tempRegValue |= (settings.accel.sampleRate & 0x07) << 5;
- }
- switch (settings.accel.scale) {
- case 4:
- tempRegValue |= (0x2 << 3);
- break;
- case 8:
- tempRegValue |= (0x3 << 3);
- break;
- case 16:
- tempRegValue |= (0x1 << 3);
- break;
- // Otherwise it'll be set to 2g (0x0 << 3)
- }
- if (settings.accel.bandwidth >= 0) {
- tempRegValue |= (1<<2); // Set BW_SCAL_ODR
- tempRegValue |= (settings.accel.bandwidth & 0x03);
- }
- xgWriteByte(CTRL_REG6_XL, tempRegValue);
-
- // CTRL_REG7_XL (0x21) (Default value: 0x00)
- // [HR][DCF1][DCF0][0][0][FDS][0][HPIS1]
- // HR - High resolution mode (0: disable, 1: enable)
- // DCF[1:0] - Digital filter cutoff frequency
- // FDS - Filtered data selection
- // HPIS1 - HPF enabled for interrupt function
- tempRegValue = 0;
- if (settings.accel.highResEnable) {
- tempRegValue |= (1<<7); // Set HR bit
- tempRegValue |= (settings.accel.highResBandwidth & 0x3) << 5;
- }
- xgWriteByte(CTRL_REG7_XL, tempRegValue);
-}
-
-// This is a function that uses the FIFO to accumulate sample of accelerometer and gyro data, average
-// them, scales them to gs and deg/s, respectively, and then passes the biases to the main sketch
-// for subtraction from all subsequent data. There are no gyro and accelerometer bias registers to store
-// the data as there are in the ADXL345, a precursor to the LSM9DS0, or the MPU-9150, so we have to
-// subtract the biases ourselves. This results in a more accurate measurement in general and can
-// remove errors due to imprecise or varying initial placement. Calibration of sensor data in this manner
-// is good practice.
-void LSM9DS1::calibrate(bool autoCalc)
-{
- uint8_t data[6] = {0, 0, 0, 0, 0, 0};
- uint8_t samples = 0;
- int ii;
- int32_t aBiasRawTemp[3] = {0, 0, 0};
- int32_t gBiasRawTemp[3] = {0, 0, 0};
-
- // Turn on FIFO and set threshold to 32 samples
- enableFIFO(true);
- setFIFO(FIFO_THS, 0x1F);
- while (samples < 0x1F) {
- samples = (xgReadByte(FIFO_SRC) & 0x3F); // Read number of stored samples
- }
- for(ii = 0; ii < samples ; ii++) {
- // Read the gyro data stored in the FIFO
- readGyro();
- gBiasRawTemp[0] += gx;
- gBiasRawTemp[1] += gy;
- gBiasRawTemp[2] += gz;
- readAccel();
- aBiasRawTemp[0] += ax;
- aBiasRawTemp[1] += ay;
- aBiasRawTemp[2] += az - (int16_t)(1./aRes); // Assumes sensor facing up!
- }
- for (ii = 0; ii < 3; ii++) {
- gBiasRaw[ii] = gBiasRawTemp[ii] / samples;
- gBias[ii] = calcGyro(gBiasRaw[ii]);
- aBiasRaw[ii] = aBiasRawTemp[ii] / samples;
- aBias[ii] = calcAccel(aBiasRaw[ii]);
- }
-
- enableFIFO(false);
- setFIFO(FIFO_OFF, 0x00);
-
- if (autoCalc) _autoCalc = true;
-}
-
-void LSM9DS1::calibrateMag(bool loadIn)
-{
- int i, j;
- int16_t magMin[3] = {0, 0, 0};
- int16_t magMax[3] = {0, 0, 0}; // The road warrior
-
- for (i=0; i<128; i++) {
- while (!magAvailable())
- ;
- readMag();
- int16_t magTemp[3] = {0, 0, 0};
- magTemp[0] = mx;
- magTemp[1] = my;
- magTemp[2] = mz;
- for (j = 0; j < 3; j++) {
- if (magTemp[j] > magMax[j]) magMax[j] = magTemp[j];
- if (magTemp[j] < magMin[j]) magMin[j] = magTemp[j];
- }
- }
- for (j = 0; j < 3; j++) {
- mBiasRaw[j] = (magMax[j] + magMin[j]) / 2;
- mBias[j] = calcMag(mBiasRaw[j]);
