altb_pmic
/
AHRS
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Dependencies: Eigen
Revision 4:3c21fb0c9e84, committed 2019-05-03
- Comitter:
- altb2
- Date:
- Fri May 03 13:46:40 2019 +0000
- Parent:
- 3:6811c0ce95f6
- Child:
- 5:eee47600b772
- Commit message:
- mit EKF, noch nicht lauffaehig
Changed in this revision
--- a/AHRS.cpp Tue Dec 04 15:49:48 2018 +0000
+++ b/AHRS.cpp Fri May 03 13:46:40 2019 +0000
@@ -1,23 +1,35 @@
#include "AHRS.h"
#include "Mahony.h"
#include "MadgwickAHRS.h"
+#include "ekf.h"
+
#define PI 3.141592653589793
using namespace std;
-AHRS::AHRS(uint8_t filtertype,float TS) : RPY_filter(TS), csAG(PA_15),csM(PD_2), spi(PC_12, PC_11, PC_10), imu(&spi, &csM, &csAG), thread(osPriorityBelowNormal, 4096){
-
+//OLD: AHRS::AHRS(uint8_t filtertype,float TS) : RPY_filter(TS), csAG(PA_15),csM(PD_2), spi(PC_12, PC_11, PC_10), imu(&spi, &csM, &csAG), thread(osPriorityBelowNormal, 4096){
+AHRS::AHRS(uint8_t filtertype,float TS) : imu(PC_9, PA_8, 0xD6, 0x3C), RPY_filter(TS), thread(osPriorityBelowNormal, 4096){
+
thread.start(callback(this, &AHRS::update));
ticker.attach(callback(this, &AHRS::sendSignal), TS);
- LinearCharacteristics raw_ax2ax(40.0/65536.0,-418.0); // use gain and offset here
+/* LinearCharacteristics raw_ax2ax(40.0/65536.0,-418.0); // use gain and offset here
LinearCharacteristics raw_ay2ay(-40.0/65536.0,-307.0); // y-axis reversed
LinearCharacteristics raw_az2az(-16350.0,16350,-10.0, 10.0);
LinearCharacteristics raw_gx2gx(-32767,32768,-500*PI/180.0, 500*PI/180.0);
LinearCharacteristics raw_gy2gy(-32767,32768, 500*PI/180.0,-500*PI/180.0); // y-axis reversed (lefthanded system)
LinearCharacteristics raw_gz2gz(-32767,32768,-500*PI/180.0, 500*PI/180.0);
LinearCharacteristics int2magx( -32767,32768,100.0,-100.0); // x-axis reversed
- LinearCharacteristics int2magy( -32767,32768,100.0,-100.0); // y-axis reversed
- LinearCharacteristics int2magz( -32767,32768,-100.0,100.0);
+ LinearCharacteristics int2magy( -32767,32768,100.0,-100.0); // y-axis reversed*/
+ LinearCharacteristics raw_ax2ax( 1.0,0.0); // use gain and offset here
+ LinearCharacteristics raw_ay2ay(-1.0,0.0); // y-axis reversed
+ LinearCharacteristics raw_az2az( 1.0,0.0);
+ LinearCharacteristics raw_gx2gx( 1.0,0.0);
+ LinearCharacteristics raw_gy2gy(-1.0,0.0); // y-axis reversed (lefthanded system)
+ LinearCharacteristics raw_gz2gz( 1.0,0.0);
+ LinearCharacteristics int2magx( -1.0,0.0); // x-axis reversed
+ LinearCharacteristics int2magy( -1.0,0.0); // y-axis reversed
+ LinearCharacteristics int2magz( 1.0,0.0);
+ matrix measurement(6,1,0.0);
while (!imu.begin()) {
wait(1);
printf("Failed to communicate with LSM9DS1.\r\n");
@@ -32,14 +44,19 @@
while(1){
thread.signal_wait(signal);
imu.readAccel();
- imu.readMag_calibrated();
+ //imu.readMag_calibrated();
+ imu.readMag();
imu.readGyro();
-
+
//Perform Madgwick-filter update
- RPY_filter.update(raw_gx2gx(imu.gx), raw_gy2gy(imu.gy), raw_gz2gz(imu.gz) ,
- raw_ax2ax(imu.ax), raw_ay2ay(imu.ay), raw_az2az(imu.az),
- int2magx(imu.mx), int2magy(imu.my), int2magz(imu.mz));
-
+ //RPY_filter.update(raw_gx2gx(imu.gx), raw_gy2gy(imu.gy), raw_gz2gz(imu.gz) ,
+ // raw_ax2ax(imu.ax), raw_ay2ay(imu.ay), raw_az2az(imu.az),
+ // int2magx(imu.mx), int2magy(imu.my), int2magz(imu.mz));
+ measurement.put_entry(1,1,raw_gx2gx(imu.gyroX));
+ measurement.put_entry(2,1,raw_gy2gy(imu.gyroY));
+ measurement.put_entry(3,1,raw_ax2ax(imu.accX));
+ measurement.put_entry(4,1,raw_ay2ay(imu.accY));
+ //RPY_filter.loop(&measurement);
} // while(1)
}
--- a/AHRS.h Tue Dec 04 15:49:48 2018 +0000
+++ b/AHRS.h Fri May 03 13:46:40 2019 +0000
@@ -1,31 +1,38 @@
#include "Mahony.h"
#include "MadgwickAHRS.h"
#include "LinearCharacteristics.h"
-#include "LSM9DS1.h"
+#include "LSM9DS1_i2c.h"
#include "Signal.h"
+#include "ekf.h"
+#include "matrix.h"
+
class AHRS{
public:
AHRS(uint8_t,float);
virtual ~AHRS();
- float getRollRadians() {
- if (!RPY_filter.anglesComputed) RPY_filter.computeAngles();
- return RPY_filter.getRoll();
+ float getRoll() {
+ return 0.0;//RPY_filter.getRoll();
}
- float getPitchRadians() {
- if (!RPY_filter.anglesComputed) RPY_filter.computeAngles();
- return RPY_filter.getPitch();
+ float getPitch() {
+ return 0.0;//RPY_filter.getPitch();
}
- float getYawRadians() {
- if (!RPY_filter.anglesComputed) RPY_filter.computeAngles();
- return RPY_filter.getYaw();
+ float getYaw() {
+ return 0.0;//RPY_filter.getYaw();
}
LSM9DS1 imu;
- Mahony RPY_filter;
+ //Mahony RPY_filter;
+ ekf RPY_filter;
LinearCharacteristics raw_gx2gx;
LinearCharacteristics raw_gy2gy;
LinearCharacteristics raw_gz2gz;
+ LinearCharacteristics raw_ax2ax;
+ LinearCharacteristics raw_ay2ay;
+ LinearCharacteristics raw_az2az;
+ LinearCharacteristics int2magx;
+ LinearCharacteristics int2magy;
+ LinearCharacteristics int2magz;
private:
Signal signal;
Thread thread;
@@ -33,13 +40,9 @@
Mutex mutex; // mutex to lock critical sections
void sendSignal();
void update();
- LinearCharacteristics raw_ax2ax;
- LinearCharacteristics raw_ay2ay;
- LinearCharacteristics raw_az2az;
- LinearCharacteristics int2magx;
- LinearCharacteristics int2magy;
- LinearCharacteristics int2magz;
- SPI spi;
- DigitalOut csAG; // for spi
- DigitalOut csM; // "
+ matrix measurement;
+ //SPI spi; % old board with spi
+
+// PinName csAG; // for spi
+// PinName csM; // "
};
--- 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;
-}
-
--- a/LSM9DS1.h Tue Dec 04 15:49:48 2018 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,570 +0,0 @@
-/******************************************************************************
-SFE_LSM9DS1.h
-SFE_LSM9DS1 Library Header File
-Jim Lindblom @ SparkFun Electronics
-Original Creation Date: February 27, 2015
-https://github.com/sparkfun/LSM9DS1_Breakout
-
-This file prototypes the LSM9DS1 class, implemented in SFE_LSM9DS1.cpp. In
-addition, it defines every register in the LSM9DS1 (both the Gyro and Accel/
-Magnetometer registers).