- if (loadIn)
- magOffset(j, mBiasRaw[j]);
- }
-
-}
-void LSM9DS1::magOffset(uint8_t axis, int16_t offset)
-{
- if (axis > 2)
- return;
- uint8_t msb, lsb;
- msb = (offset & 0xFF00) >> 8;
- lsb = offset & 0x00FF;
- mWriteByte(OFFSET_X_REG_L_M + (2 * axis), lsb);
- mWriteByte(OFFSET_X_REG_H_M + (2 * axis), msb);
-}
-
-void LSM9DS1::initMag()
-{
- uint8_t tempRegValue = 0;
-
- // CTRL_REG1_M (Default value: 0x10)
- // [TEMP_COMP][OM1][OM0][DO2][DO1][DO0][0][ST]
- // TEMP_COMP - Temperature compensation
- // OM[1:0] - X & Y axes op mode selection
- // 00:low-power, 01:medium performance
- // 10: high performance, 11:ultra-high performance
- // DO[2:0] - Output data rate selection
- // ST - Self-test enable
- if (settings.mag.tempCompensationEnable) tempRegValue |= (1<<7);
- tempRegValue |= (settings.mag.XYPerformance & 0x3) << 5;
- tempRegValue |= (settings.mag.sampleRate & 0x7) << 2;
- mWriteByte(CTRL_REG1_M, tempRegValue);
-
- // CTRL_REG2_M (Default value 0x00)
- // [0][FS1][FS0][0][REBOOT][SOFT_RST][0][0]
- // FS[1:0] - Full-scale configuration
- // REBOOT - Reboot memory content (0:normal, 1:reboot)
- // SOFT_RST - Reset config and user registers (0:default, 1:reset)
- tempRegValue = 0;
- switch (settings.mag.scale) {
- case 8:
- tempRegValue |= (0x1 << 5);
- break;
- case 12:
- tempRegValue |= (0x2 << 5);
- break;
- case 16:
- tempRegValue |= (0x3 << 5);
- break;
- // Otherwise we'll default to 4 gauss (00)
- }
- mWriteByte(CTRL_REG2_M, tempRegValue); // +/-4Gauss
-
- // CTRL_REG3_M (Default value: 0x03)
- // [I2C_DISABLE][0][LP][0][0][SIM][MD1][MD0]
- // I2C_DISABLE - Disable I2C interace (0:enable, 1:disable)
- // LP - Low-power mode cofiguration (1:enable)
- // SIM - SPI mode selection (0:write-only, 1:read/write enable)
- // MD[1:0] - Operating mode
- // 00:continuous conversion, 01:single-conversion,
- // 10,11: Power-down
- tempRegValue = 0;
- if (settings.mag.lowPowerEnable) tempRegValue |= (1<<5);
- tempRegValue |= (settings.mag.operatingMode & 0x3);
- mWriteByte(CTRL_REG3_M, tempRegValue); // Continuous conversion mode
-
- // CTRL_REG4_M (Default value: 0x00)
- // [0][0][0][0][OMZ1][OMZ0][BLE][0]
- // OMZ[1:0] - Z-axis operative mode selection
- // 00:low-power mode, 01:medium performance
- // 10:high performance, 10:ultra-high performance
- // BLE - Big/little endian data
- tempRegValue = 0;
- tempRegValue = (settings.mag.ZPerformance & 0x3) << 2;
- mWriteByte(CTRL_REG4_M, tempRegValue);
-
- // CTRL_REG5_M (Default value: 0x00)
- // [0][BDU][0][0][0][0][0][0]
- // BDU - Block data update for magnetic data
- // 0:continuous, 1:not updated until MSB/LSB are read
- tempRegValue = 0;
- mWriteByte(CTRL_REG5_M, tempRegValue);
-}
-
-uint8_t LSM9DS1::accelAvailable()
-{
- uint8_t status = xgReadByte(STATUS_REG_1);
-
- return (status & (1<<0));
-}
-
-uint8_t LSM9DS1::gyroAvailable()
-{
- uint8_t status = xgReadByte(STATUS_REG_1);
-
- return ((status & (1<<1)) >> 1);
-}
-
-uint8_t LSM9DS1::tempAvailable()
-{
- uint8_t status = xgReadByte(STATUS_REG_1);
-
- return ((status & (1<<2)) >> 2);
-}
-
-uint8_t LSM9DS1::magAvailable(lsm9ds1_axis axis)
-{
- uint8_t status;
- status = mReadByte(STATUS_REG_M);