-
-Development environment specifics:
- IDE: Arduino 1.6.0
- 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.
-******************************************************************************/
-#ifndef __SparkFunLSM9DS1_H__
-#define __SparkFunLSM9DS1_H__
-
-//#if defined(ARDUINO) && ARDUINO >= 100
-// #include "Arduino.h"
-//#else
-// #include "WProgram.h"
-// #include "pins_arduino.h"
-//#endif
-
-#include "mbed.h"
-#include <stdint.h>
-#include "LSM9DS1_Registers.h"
-#include "LSM9DS1_Types.h"
-
-#define LSM9DS1_AG_ADDR(sa0) ((sa0) == 0 ? 0x6A : 0x6B)
-#define LSM9DS1_M_ADDR(sa1) ((sa1) == 0 ? 0x1C : 0x1E)
-
-enum lsm9ds1_axis {
- X_AXIS,
- Y_AXIS,
- Z_AXIS,
- ALL_AXIS
-};
-
-class LSM9DS1
-{
-public:
-
-
- IMUSettings settings;
-
- // We'll store the gyro, accel, and magnetometer readings in a series of
- // public class variables. Each sensor gets three variables -- one for each
- // axis. Call readGyro(), readAccel(), and readMag() first, before using
- // these variables!
- // These values are the RAW signed 16-bit readings from the sensors.
- int16_t gx, gy, gz; // x, y, and z axis readings of the gyroscope
- int16_t ax, ay, az; // x, y, and z axis readings of the accelerometer
- int16_t mx, my, mz; // x, y, and z axis readings of the magnetometer
- int16_t temperature; // Chip temperature
- float gBias[3], aBias[3], mBias[3];
- int16_t gBiasRaw[3], aBiasRaw[3], mBiasRaw[3];
-
- // LSM9DS1 -- LSM9DS1 class constructor
- // The constructor will set up a handful of private variables, and set the
- // communication mode as well.
- /**Input:
- * - interface = Either IMU_MODE_SPI or IMU_MODE_I2C, whichever you're using
- * to talk to the IC.
- * - xgAddr = If IMU_MODE_I2C, this is the I2C address of the accel/gyroscope.
- * If IMU_MODE_SPI, this is the chip select pin of the gyro (CS_AG)
- * - mAddr = If IMU_MODE_I2C, this is the I2C address of the magnetometer.
- * If IMU_MODE_SPI, this is the cs pin of the magnetometer (CS_M)
-
- */
- // LSM9DS1(PinName sda, PinName scl, uint8_t xgAddr, uint8_t mAddr);
- LSM9DS1(SPI* _spi, DigitalOut* csM_, DigitalOut* csAG_);
- //
- //LSM9DS1(interface_mode interface, uint8_t xgAddr, uint8_t mAddr);
-
- /*LSM9DS1() {
- int t = 0;
-
- }*/
-
-
- /** begin() -- Initialize the gyro, accelerometer, and magnetometer.
- *This will set up the scale and output rate of each sensor. The values set
- * in the IMUSettings struct will take effect after calling this function.
- */
- uint16_t begin();
-
- void calibrate(bool autoCalc = true);
- void calibrateMag(bool loadIn = true);
- void magOffset(uint8_t axis, int16_t offset);
-
- /** accelAvailable() -- Polls the accelerometer status register to check
- * if new data is available.
- * Output: 1 - New data available
- * 0 - No new data available
- */
- uint8_t accelAvailable();
-
- /** gyroAvailable() -- Polls the gyroscope status register to check
- * if new data is available.
- * Output: 1 - New data available
- * 0 - No new data available
- */
- uint8_t gyroAvailable();
-
- /** gyroAvailable() -- Polls the temperature status register to check
- * if new data is available.
- * Output: 1 - New data available
- * 0 - No new data available
- */
- uint8_t tempAvailable();
-
- /** magAvailable() -- Polls the accelerometer status register to check
- * if new data is available.
- * Input:
- * - axis can be either X_AXIS, Y_AXIS, Z_AXIS, to check for new data
- * on one specific axis. Or ALL_AXIS (default) to check for new data
- * on all axes.
- * Output: 1 - New data available
- * 0 - No new data available
- */
- uint8_t magAvailable(lsm9ds1_axis axis = ALL_AXIS);
-
- /** readGyro() -- Read the gyroscope output registers.
- * This function will read all six gyroscope output registers.
- * The readings are stored in the class' gx, gy, and gz variables. Read
- * those _after_ calling readGyro().
- */
- void readGyro();
-
- /** int16_t readGyro(axis) -- Read a specific axis of the gyroscope.
- * [axis] can be any of X_AXIS, Y_AXIS, or Z_AXIS.
- * Input:
- * - axis: can be either X_AXIS, Y_AXIS, or Z_AXIS.
- * Output:
- * A 16-bit signed integer with sensor data on requested axis.
- */
- int16_t readGyro(lsm9ds1_axis axis);
-
- /** readAccel() -- Read the accelerometer output registers.
- * This function will read all six accelerometer output registers.
- * The readings are stored in the class' ax, ay, and az variables. Read
- * those _after_ calling readAccel().
- */
- void readAccel();
-
- /** int16_t readAccel(axis) -- Read a specific axis of the accelerometer.
- * [axis] can be any of X_AXIS, Y_AXIS, or Z_AXIS.
- * Input:
- * - axis: can be either X_AXIS, Y_AXIS, or Z_AXIS.
- * Output:
- * A 16-bit signed integer with sensor data on requested axis.
- */
- int16_t readAccel(lsm9ds1_axis axis);
-
- /** readMag() -- Read the magnetometer output registers.
- * This function will read all six magnetometer output registers.
- * The readings are stored in the class' mx, my, and mz variables. Read
- * those _after_ calling readMag().
- */
- void readMag();
- void readMag_calibrated();
-
- /** int16_t readMag(axis) -- Read a specific axis of the magnetometer.
- * [axis] can be any of X_AXIS, Y_AXIS, or Z_AXIS.
- * Input:
- * - axis: can be either X_AXIS, Y_AXIS, or Z_AXIS.
- * Output:
- * A 16-bit signed integer with sensor data on requested axis.