-
- return ((status & (1<<axis)) >> axis);
-}
-
-void LSM9DS1::readAccel()
-{
- uint8_t temp[6]; // We'll read six bytes from the accelerometer into temp
- xgReadBytes(OUT_X_L_XL, temp, 6); // Read 6 bytes, beginning at OUT_X_L_XL
- ax = (temp[1] << 8) | temp[0]; // Store x-axis values into ax
- ay = (temp[3] << 8) | temp[2]; // Store y-axis values into ay
- az = (temp[5] << 8) | temp[4]; // Store z-axis values into az
- if (_autoCalc) {
- ax -= aBiasRaw[X_AXIS];
- ay -= aBiasRaw[Y_AXIS];
- az -= aBiasRaw[Z_AXIS];
- }
-}
-
-int16_t LSM9DS1::readAccel(lsm9ds1_axis axis)
-{
- uint8_t temp[2];
- int16_t value;
- xgReadBytes(OUT_X_L_XL + (2 * axis), temp, 2);
- value = (temp[1] << 8) | temp[0];
-
- if (_autoCalc)
- value -= aBiasRaw[axis];
-
- return value;
-}
-
-void LSM9DS1::readMag()
-{
- uint8_t temp[6]; // We'll read six bytes from the mag into temp
- mReadBytes(OUT_X_L_M, temp, 6); // Read 6 bytes, beginning at OUT_X_L_M
- mx = (temp[1] << 8) | temp[0]; // Store x-axis values into mx
- my = (temp[3] << 8) | temp[2]; // Store y-axis values into my
- mz = (temp[5] << 8) | temp[4]; // Store z-axis values into mz
-}
-void LSM9DS1::readMag_calibrated()
-{
- uint8_t temp[6]; // We'll read six bytes from the mag into temp
- mReadBytes(OUT_X_L_M, temp, 6); // Read 6 bytes, beginning at OUT_X_L_M
- mx = (temp[1] << 8) | temp[0]; // Store x-axis values into mx
- my = (temp[3] << 8) | temp[2]; // Store y-axis values into my
- mz = (temp[5] << 8) | temp[4]; // Store z-axis values into mz
- mx -=magn_ellipsoid_center[0];
- my -=magn_ellipsoid_center[1];
- mz -=magn_ellipsoid_center[2];
- float dum[3];
- for(int i=0;i<3;i++)
- dum[i] = RM[i][0] * (float)mx + RM[i][1] * (float)my + RM[i][2] * (float)mz;
- mx=(int16_t)dum[0];
- my=(int16_t)dum[1];
- mz=(int16_t)dum[2];
-
-}
-
-int16_t LSM9DS1::readMag(lsm9ds1_axis axis)
-{
- uint8_t temp[2];
- mReadBytes(OUT_X_L_M + (2 * axis), temp, 2);
- return (temp[1] << 8) | temp[0];
-}
-
-void LSM9DS1::readTemp()
-{
- uint8_t temp[2]; // We'll read two bytes from the temperature sensor into temp
- xgReadBytes(OUT_TEMP_L, temp, 2); // Read 2 bytes, beginning at OUT_TEMP_L
- temperature = ((int16_t)temp[1] << 8) | temp[0];
-}
-
-void LSM9DS1::readGyro()
-{
- uint8_t temp[6]; // We'll read six bytes from the gyro into temp
- xgReadBytes(OUT_X_L_G, temp, 6); // Read 6 bytes, beginning at OUT_X_L_G
- gx = (temp[1] << 8) | temp[0]; // Store x-axis values into gx
- gy = (temp[3] << 8) | temp[2]; // Store y-axis values into gy
- gz = (temp[5] << 8) | temp[4]; // Store z-axis values into gz
- if (_autoCalc) {
- gx -= gBiasRaw[X_AXIS];
- gy -= gBiasRaw[Y_AXIS];
- gz -= gBiasRaw[Z_AXIS];
- }
-}
-
-int16_t LSM9DS1::readGyro(lsm9ds1_axis axis)
-{
- uint8_t temp[2];
- int16_t value;
-
- xgReadBytes(OUT_X_L_G + (2 * axis), temp, 2);
-
- value = (temp[1] << 8) | temp[0];
-
- if (_autoCalc)
- value -= gBiasRaw[axis];
-
- return value;
-}
-
-float LSM9DS1::calcGyro(int16_t gyro)
-{
- // Return the gyro raw reading times our pre-calculated DPS / (ADC tick):
- return gRes * gyro;
-}
-
-float LSM9DS1::calcAccel(int16_t accel)
-{
- // Return the accel raw reading times our pre-calculated g's / (ADC tick):