- */
- int16_t readMag(lsm9ds1_axis axis);
-
- /** readTemp() -- Read the temperature output register.
- * This function will read two temperature output registers.
- * The combined readings are stored in the class' temperature variables. Read
- * those _after_ calling readTemp().
- */
- void readTemp();
-
- /** calcGyro() -- Convert from RAW signed 16-bit value to degrees per second
- * This function reads in a signed 16-bit value and returns the scaled
- * DPS. This function relies on gScale and gRes being correct.
- * Input:
- * - gyro = A signed 16-bit raw reading from the gyroscope.
- */
- float calcGyro(int16_t gyro);
-
- /** calcAccel() -- Convert from RAW signed 16-bit value to gravity (g's).
- * This function reads in a signed 16-bit value and returns the scaled
- * g's. This function relies on aScale and aRes being correct.
- * Input:
- * - accel = A signed 16-bit raw reading from the accelerometer.
- */
- float calcAccel(int16_t accel);
-
- /** calcMag() -- Convert from RAW signed 16-bit value to Gauss (Gs)
- * This function reads in a signed 16-bit value and returns the scaled
- * Gs. This function relies on mScale and mRes being correct.
- * Input:
- * - mag = A signed 16-bit raw reading from the magnetometer.
- */
- float calcMag(int16_t mag);
-
- /** setGyroScale() -- Set the full-scale range of the gyroscope.
- * This function can be called to set the scale of the gyroscope to
- * 245, 500, or 200 degrees per second.
- * Input:
- * - gScl = The desired gyroscope scale. Must be one of three possible
- * values from the gyro_scale.
- */
- void setGyroScale(uint16_t gScl);
-
- /** setAccelScale() -- Set the full-scale range of the accelerometer.
- * This function can be called to set the scale of the accelerometer to
- * 2, 4, 6, 8, or 16 g's.
- * Input:
- * - aScl = The desired accelerometer scale. Must be one of five possible
- * values from the accel_scale.
- */
- void setAccelScale(uint8_t aScl);
-
- /** setMagScale() -- Set the full-scale range of the magnetometer.
- * This function can be called to set the scale of the magnetometer to
- * 2, 4, 8, or 12 Gs.
- * Input:
- * - mScl = The desired magnetometer scale. Must be one of four possible
- * values from the mag_scale.
- */
- void setMagScale(uint8_t mScl);
-
- /** setGyroODR() -- Set the output data rate and bandwidth of the gyroscope
- * Input:
- * - gRate = The desired output rate and cutoff frequency of the gyro.
- */
- void setGyroODR(uint8_t gRate);
-
- // setAccelODR() -- Set the output data rate of the accelerometer
- // Input:
- // - aRate = The desired output rate of the accel.
- void setAccelODR(uint8_t aRate);
-
- // setMagODR() -- Set the output data rate of the magnetometer
- // Input:
- // - mRate = The desired output rate of the mag.
- void setMagODR(uint8_t mRate);
-
- // configInactivity() -- Configure inactivity interrupt parameters
- // Input:
- // - duration = Inactivity duration - actual value depends on gyro ODR
- // - threshold = Activity Threshold
- // - sleepOn = Gyroscope operating mode during inactivity.
- // true: gyroscope in sleep mode
- // false: gyroscope in power-down
- void configInactivity(uint8_t duration, uint8_t threshold, bool sleepOn);
-
- // configAccelInt() -- Configure Accelerometer Interrupt Generator
- // Input:
- // - generator = Interrupt axis/high-low events
- // Any OR'd combination of ZHIE_XL, ZLIE_XL, YHIE_XL, YLIE_XL, XHIE_XL, XLIE_XL
- // - andInterrupts = AND/OR combination of interrupt events
- // true: AND combination
- // false: OR combination
- void configAccelInt(uint8_t generator, bool andInterrupts = false);
-
- // configAccelThs() -- Configure the threshold of an accelereomter axis
- // Input:
- // - threshold = Interrupt threshold. Possible values: 0-255.
- // Multiply by 128 to get the actual raw accel value.
- // - axis = Axis to be configured. Either X_AXIS, Y_AXIS, or Z_AXIS
- // - duration = Duration value must be above or below threshold to trigger interrupt
- // - wait = Wait function on duration counter
- // true: Wait for duration samples before exiting interrupt
- // false: Wait function off
- void configAccelThs(uint8_t threshold, lsm9ds1_axis axis, uint8_t duration = 0, bool wait = 0);
-
- // configGyroInt() -- Configure Gyroscope Interrupt Generator
- // Input:
- // - generator = Interrupt axis/high-low events
- // Any OR'd combination of ZHIE_G, ZLIE_G, YHIE_G, YLIE_G, XHIE_G, XLIE_G
- // - aoi = AND/OR combination of interrupt events
- // true: AND combination
- // false: OR combination
- // - latch: latch gyroscope interrupt request.
- void configGyroInt(uint8_t generator, bool aoi, bool latch);
-
- // configGyroThs() -- Configure the threshold of a gyroscope axis
- // Input:
- // - threshold = Interrupt threshold. Possible values: 0-0x7FF.
- // Value is equivalent to raw gyroscope value.
- // - axis = Axis to be configured. Either X_AXIS, Y_AXIS, or Z_AXIS
- // - duration = Duration value must be above or below threshold to trigger interrupt
- // - wait = Wait function on duration counter
- // true: Wait for duration samples before exiting interrupt
- // false: Wait function off
- void configGyroThs(int16_t threshold, lsm9ds1_axis axis, uint8_t duration, bool wait);
-
- // configInt() -- Configure INT1 or INT2 (Gyro and Accel Interrupts only)
- // Input:
- // - interrupt = Select INT1 or INT2
- // Possible values: XG_INT1 or XG_INT2
- // - generator = Or'd combination of interrupt generators.
- // Possible values: INT_DRDY_XL, INT_DRDY_G, INT1_BOOT (INT1 only), INT2_DRDY_TEMP (INT2 only)
- // INT_FTH, INT_OVR, INT_FSS5, INT_IG_XL (INT1 only), INT1_IG_G (INT1 only), INT2_INACT (INT2 only)
- // - activeLow = Interrupt active configuration
- // Can be either INT_ACTIVE_HIGH or INT_ACTIVE_LOW
- // - pushPull = Push-pull or open drain interrupt configuration
- // Can be either INT_PUSH_PULL or INT_OPEN_DRAIN
- // void configInt(interrupt_select interupt, uint8_t generator,
- // h_lactive activeLow = INT_ACTIVE_LOW, pp_od pushPull = INT_PUSH_PULL);
-
- /** configMagInt() -- Configure Magnetometer Interrupt Generator
- * Input:
- * - generator = Interrupt axis/high-low events
- * Any OR'd combination of ZIEN, YIEN, XIEN
- * - activeLow = Interrupt active configuration
- * Can be either INT_ACTIVE_HIGH or INT_ACTIVE_LOW
- * - latch: latch gyroscope interrupt request.
- */
- // void configMagInt(uint8_t generator, h_lactive activeLow, bool latch = true);
-
- /** configMagThs() -- Configure the threshold of a gyroscope axis
- * Input:
- * - threshold = Interrupt threshold. Possible values: 0-0x7FF.
- * Value is equivalent to raw magnetometer value.
- */
- void configMagThs(uint16_t threshold);
-
- //! getGyroIntSrc() -- Get contents of Gyroscope interrupt source register
- uint8_t getGyroIntSrc();
-
- //! getGyroIntSrc() -- Get contents of accelerometer interrupt source register
- uint8_t getAccelIntSrc();
-
- //! getGyroIntSrc() -- Get contents of magnetometer interrupt source register
- uint8_t getMagIntSrc();
-
- //! getGyroIntSrc() -- Get status of inactivity interrupt
- uint8_t getInactivity();
-
- /** sleepGyro() -- Sleep or wake the gyroscope
- * Input:
- * - enable: True = sleep gyro. False = wake gyro.
- */
- void sleepGyro(bool enable = true);
-
- /** enableFIFO() - Enable or disable the FIFO
- * Input:
- * - enable: true = enable, false = disable.
- */
- void enableFIFO(bool enable = true);
-
- /** setFIFO() - Configure FIFO mode and Threshold
- * Input:
- * - fifoMode: Set FIFO mode to off, FIFO (stop when full), continuous, bypass
- * Possible inputs: FIFO_OFF, FIFO_THS, FIFO_CONT_TRIGGER, FIFO_OFF_TRIGGER, FIFO_CONT
- * - fifoThs: FIFO threshold level setting
- * Any value from 0-0x1F is acceptable.
- */
- void setFIFO(fifoMode_type fifoMode, uint8_t fifoThs);
-
- //! getFIFOSamples() - Get number of FIFO samples
- uint8_t getFIFOSamples();
-
-
-protected:
- // x_mAddress and gAddress store the I2C address or SPI chip select pin
- // for each sensor.
- // uint8_t _mAddress, _xgAddress;
-
- // gRes, aRes, and mRes store the current resolution for each sensor.
- // Units of these values would be DPS (or g's or Gs's) per ADC tick.
- // This value is calculated as (sensor scale) / (2^15).
- float gRes, aRes, mRes;
-
- // _autoCalc keeps track of whether we're automatically subtracting off
- // accelerometer and gyroscope bias calculated in calibrate().
- bool _autoCalc;
-
- // init() -- Sets up gyro, accel, and mag settings to default.
- // - interface - Sets the interface mode (IMU_MODE_I2C or IMU_MODE_SPI)
- // - xgAddr - Sets either the I2C address of the accel/gyro or SPI chip
- // select pin connected to the CS_XG pin.
- // - mAddr - Sets either the I2C address of the magnetometer or SPI chip
- // select pin connected to the CS_M pin.
- void init(interface_mode interface, uint8_t xgAddr, uint8_t mAddr);
-
- // initGyro() -- Sets up the gyroscope to begin reading.
- // This function steps through all five gyroscope control registers.
- // Upon exit, the following parameters will be set:
- // - CTRL_REG1_G = 0x0F: Normal operation mode, all axes enabled.
- // 95 Hz ODR, 12.5 Hz cutoff frequency.
- // - CTRL_REG2_G = 0x00: HPF set to normal mode, cutoff frequency
- // set to 7.2 Hz (depends on ODR).
- // - CTRL_REG3_G = 0x88: Interrupt enabled on INT_G (set to push-pull and
- // active high). Data-ready output enabled on DRDY_G.
- // - CTRL_REG4_G = 0x00: Continuous update mode. Data LSB stored in lower
- // address. Scale set to 245 DPS. SPI mode set to 4-wire.
- // - CTRL_REG5_G = 0x00: FIFO disabled. HPF disabled.
- void initGyro();
-
- // initAccel() -- Sets up the accelerometer to begin reading.
- // This function steps through all accelerometer related control registers.
- // Upon exit these registers will be set as:
- // - CTRL_REG0_XM = 0x00: FIFO disabled. HPF bypassed. Normal mode.
- // - CTRL_REG1_XM = 0x57: 100 Hz data rate. Continuous update.
- // all axes enabled.
- // - CTRL_REG2_XM = 0x00: 2g scale. 773 Hz anti-alias filter BW.
- // - CTRL_REG3_XM = 0x04: Accel data ready signal on INT1_XM pin.
- void initAccel();
-
- // initMag() -- Sets up the magnetometer to begin reading.
- // This function steps through all magnetometer-related control registers.
- // Upon exit these registers will be set as:
- // - CTRL_REG4_XM = 0x04: Mag data ready signal on INT2_XM pin.
- // - CTRL_REG5_XM = 0x14: 100 Hz update rate. Low resolution. Interrupt
- // requests don't latch. Temperature sensor disabled.
- // - CTRL_REG6_XM = 0x00: 2 Gs scale.
- // - CTRL_REG7_XM = 0x00: Continuous conversion mode. Normal HPF mode.
- // - INT_CTRL_REG_M = 0x09: Interrupt active-high. Enable interrupts.
- void initMag();
-
- // gReadByte() -- Reads a byte from a specified gyroscope register.
- // Input:
- // - subAddress = Register to be read from.
- // Output:
- // - An 8-bit value read from the requested address.
- uint8_t mReadByte(uint8_t subAddress);
-
- // gReadBytes() -- Reads a number of bytes -- beginning at an address
- // and incrementing from there -- from the gyroscope.
- // Input:
- // - subAddress = Register to be read from.
- // - * dest = A pointer to an array of uint8_t's. Values read will be
- // stored in here on return.
- // - count = The number of bytes to be read.
- // Output: No value is returned, but the `dest` array will store
- // the data read upon exit.
- void mReadBytes(uint8_t subAddress, uint8_t * dest, uint8_t count);
-
- // gWriteByte() -- Write a byte to a register in the gyroscope.
- // Input:
- // - subAddress = Register to be written to.
- // - data = data to be written to the register.
- void mWriteByte(uint8_t subAddress, uint8_t data);
-
- // xmReadByte() -- Read a byte from a register in the accel/mag sensor
- // Input:
- // - subAddress = Register to be read from.
- // Output:
- // - An 8-bit value read from the requested register.
- uint8_t xgReadByte(uint8_t subAddress);
-
- // xmReadBytes() -- Reads a number of bytes -- beginning at an address
- // and incrementing from there -- from the accelerometer/magnetometer.
- // Input:
- // - subAddress = Register to be read from.
- // - * dest = A pointer to an array of uint8_t's. Values read will be
- // stored in here on return.
- // - count = The number of bytes to be read.
- // Output: No value is returned, but the `dest` array will store
- // the data read upon exit.
- void xgReadBytes(uint8_t subAddress, uint8_t * dest, uint8_t count);
-
- // xmWriteByte() -- Write a byte to a register in the accel/mag sensor.
- // Input:
- // - subAddress = Register to be written to.
- // - data = data to be written to the register.
- void xgWriteByte(uint8_t subAddress, uint8_t data);
-
- // calcgRes() -- Calculate the resolution of the gyroscope.
- // This function will set the value of the gRes variable. gScale must
- // be set prior to calling this function.
- void calcgRes();
-
- // calcmRes() -- Calculate the resolution of the magnetometer.