- return aRes * accel;
-}
-
-float LSM9DS1::calcMag(int16_t mag)
-{
- // Return the mag raw reading times our pre-calculated Gs / (ADC tick):
- return mRes * mag;
-}
-
-void LSM9DS1::setGyroScale(uint16_t gScl)
-{
- // Read current value of CTRL_REG1_G:
- uint8_t ctrl1RegValue = xgReadByte(CTRL_REG1_G);
- // Mask out scale bits (3 & 4):
- ctrl1RegValue &= 0xE7;
- switch (gScl) {
- case 500:
- ctrl1RegValue |= (0x1 << 3);
- settings.gyro.scale = 500;
- break;
- case 2000:
- ctrl1RegValue |= (0x3 << 3);
- settings.gyro.scale = 2000;
- break;
- default: // Otherwise we'll set it to 245 dps (0x0 << 4)
- settings.gyro.scale = 245;
- break;
- }
- xgWriteByte(CTRL_REG1_G, ctrl1RegValue);
-
- calcgRes();
-}
-
-void LSM9DS1::setAccelScale(uint8_t aScl)
-{
- // We need to preserve the other bytes in CTRL_REG6_XL. So, first read it:
- uint8_t tempRegValue = xgReadByte(CTRL_REG6_XL);
- // Mask out accel scale bits:
- tempRegValue &= 0xE7;
-
- switch (aScl) {
- case 4:
- tempRegValue |= (0x2 << 3);
- settings.accel.scale = 4;
- break;
- case 8:
- tempRegValue |= (0x3 << 3);
- settings.accel.scale = 8;
- break;
- case 16:
- tempRegValue |= (0x1 << 3);
- settings.accel.scale = 16;
- break;
- default: // Otherwise it'll be set to 2g (0x0 << 3)
- settings.accel.scale = 2;
- break;
- }
- xgWriteByte(CTRL_REG6_XL, tempRegValue);
-
- // Then calculate a new aRes, which relies on aScale being set correctly:
- calcaRes();
-}
-
-void LSM9DS1::setMagScale(uint8_t mScl)
-{
- // We need to preserve the other bytes in CTRL_REG6_XM. So, first read it:
- uint8_t temp = mReadByte(CTRL_REG2_M);
- // Then mask out the mag scale bits:
- temp &= 0xFF^(0x3 << 5);
-
- switch (mScl) {
- case 8:
- temp |= (0x1 << 5);
- settings.mag.scale = 8;
- break;
- case 12:
- temp |= (0x2 << 5);
- settings.mag.scale = 12;
- break;
- case 16:
- temp |= (0x3 << 5);
- settings.mag.scale = 16;
- break;
- default: // Otherwise we'll default to 4 gauss (00)
- settings.mag.scale = 4;
- break;
- }
-
- // And write the new register value back into CTRL_REG6_XM:
- mWriteByte(CTRL_REG2_M, temp);
-
- // We've updated the sensor, but we also need to update our class variables
- // First update mScale:
- //mScale = mScl;
- // Then calculate a new mRes, which relies on mScale being set correctly:
- calcmRes();
-}
-
-void LSM9DS1::setGyroODR(uint8_t gRate)
-{
- // Only do this if gRate is not 0 (which would disable the gyro)
- if ((gRate & 0x07) != 0) {
- // We need to preserve the other bytes in CTRL_REG1_G. So, first read it:
- uint8_t temp = xgReadByte(CTRL_REG1_G);
- // Then mask out the gyro ODR bits:
- temp &= 0xFF^(0x7 << 5);
- temp |= (gRate & 0x07) << 5;
- // Update our settings struct
- settings.gyro.sampleRate = gRate & 0x07;
- // And write the new register value back into CTRL_REG1_G:
- xgWriteByte(CTRL_REG1_G, temp);
- }
-}
-
-void LSM9DS1::setAccelODR(uint8_t aRate)
-{
- // Only do this if aRate is not 0 (which would disable the accel)
- if ((aRate & 0x07) != 0) {
- // We need to preserve the other bytes in CTRL_REG1_XM. So, first read it:
- uint8_t temp = xgReadByte(CTRL_REG6_XL);
- // Then mask out the accel ODR bits:
- temp &= 0x1F;
- // Then shift in our new ODR bits:
- temp |= ((aRate & 0x07) << 5);
- settings.accel.sampleRate = aRate & 0x07;
- // And write the new register value back into CTRL_REG1_XM:
- xgWriteByte(CTRL_REG6_XL, temp);
- }
-}
-
-void LSM9DS1::setMagODR(uint8_t mRate)
-{
- // We need to preserve the other bytes in CTRL_REG5_XM. So, first read it:
- uint8_t temp = mReadByte(CTRL_REG1_M);
- // Then mask out the mag ODR bits:
- temp &= 0xFF^(0x7 << 2);
- // Then shift in our new ODR bits:
- temp |= ((mRate & 0x07) << 2);
- settings.mag.sampleRate = mRate & 0x07;
- // And write the new register value back into CTRL_REG5_XM:
- mWriteByte(CTRL_REG1_M, temp);
-}
-
-void LSM9DS1::calcgRes()
-{
- gRes = ((float) settings.gyro.scale) / 32768.0;
-}
-
-void LSM9DS1::calcaRes()
-{
- aRes = ((float) settings.accel.scale) / 32768.0;
-}
-
-void LSM9DS1::calcmRes()
-{
- //mRes = ((float) settings.mag.scale) / 32768.0;
- switch (settings.mag.scale) {
- case 4:
- mRes = magSensitivity[0];
- break;
- case 8:
- mRes = magSensitivity[1];
- break;
- case 12:
- mRes = magSensitivity[2];
- break;
- case 16:
- mRes = magSensitivity[3];
- break;
- }
-
-}
-/*
-void LSM9DS1::configInt(interrupt_select interrupt, uint8_t generator,
- h_lactive activeLow, pp_od pushPull)
-{
- // Write to INT1_CTRL or INT2_CTRL. [interupt] should already be one of
- // those two values.
- // [generator] should be an OR'd list of values from the interrupt_generators enum
- xgWriteByte(interrupt, generator);
-
- // Configure CTRL_REG8
- uint8_t temp;
- temp = xgReadByte(CTRL_REG8);
-
- if (activeLow) temp |= (1<<5);
- else temp &= ~(1<<5);
-
- if (pushPull) temp &= ~(1<<4);
- else temp |= (1<<4);
-
- xgWriteByte(CTRL_REG8, temp);
-}*/
-
-void LSM9DS1::configInactivity(uint8_t duration, uint8_t threshold, bool sleepOn)
-{
- uint8_t temp = 0;
-
- temp = threshold & 0x7F;
- if (sleepOn) temp |= (1<<7);
- xgWriteByte(ACT_THS, temp);
-
- xgWriteByte(ACT_DUR, duration);
-}
-
-/*
-uint8_t LSM9DS1::getInactivity()
-{
- uint8_t temp = xgReadByte(STATUS_REG_0);
- temp &= (0x10);
- return temp;
-}
-
-void LSM9DS1::configAccelInt(uint8_t generator, bool andInterrupts)
-{
- // Use variables from accel_interrupt_generator, OR'd together to create
- // the [generator]value.
- uint8_t temp = generator;
- if (andInterrupts) temp |= 0x80;
- xgWriteByte(INT_GEN_CFG_XL, temp);
-}
-
-void LSM9DS1::configAccelThs(uint8_t threshold, lsm9ds1_axis axis, uint8_t duration, bool wait)
-{
- // Write threshold value to INT_GEN_THS_?_XL.
- // axis will be 0, 1, or 2 (x, y, z respectively)
- xgWriteByte(INT_GEN_THS_X_XL + axis, threshold);
-
- // Write duration and wait to INT_GEN_DUR_XL
- uint8_t temp;
- temp = (duration & 0x7F);
- if (wait) temp |= 0x80;
- xgWriteByte(INT_GEN_DUR_XL, temp);
-}
-
-uint8_t LSM9DS1::getAccelIntSrc()
-{
- uint8_t intSrc = xgReadByte(INT_GEN_SRC_XL);
-
- // Check if the IA_XL (interrupt active) bit is set
- if (intSrc & (1<<6)) {
- return (intSrc & 0x3F);
- }
-
- return 0;
-}
-
-void LSM9DS1::configGyroInt(uint8_t generator, bool aoi, bool latch)
-{
- // Use variables from accel_interrupt_generator, OR'd together to create
- // the [generator]value.