- // This function will set the value of the mRes variable. mScale must
- // be set prior to calling this function.
- void calcmRes();
-
- // calcaRes() -- Calculate the resolution of the accelerometer.
- // This function will set the value of the aRes variable. aScale must
- // be set prior to calling this function.
- void calcaRes();
-
- //////////////////////
- // Helper Functions //
- //////////////////////
- void constrainScales();
-
- ///////////////////
- // SPI Functions //
- ///////////////////
- // initSPI() -- Initialize the SPI hardware.
- // This function will setup all SPI pins and related hardware.
- void initSPI();
-
- // SPIwriteByte() -- Write a byte out of SPI to a register in the device
- // Input:
- // - csPin = The chip select pin of the slave device.
- // - subAddress = The register to be written to.
- // - data = Byte to be written to the register.
- void SPIwriteByte(DigitalOut* csPin, uint8_t subAddress, uint8_t data);
-
- // SPIreadByte() -- Read a single byte from a register over SPI.
- // Input:
- // - csPin = The chip select pin of the slave device.
- // - subAddress = The register to be read from.
- // Output:
- // - The byte read from the requested address.
- uint8_t SPIreadByte(DigitalOut* csPin, uint8_t subAddress);
-
- // SPIreadBytes() -- Read a series of bytes, starting at a register via SPI
- // Input:
- // - csPin = The chip select pin of a slave device.
- // - subAddress = The register to begin reading.
- // - * dest = Pointer to an array where we'll store the readings.
- // - count = Number of registers to be read.
- // Output: No value is returned by the function, but the registers read are
- // all stored in the *dest array given.
- void SPIreadBytes(DigitalOut* csPin, uint8_t subAddress,
- uint8_t * dest, uint8_t count);
-
- ///////////////////
- // I2C Functions //
- ///////////////////
- // initI2C() -- Initialize the I2C hardware.
- // This function will setup all I2C pins and related hardware.
- void initI2C();
-
- // I2CwriteByte() -- Write a byte out of I2C to a register in the device
- // Input:
- // - address = The 7-bit I2C address of the slave device.
- // - subAddress = The register to be written to.
- // - data = Byte to be written to the register.
- void I2CwriteByte(uint8_t address, uint8_t subAddress, uint8_t data);
-
- // I2CreadByte() -- Read a single byte from a register over I2C.
- // Input:
- // - address = The 7-bit I2C address of the slave device.
- // - subAddress = The register to be read from.
- // Output:
- // - The byte read from the requested address.
- uint8_t I2CreadByte(uint8_t address, uint8_t subAddress);
-
- // I2CreadBytes() -- Read a series of bytes, starting at a register via SPI
- // Input:
- // - address = The 7-bit I2C address of the slave device.
- // - subAddress = The register to begin reading.
- // - * dest = Pointer to an array where we'll store the readings.
- // - count = Number of registers to be read.
- // Output: No value is returned by the function, but the registers read are
- // all stored in the *dest array given.
- uint8_t I2CreadBytes(uint8_t address, uint8_t subAddress, uint8_t * dest, uint8_t count);
-
-private:
- //I2C i2c;
-
- SPI* spi;
- DigitalOut* _xgAddress;
- DigitalOut* _mAddress;
-};
-
-#endif // SFE_LSM9DS1_H //
--- a/LSM9DS1_Registers.h Tue Dec 04 15:49:48 2018 +0000 +++ b/LSM9DS1_Registers.h Fri May 03 13:46:40 2019 +0000 @@ -109,4 +109,4 @@ #define WHO_AM_I_AG_RSP 0x68 #define WHO_AM_I_M_RSP 0x3D -#endif \ No newline at end of file +#endif
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/LSM9DS1_i2c.cpp Fri May 03 13:46:40 2019 +0000
@@ -0,0 +1,1210 @@
+/******************************************************************************
+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.
+
+Modified: Nicolas Borla, 20.01.2019
+******************************************************************************/
+
+#include "LSM9DS1_i2c.h"
+#include "LSM9DS1_Registers.h"
+#include "LSM9DS1_Types.h"
+//#include <Wire.h> // Wire library is used for I2C
+//#include <SPI.h> // SPI library is used for...SPI.
+
+//#if defined(ARDUINO) && ARDUINO >= 100
+// #include "Arduino.h"
+//#else
+// #include "WProgram.h"
+//#endif
+
+#define LSM9DS1_COMMUNICATION_TIMEOUT 1000
+
+float magSensitivity[4] = {0.00014, 0.00029, 0.00043, 0.00058};
+//extern Serial pc;
+
+LSM9DS1::LSM9DS1(PinName sda, PinName scl, uint8_t xgAddr, uint8_t mAddr)
+ :i2c(sda, scl)
+{
+ init(IMU_MODE_I2C, xgAddr, mAddr); // 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 = 245;
+ // 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
+ 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];
+ }
+ accX = static_cast<float>(ax)/32768.0f*2.0f*9.81f;
+ accY = static_cast<float>(ay)/32768.0f*2.0f*9.81f;
+ accZ = static_cast<float>(az)/32768.0f*2.0f*9.81f;
+}
+
+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
+
+ magX = static_cast<float>(mx)/32768.0f*4.0f;
+ magY = static_cast<float>(my)/32768.0f*4.0f;
+ magZ = static_cast<float>(mz)/32768.0f*4.0f;
+}
+
+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];
+ }
+ gyroX = static_cast<float>(gx)/32768.0f*245.0f*3.14159265358979323846f/180.0f;
+ gyroY = static_cast<float>(gy)/32768.0f*245.0f*3.14159265358979323846f/180.0f;
+ gyroZ = static_cast<float>(gz)/32768.0f*245.0f*3.14159265358979323846f/180.0f;
+}
+
+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);
+}
+
+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));
+}
+
+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::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);
+ else 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);
+ else 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);
+ else 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);
+ else if (settings.device.commInterface == IMU_MODE_SPI)
+ SPIreadBytes(_mAddress, subAddress, dest, count);
+}
+
+void LSM9DS1::initSPI()
+{
+ /*
+ 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(uint8_t csPin, uint8_t subAddress, uint8_t data)
+{
+ /*
+ 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(uint8_t 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(uint8_t 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;
+
+ /*
+ 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;
+}
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/LSM9DS1_i2c.h Fri May 03 13:46:40 2019 +0000
@@ -0,0 +1,562 @@
+/******************************************************************************
+SFE_LSM9DS1.h
+SFE_LSM9DS1 Library Header File
+Jim Lindblom @ SparkFun Electronics
+Original Creation Date: February 27, 2015
+https://github.com/sparkfun/LSM9DS1_Breakout
+
+This file prototypes the LSM9DS1 class, implemented in SFE_LSM9DS1.cpp. In
+addition, it defines every register in the LSM9DS1 (both the Gyro and Accel/
+Magnetometer registers).
+
+Development environment specifics:
+ IDE: Arduino 1.6.0
+ 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.