- uint8_t temp = generator;
- if (aoi) temp |= 0x80;
- if (latch) temp |= 0x40;
- xgWriteByte(INT_GEN_CFG_G, temp);
-}
-
-void LSM9DS1::configGyroThs(int16_t threshold, lsm9ds1_axis axis, uint8_t duration, bool wait)
-{
- uint8_t buffer[2];
- buffer[0] = (threshold & 0x7F00) >> 8;
- buffer[1] = (threshold & 0x00FF);
- // Write threshold value to INT_GEN_THS_?H_G and INT_GEN_THS_?L_G.
- // axis will be 0, 1, or 2 (x, y, z respectively)
- xgWriteByte(INT_GEN_THS_XH_G + (axis * 2), buffer[0]);
- xgWriteByte(INT_GEN_THS_XH_G + 1 + (axis * 2), buffer[1]);
-
- // Write duration and wait to INT_GEN_DUR_XL
- uint8_t temp;
- temp = (duration & 0x7F);
- if (wait) temp |= 0x80;
- xgWriteByte(INT_GEN_DUR_G, temp);
-}
-
-uint8_t LSM9DS1::getGyroIntSrc()
-{
- uint8_t intSrc = xgReadByte(INT_GEN_SRC_G);
-
- // Check if the IA_G (interrupt active) bit is set
- if (intSrc & (1<<6)) {
- return (intSrc & 0x3F);
- }
-
- return 0;
-}
-
-
-void LSM9DS1::configMagInt(uint8_t generator, h_lactive activeLow, bool latch)
-{
- // Mask out non-generator bits (0-4)
- uint8_t config = (generator & 0xE0);
- // IEA bit is 0 for active-low, 1 for active-high.
- if (activeLow == INT_ACTIVE_HIGH) config |= (1<<2);
- // IEL bit is 0 for latched, 1 for not-latched
- if (!latch) config |= (1<<1);
- // As long as we have at least 1 generator, enable the interrupt
- if (generator != 0) config |= (1<<0);
-
- mWriteByte(INT_CFG_M, config);
-}
-
-
-uint8_t LSM9DS1::getMagIntSrc()
-{
- uint8_t intSrc = mReadByte(INT_SRC_M);
-
- // Check if the INT (interrupt active) bit is set
- if (intSrc & (1<<0)) {
- return (intSrc & 0xFE);
- }
-
- return 0;
-}*/
-
-void LSM9DS1::configMagThs(uint16_t threshold)
-{
- // Write high eight bits of [threshold] to INT_THS_H_M
- mWriteByte(INT_THS_H_M, uint8_t((threshold & 0x7F00) >> 8));
- // Write low eight bits of [threshold] to INT_THS_L_M
- mWriteByte(INT_THS_L_M, uint8_t(threshold & 0x00FF));
-}
-
-void LSM9DS1::sleepGyro(bool enable)
-{
- uint8_t temp = xgReadByte(CTRL_REG9);
- if (enable) temp |= (1<<6);
- else temp &= ~(1<<6);
- xgWriteByte(CTRL_REG9, temp);
-}
-
-void LSM9DS1::enableFIFO(bool enable)
-{
- uint8_t temp = xgReadByte(CTRL_REG9);
- if (enable) temp |= (1<<1);
- else temp &= ~(1<<1);
- xgWriteByte(CTRL_REG9, temp);
-}
-
-void LSM9DS1::setFIFO(fifoMode_type fifoMode, uint8_t fifoThs)
-{
- // Limit threshold - 0x1F (31) is the maximum. If more than that was asked
- // limit it to the maximum.
- uint8_t threshold = fifoThs <= 0x1F ? fifoThs : 0x1F;
- xgWriteByte(FIFO_CTRL, ((fifoMode & 0x7) << 5) | (threshold & 0x1F));
-}
-
-uint8_t LSM9DS1::getFIFOSamples()
-{
- return (xgReadByte(FIFO_SRC) & 0x3F);
-}
-
-void LSM9DS1::constrainScales()
-{
- if ((settings.gyro.scale != 245) && (settings.gyro.scale != 500) &&
- (settings.gyro.scale != 2000)) {
- settings.gyro.scale = 245;
- }
-
- if ((settings.accel.scale != 2) && (settings.accel.scale != 4) &&
- (settings.accel.scale != 8) && (settings.accel.scale != 16)) {
- settings.accel.scale = 2;
- }
-
- if ((settings.mag.scale != 4) && (settings.mag.scale != 8) &&
- (settings.mag.scale != 12) && (settings.mag.scale != 16)) {
- settings.mag.scale = 4;
- }
-}
-
-void LSM9DS1::xgWriteByte(uint8_t subAddress, uint8_t data)
-{
- // Whether we're using I2C or SPI, write a byte using the
- // gyro-specific I2C address or SPI CS pin.