+******************************************************************************/
+#ifndef __SparkFunLSM9DS1_H__
+#define __SparkFunLSM9DS1_H__
+
+//#if defined(ARDUINO) && ARDUINO >= 100
+// #include "Arduino.h"
+//#else
+// #include "WProgram.h"
+// #include "pins_arduino.h"
+//#endif
+
+#include "mbed.h"
+#include <stdint.h>
+#include "LSM9DS1_Registers.h"
+#include "LSM9DS1_Types.h"
+
+#define LSM9DS1_AG_ADDR(sa0) ((sa0) == 0 ? 0x6A : 0x6B)
+#define LSM9DS1_M_ADDR(sa1) ((sa1) == 0 ? 0x1C : 0x1E)
+
+enum lsm9ds1_axis {
+ X_AXIS,
+ Y_AXIS,
+ Z_AXIS,
+ ALL_AXIS
+};
+
+class LSM9DS1
+{
+public:
+ IMUSettings settings;
+
+ // We'll store the gyro, accel, and magnetometer readings in a series of
+ // public class variables. Each sensor gets three variables -- one for each
+ // axis. Call readGyro(), readAccel(), and readMag() first, before using
+ // these variables!
+ // These values are the RAW signed 16-bit readings from the sensors.
+ int16_t gx, gy, gz; // x, y, and z axis readings of the gyroscope
+ int16_t ax, ay, az; // x, y, and z axis readings of the accelerometer
+ int16_t mx, my, mz; // x, y, and z axis readings of the magnetometer
+ int16_t temperature; // Chip temperature
+ float gBias[3], aBias[3], mBias[3];
+ int16_t gBiasRaw[3], aBiasRaw[3], mBiasRaw[3];
+
+ float gyroX, gyroY, gyroZ; // x, y, and z axis readings of the gyroscope (float value)
+ float accX, accY, accZ; // x, y, and z axis readings of the accelerometer (float value)
+ float magX, magY, magZ; // x, y, and z axis readings of the magnetometer (float value)
+
+ // LSM9DS1 -- LSM9DS1 class constructor
+ // The constructor will set up a handful of private variables, and set the
+ // communication mode as well.
+ /**Input:
+ * - interface = Either IMU_MODE_SPI or IMU_MODE_I2C, whichever you're using
+ * to talk to the IC.
+ * - xgAddr = If IMU_MODE_I2C, this is the I2C address of the accel/gyroscope.
+ * If IMU_MODE_SPI, this is the chip select pin of the gyro (CS_AG)
+ * - mAddr = If IMU_MODE_I2C, this is the I2C address of the magnetometer.
+ * If IMU_MODE_SPI, this is the cs pin of the magnetometer (CS_M)
+
+ */
+ LSM9DS1(PinName sda, PinName scl, uint8_t xgAddr, uint8_t mAddr);
+ //LSM9DS1(interface_mode interface, uint8_t xgAddr, uint8_t mAddr);
+ //LSM9DS1();
+
+
+ /** begin() -- Initialize the gyro, accelerometer, and magnetometer.
+ *This will set up the scale and output rate of each sensor. The values set
+ * in the IMUSettings struct will take effect after calling this function.
+ */
+ uint16_t begin();
+
+ void calibrate(bool autoCalc = true);
+ void calibrateMag(bool loadIn = true);
+ void magOffset(uint8_t axis, int16_t offset);
+
+ /** accelAvailable() -- Polls the accelerometer status register to check
+ * if new data is available.
+ * Output: 1 - New data available
+ * 0 - No new data available
+ */
+ uint8_t accelAvailable();
+
+ /** gyroAvailable() -- Polls the gyroscope status register to check
+ * if new data is available.
+ * Output: 1 - New data available
+ * 0 - No new data available
+ */
+ uint8_t gyroAvailable();
+
+ /** gyroAvailable() -- Polls the temperature status register to check
+ * if new data is available.
+ * Output: 1 - New data available
+ * 0 - No new data available
+ */
+ uint8_t tempAvailable();
+
+ /** magAvailable() -- Polls the accelerometer status register to check
+ * if new data is available.
+ * Input:
+ * - axis can be either X_AXIS, Y_AXIS, Z_AXIS, to check for new data
+ * on one specific axis. Or ALL_AXIS (default) to check for new data
+ * on all axes.
+ * Output: 1 - New data available
+ * 0 - No new data available
+ */
+ uint8_t magAvailable(lsm9ds1_axis axis = ALL_AXIS);
+
+ /** readGyro() -- Read the gyroscope output registers.
+ * This function will read all six gyroscope output registers.
+ * The readings are stored in the class' gx, gy, and gz variables. Read
+ * those _after_ calling readGyro().
+ */
+ void readGyro();
+
+ /** int16_t readGyro(axis) -- Read a specific axis of the gyroscope.
+ * [axis] can be any of X_AXIS, Y_AXIS, or Z_AXIS.
+ * Input:
+ * - axis: can be either X_AXIS, Y_AXIS, or Z_AXIS.
+ * Output:
+ * A 16-bit signed integer with sensor data on requested axis.
+ */
+ int16_t readGyro(lsm9ds1_axis axis);
+
+ /** readAccel() -- Read the accelerometer output registers.
+ * This function will read all six accelerometer output registers.
+ * The readings are stored in the class' ax, ay, and az variables. Read
+ * those _after_ calling readAccel().
+ */
+ void readAccel();
+
+ /** int16_t readAccel(axis) -- Read a specific axis of the accelerometer.
+ * [axis] can be any of X_AXIS, Y_AXIS, or Z_AXIS.
+ * Input:
+ * - axis: can be either X_AXIS, Y_AXIS, or Z_AXIS.
+ * Output:
+ * A 16-bit signed integer with sensor data on requested axis.
+ */
+ int16_t readAccel(lsm9ds1_axis axis);
+
+ /** readMag() -- Read the magnetometer output registers.
+ * This function will read all six magnetometer output registers.
+ * The readings are stored in the class' mx, my, and mz variables. Read
+ * those _after_ calling readMag().
+ */
+ void readMag();
+
+ /** int16_t readMag(axis) -- Read a specific axis of the magnetometer.
+ * [axis] can be any of X_AXIS, Y_AXIS, or Z_AXIS.
+ * Input:
+ * - axis: can be either X_AXIS, Y_AXIS, or Z_AXIS.
+ * Output:
+ * A 16-bit signed integer with sensor data on requested axis.
+ */
+ int16_t readMag(lsm9ds1_axis axis);
+
+ /** readTemp() -- Read the temperature output register.
+ * This function will read two temperature output registers.
+ * The combined readings are stored in the class' temperature variables. Read
+ * those _after_ calling readTemp().
+ */
+ void readTemp();
+
+ /** calcGyro() -- Convert from RAW signed 16-bit value to degrees per second
+ * This function reads in a signed 16-bit value and returns the scaled
+ * DPS. This function relies on gScale and gRes being correct.
+ * Input:
+ * - gyro = A signed 16-bit raw reading from the gyroscope.
+ */
+ float calcGyro(int16_t gyro);
+
+ /** calcAccel() -- Convert from RAW signed 16-bit value to gravity (g's).
+ * This function reads in a signed 16-bit value and returns the scaled
+ * g's. This function relies on aScale and aRes being correct.
+ * Input:
+ * - accel = A signed 16-bit raw reading from the accelerometer.