- if (settings.device.commInterface == IMU_MODE_I2C) {
- printf("yo");
- // I2CwriteByte(_xgAddress, subAddress, data);
- } else if (settings.device.commInterface == IMU_MODE_SPI) {
- SPIwriteByte(_xgAddress, subAddress, data);
- }
-}
-
-
-
-void LSM9DS1::mWriteByte(uint8_t subAddress, uint8_t data)
-{
- // Whether we're using I2C or SPI, write a byte using the
- // accelerometer-specific I2C address or SPI CS pin.
- // if (settings.device.commInterface == IMU_MODE_I2C)
- // return I2CwriteByte(_mAddress, subAddress, data);
- if (settings.device.commInterface == IMU_MODE_SPI)
- return SPIwriteByte(_mAddress, subAddress, data);
-}
-
-uint8_t LSM9DS1::xgReadByte(uint8_t subAddress)
-{
- // Whether we're using I2C or SPI, read a byte using the
- // gyro-specific I2C address or SPI CS pin.
- //if (settings.device.commInterface == IMU_MODE_I2C)
- // return I2CreadByte(_xgAddress, subAddress);
- if (settings.device.commInterface == IMU_MODE_SPI)
- return SPIreadByte(_xgAddress, subAddress);
-}
-
-void LSM9DS1::xgReadBytes(uint8_t subAddress, uint8_t * dest, uint8_t count)
-{
- // Whether we're using I2C or SPI, read multiple bytes using the
- // gyro-specific I2C address or SPI CS pin.
- if (settings.device.commInterface == IMU_MODE_I2C) {
- // I2CreadBytes(_xgAddress, subAddress, dest, count);
- } else if (settings.device.commInterface == IMU_MODE_SPI) {
- SPIreadBytes(_xgAddress, subAddress, dest, count);
- }
-}
-
-uint8_t LSM9DS1::mReadByte(uint8_t subAddress)
-{
- // Whether we're using I2C or SPI, read a byte using the
- // accelerometer-specific I2C address or SPI CS pin.
- //if (settings.device.commInterface == IMU_MODE_I2C)
- // return I2CreadByte(_mAddress, subAddress);
- if (settings.device.commInterface == IMU_MODE_SPI)
- return SPIreadByte(_mAddress, subAddress);
-}
-
-void LSM9DS1::mReadBytes(uint8_t subAddress, uint8_t * dest, uint8_t count)
-{
- // Whether we're using I2C or SPI, read multiple bytes using the
- // accelerometer-specific I2C address or SPI CS pin.
- // if (settings.device.commInterface == IMU_MODE_I2C)
- // I2CreadBytes(_mAddress, subAddress, dest, count);
- if (settings.device.commInterface == IMU_MODE_SPI)
- SPIreadBytes(_mAddress, subAddress, dest, count);
-}
-
-void LSM9DS1::initSPI()
-{
- spi->format(8, 0); //8, 3
- spi->frequency(1000000);
-
- *_xgAddress = 1;
- *_mAddress = 1;
-
- /*
- pinMode(_xgAddress, OUTPUT);
- digitalWrite(_xgAddress, HIGH);
- pinMode(_mAddress, OUTPUT);
- digitalWrite(_mAddress, HIGH);
-
- spi->begin();
- // Maximum SPI frequency is 10MHz, could divide by 2 here:
- spi->setClockDivider(SPI_CLOCK_DIV2);
- // Data is read and written MSb first.
- spi->setBitOrder(MSBFIRST);
- // Data is captured on rising edge of clock (CPHA = 0)
- // Base value of the clock is HIGH (CPOL = 1)
- spi->setDataMode(SPI_MODE0);
- */
-}
-
-void LSM9DS1::SPIwriteByte(DigitalOut* csPin, uint8_t subAddress, uint8_t data)
-{
- *csPin = 0;
- wait_us(1);
-
- spi->write(subAddress & 0x3F);
- spi->write(data & 0xFF);
-
- wait_us(1);
- *csPin = 1;
-
- /*
- digitalWrite(csPin, LOW); // Initiate communication
-
- // If write, bit 0 (MSB) should be 0
- // If single write, bit 1 should be 0
- spi->transfer(subAddress & 0x3F); // Send Address
- spi->transfer(data); // Send data
-
- digitalWrite(csPin, HIGH); // Close communication
- */
-}
-
-uint8_t LSM9DS1::SPIreadByte(DigitalOut* csPin, uint8_t subAddress)
-{
- uint8_t temp;
- // Use the multiple read function to read 1 byte.