+ */
+ float calcAccel(int16_t accel);
+
+ /** calcMag() -- Convert from RAW signed 16-bit value to Gauss (Gs)
+ * This function reads in a signed 16-bit value and returns the scaled
+ * Gs. This function relies on mScale and mRes being correct.
+ * Input:
+ * - mag = A signed 16-bit raw reading from the magnetometer.
+ */
+ float calcMag(int16_t mag);
+
+ /** setGyroScale() -- Set the full-scale range of the gyroscope.
+ * This function can be called to set the scale of the gyroscope to
+ * 245, 500, or 200 degrees per second.
+ * Input:
+ * - gScl = The desired gyroscope scale. Must be one of three possible
+ * values from the gyro_scale.
+ */
+ void setGyroScale(uint16_t gScl);
+
+ /** setAccelScale() -- Set the full-scale range of the accelerometer.
+ * This function can be called to set the scale of the accelerometer to
+ * 2, 4, 6, 8, or 16 g's.
+ * Input:
+ * - aScl = The desired accelerometer scale. Must be one of five possible
+ * values from the accel_scale.
+ */
+ void setAccelScale(uint8_t aScl);
+
+ /** setMagScale() -- Set the full-scale range of the magnetometer.
+ * This function can be called to set the scale of the magnetometer to
+ * 2, 4, 8, or 12 Gs.
+ * Input:
+ * - mScl = The desired magnetometer scale. Must be one of four possible
+ * values from the mag_scale.
+ */
+ void setMagScale(uint8_t mScl);
+
+ /** setGyroODR() -- Set the output data rate and bandwidth of the gyroscope
+ * Input:
+ * - gRate = The desired output rate and cutoff frequency of the gyro.
+ */
+ void setGyroODR(uint8_t gRate);
+
+ // setAccelODR() -- Set the output data rate of the accelerometer
+ // Input:
+ // - aRate = The desired output rate of the accel.
+ void setAccelODR(uint8_t aRate);
+
+ // setMagODR() -- Set the output data rate of the magnetometer
+ // Input:
+ // - mRate = The desired output rate of the mag.
+ void setMagODR(uint8_t mRate);
+
+ // configInactivity() -- Configure inactivity interrupt parameters
+ // Input:
+ // - duration = Inactivity duration - actual value depends on gyro ODR
+ // - threshold = Activity Threshold
+ // - sleepOn = Gyroscope operating mode during inactivity.
+ // true: gyroscope in sleep mode
+ // false: gyroscope in power-down
+ void configInactivity(uint8_t duration, uint8_t threshold, bool sleepOn);
+
+ // configAccelInt() -- Configure Accelerometer Interrupt Generator
+ // Input:
+ // - generator = Interrupt axis/high-low events
+ // Any OR'd combination of ZHIE_XL, ZLIE_XL, YHIE_XL, YLIE_XL, XHIE_XL, XLIE_XL
+ // - andInterrupts = AND/OR combination of interrupt events
+ // true: AND combination
+ // false: OR combination
+ void configAccelInt(uint8_t generator, bool andInterrupts = false);
+
+ // configAccelThs() -- Configure the threshold of an accelereomter axis
+ // Input:
+ // - threshold = Interrupt threshold. Possible values: 0-255.
+ // Multiply by 128 to get the actual raw accel value.
+ // - axis = Axis to be configured. Either X_AXIS, Y_AXIS, or Z_AXIS
+ // - duration = Duration value must be above or below threshold to trigger interrupt
+ // - wait = Wait function on duration counter
+ // true: Wait for duration samples before exiting interrupt
+ // false: Wait function off
+ void configAccelThs(uint8_t threshold, lsm9ds1_axis axis, uint8_t duration = 0, bool wait = 0);
+
+ // configGyroInt() -- Configure Gyroscope Interrupt Generator
+ // Input:
+ // - generator = Interrupt axis/high-low events
+ // Any OR'd combination of ZHIE_G, ZLIE_G, YHIE_G, YLIE_G, XHIE_G, XLIE_G
+ // - aoi = AND/OR combination of interrupt events
+ // true: AND combination
+ // false: OR combination
+ // - latch: latch gyroscope interrupt request.
+ void configGyroInt(uint8_t generator, bool aoi, bool latch);
+
+ // configGyroThs() -- Configure the threshold of a gyroscope axis
+ // Input:
+ // - threshold = Interrupt threshold. Possible values: 0-0x7FF.
+ // Value is equivalent to raw gyroscope value.
+ // - axis = Axis to be configured. Either X_AXIS, Y_AXIS, or Z_AXIS
+ // - duration = Duration value must be above or below threshold to trigger interrupt
+ // - wait = Wait function on duration counter
+ // true: Wait for duration samples before exiting interrupt
+ // false: Wait function off
+ void configGyroThs(int16_t threshold, lsm9ds1_axis axis, uint8_t duration, bool wait);
+
+ // configInt() -- Configure INT1 or INT2 (Gyro and Accel Interrupts only)
+ // Input:
+ // - interrupt = Select INT1 or INT2
+ // Possible values: XG_INT1 or XG_INT2
+ // - generator = Or'd combination of interrupt generators.
+ // Possible values: INT_DRDY_XL, INT_DRDY_G, INT1_BOOT (INT1 only), INT2_DRDY_TEMP (INT2 only)
+ // INT_FTH, INT_OVR, INT_FSS5, INT_IG_XL (INT1 only), INT1_IG_G (INT1 only), INT2_INACT (INT2 only)
+ // - activeLow = Interrupt active configuration
+ // Can be either INT_ACTIVE_HIGH or INT_ACTIVE_LOW
+ // - pushPull = Push-pull or open drain interrupt configuration
+ // Can be either INT_PUSH_PULL or INT_OPEN_DRAIN
+ void configInt(interrupt_select interupt, uint8_t generator,
+ h_lactive activeLow = INT_ACTIVE_LOW, pp_od pushPull = INT_PUSH_PULL);
+
+ /** configMagInt() -- Configure Magnetometer Interrupt Generator
+ * Input:
+ * - generator = Interrupt axis/high-low events
+ * Any OR'd combination of ZIEN, YIEN, XIEN
+ * - activeLow = Interrupt active configuration
+ * Can be either INT_ACTIVE_HIGH or INT_ACTIVE_LOW
+ * - latch: latch gyroscope interrupt request.
+ */
+ void configMagInt(uint8_t generator, h_lactive activeLow, bool latch = true);
+
+ /** configMagThs() -- Configure the threshold of a gyroscope axis
+ * Input:
+ * - threshold = Interrupt threshold. Possible values: 0-0x7FF.
+ * Value is equivalent to raw magnetometer value.
+ */
+ void configMagThs(uint16_t threshold);
+
+ //! getGyroIntSrc() -- Get contents of Gyroscope interrupt source register
+ uint8_t getGyroIntSrc();
+
+ //! getGyroIntSrc() -- Get contents of accelerometer interrupt source register
+ uint8_t getAccelIntSrc();
+
+ //! getGyroIntSrc() -- Get contents of magnetometer interrupt source register
+ uint8_t getMagIntSrc();
+
+ //! getGyroIntSrc() -- Get status of inactivity interrupt
+ uint8_t getInactivity();
+
+ /** sleepGyro() -- Sleep or wake the gyroscope
+ * Input:
+ * - enable: True = sleep gyro. False = wake gyro.