- // Value is returned to `temp`.
- SPIreadBytes(csPin, subAddress, &temp, 1);
- return temp;
-}
-
-void LSM9DS1::SPIreadBytes(DigitalOut* csPin, uint8_t subAddress,
- uint8_t * dest, uint8_t count)
-{
- // To indicate a read, set bit 0 (msb) of first byte to 1
- uint8_t rAddress = 0x80 | (subAddress & 0x3F);
- // Mag SPI port is different. If we're reading multiple bytes,
- // set bit 1 to 1. The remaining six bytes are the address to be read
- if ((csPin == _mAddress) && count > 1)
- rAddress |= 0x40;
-
- *csPin = 0;
-
- wait_us(1);
-
- spi->write(rAddress);
- for (int i=0; i<count; i++)
- dest[i] = spi->write(0xFF);
-
- wait_us(1);
- *csPin = 1;
-
- /*
- digitalWrite(csPin, LOW); // Initiate communication
- spi->transfer(rAddress);
- for (int i=0; i<count; i++)
- {
- dest[i] = spi->transfer(0x00); // Read into destination array
- }
- digitalWrite(csPin, HIGH); // Close communication
- */
-}
-
-void LSM9DS1::initI2C()
-{
- /*
- Wire.begin(); // Initialize I2C library
- */
-
- //already initialized in constructor!
-}
-
-// Wire.h read and write protocols
-void LSM9DS1::I2CwriteByte(uint8_t address, uint8_t subAddress, uint8_t data)
-{
- /*
- Wire.beginTransmission(address); // Initialize the Tx buffer
- Wire.write(subAddress); // Put slave register address in Tx buffer
- Wire.write(data); // Put data in Tx buffer
- Wire.endTransmission(); // Send the Tx buffer
- */
- // char temp_data[2] = {subAddress, data};
- // i2c.write(address, temp_data, 2);
-}
-
-uint8_t LSM9DS1::I2CreadByte(uint8_t address, uint8_t subAddress)
-{
- /*
- int timeout = LSM9DS1_COMMUNICATION_TIMEOUT;
- uint8_t data; // `data` will store the register data
-
- Wire.beginTransmission(address); // Initialize the Tx buffer
- Wire.write(subAddress); // Put slave register address in Tx buffer
- Wire.endTransmission(true); // Send the Tx buffer, but send a restart to keep connection alive
- Wire.requestFrom(address, (uint8_t) 1); // Read one byte from slave register address
- while ((Wire.available() < 1) && (timeout-- > 0))
- delay(1);
-
- if (timeout <= 0)
- return 255; //! Bad! 255 will be misinterpreted as a good value.
-
- data = Wire.read(); // Fill Rx buffer with result
- return data; // Return data read from slave register
- */
- char data;
- char temp[1] = {subAddress};
-/*
- i2c.write(address, temp, 1);
- //i2c.write(address & 0xFE);
- temp[1] = 0x00;
- i2c.write(address, temp, 1);
- //i2c.write( address | 0x01);
- int a = i2c.read(address, &data, 1);*/
- return data;
-}
-
-uint8_t LSM9DS1::I2CreadBytes(uint8_t address, uint8_t subAddress, uint8_t * dest, uint8_t count)
-{
- /*
- int timeout = LSM9DS1_COMMUNICATION_TIMEOUT;
- Wire.beginTransmission(address); // Initialize the Tx buffer
- // Next send the register to be read. OR with 0x80 to indicate multi-read.
- Wire.write(subAddress | 0x80); // Put slave register address in Tx buffer
-
- Wire.endTransmission(true); // Send the Tx buffer, but send a restart to keep connection alive
- uint8_t i = 0;
- Wire.requestFrom(address, count); // Read bytes from slave register address
- while ((Wire.available() < count) && (timeout-- > 0))
- delay(1);
- if (timeout <= 0)
- return -1;
-
- for (int i=0; i<count;)
- {
- if (Wire.available())
- {
- dest[i++] = Wire.read();
- }
- }
- return count;
- */
- int i;
- char temp_dest[count];
- char temp[1] = {subAddress};
- //i2c.write(address, temp, 1);
- //i2c.read(address, temp_dest, count);
-
- //i2c doesn't take uint8_ts, but rather chars so do this nasty af conversion
- for (i=0; i < count; i++) {
- dest[i] = temp_dest[i];
- }
- return count;
-}
-