+ */
+ void sleepGyro(bool enable = true);
+
+ /** enableFIFO() - Enable or disable the FIFO
+ * Input:
+ * - enable: true = enable, false = disable.
+ */
+ void enableFIFO(bool enable = true);
+
+ /** setFIFO() - Configure FIFO mode and Threshold
+ * Input:
+ * - fifoMode: Set FIFO mode to off, FIFO (stop when full), continuous, bypass
+ * Possible inputs: FIFO_OFF, FIFO_THS, FIFO_CONT_TRIGGER, FIFO_OFF_TRIGGER, FIFO_CONT
+ * - fifoThs: FIFO threshold level setting
+ * Any value from 0-0x1F is acceptable.
+ */
+ void setFIFO(fifoMode_type fifoMode, uint8_t fifoThs);
+
+ //! getFIFOSamples() - Get number of FIFO samples
+ uint8_t getFIFOSamples();
+
+
+protected:
+ // x_mAddress and gAddress store the I2C address or SPI chip select pin
+ // for each sensor.
+ uint8_t _mAddress, _xgAddress;
+
+ // gRes, aRes, and mRes store the current resolution for each sensor.
+ // Units of these values would be DPS (or g's or Gs's) per ADC tick.
+ // This value is calculated as (sensor scale) / (2^15).
+ float gRes, aRes, mRes;
+
+ // _autoCalc keeps track of whether we're automatically subtracting off
+ // accelerometer and gyroscope bias calculated in calibrate().
+ bool _autoCalc;
+
+ // init() -- Sets up gyro, accel, and mag settings to default.
+ // - interface - Sets the interface mode (IMU_MODE_I2C or IMU_MODE_SPI)
+ // - xgAddr - Sets either the I2C address of the accel/gyro or SPI chip
+ // select pin connected to the CS_XG pin.
+ // - mAddr - Sets either the I2C address of the magnetometer or SPI chip
+ // select pin connected to the CS_M pin.
+ void init(interface_mode interface, uint8_t xgAddr, uint8_t mAddr);
+
+ // initGyro() -- Sets up the gyroscope to begin reading.
+ // This function steps through all five gyroscope control registers.
+ // Upon exit, the following parameters will be set:
+ // - CTRL_REG1_G = 0x0F: Normal operation mode, all axes enabled.
+ // 95 Hz ODR, 12.5 Hz cutoff frequency.
+ // - CTRL_REG2_G = 0x00: HPF set to normal mode, cutoff frequency
+ // set to 7.2 Hz (depends on ODR).
+ // - CTRL_REG3_G = 0x88: Interrupt enabled on INT_G (set to push-pull and
+ // active high). Data-ready output enabled on DRDY_G.
+ // - CTRL_REG4_G = 0x00: Continuous update mode. Data LSB stored in lower
+ // address. Scale set to 245 DPS. SPI mode set to 4-wire.
+ // - CTRL_REG5_G = 0x00: FIFO disabled. HPF disabled.
+ void initGyro();
+
+ // initAccel() -- Sets up the accelerometer to begin reading.
+ // This function steps through all accelerometer related control registers.
+ // Upon exit these registers will be set as:
+ // - CTRL_REG0_XM = 0x00: FIFO disabled. HPF bypassed. Normal mode.
+ // - CTRL_REG1_XM = 0x57: 100 Hz data rate. Continuous update.
+ // all axes enabled.
+ // - CTRL_REG2_XM = 0x00: 2g scale. 773 Hz anti-alias filter BW.
+ // - CTRL_REG3_XM = 0x04: Accel data ready signal on INT1_XM pin.
+ void initAccel();
+
+ // initMag() -- Sets up the magnetometer to begin reading.
+ // This function steps through all magnetometer-related control registers.
+ // Upon exit these registers will be set as:
+ // - CTRL_REG4_XM = 0x04: Mag data ready signal on INT2_XM pin.
+ // - CTRL_REG5_XM = 0x14: 100 Hz update rate. Low resolution. Interrupt
+ // requests don't latch. Temperature sensor disabled.
+ // - CTRL_REG6_XM = 0x00: 2 Gs scale.
+ // - CTRL_REG7_XM = 0x00: Continuous conversion mode. Normal HPF mode.
+ // - INT_CTRL_REG_M = 0x09: Interrupt active-high. Enable interrupts.
+ void initMag();
+
+ // gReadByte() -- Reads a byte from a specified gyroscope register.
+ // Input:
+ // - subAddress = Register to be read from.
+ // Output:
+ // - An 8-bit value read from the requested address.
+ uint8_t mReadByte(uint8_t subAddress);
+
+ // gReadBytes() -- Reads a number of bytes -- beginning at an address
+ // and incrementing from there -- from the gyroscope.
+ // Input:
+ // - subAddress = Register to be read from.
+ // - * dest = A pointer to an array of uint8_t's. Values read will be
+ // stored in here on return.
+ // - count = The number of bytes to be read.
+ // Output: No value is returned, but the `dest` array will store
+ // the data read upon exit.
+ void mReadBytes(uint8_t subAddress, uint8_t * dest, uint8_t count);
+
+ // gWriteByte() -- Write a byte to a register in the gyroscope.
+ // Input:
+ // - subAddress = Register to be written to.
+ // - data = data to be written to the register.
+ void mWriteByte(uint8_t subAddress, uint8_t data);
+
+ // xmReadByte() -- Read a byte from a register in the accel/mag sensor
+ // Input:
+ // - subAddress = Register to be read from.
+ // Output:
+ // - An 8-bit value read from the requested register.
+ uint8_t xgReadByte(uint8_t subAddress);
+
+ // xmReadBytes() -- Reads a number of bytes -- beginning at an address
+ // and incrementing from there -- from the accelerometer/magnetometer.
+ // Input:
+ // - subAddress = Register to be read from.
+ // - * dest = A pointer to an array of uint8_t's. Values read will be
+ // stored in here on return.
+ // - count = The number of bytes to be read.
+ // Output: No value is returned, but the `dest` array will store
+ // the data read upon exit.
+ void xgReadBytes(uint8_t subAddress, uint8_t * dest, uint8_t count);
+
+ // xmWriteByte() -- Write a byte to a register in the accel/mag sensor.
+ // Input:
+ // - subAddress = Register to be written to.
+ // - data = data to be written to the register.
+ void xgWriteByte(uint8_t subAddress, uint8_t data);
+
+ // calcgRes() -- Calculate the resolution of the gyroscope.
+ // This function will set the value of the gRes variable. gScale must
+ // be set prior to calling this function.
+ void calcgRes();
+
+ // calcmRes() -- Calculate the resolution of the magnetometer.
+ // This function will set the value of the mRes variable. mScale must
+ // be set prior to calling this function.
+ void calcmRes();
+
+ // calcaRes() -- Calculate the resolution of the accelerometer.
+ // This function will set the value of the aRes variable. aScale must
+ // be set prior to calling this function.
+ void calcaRes();
+
+ //////////////////////
+ // Helper Functions //
+ //////////////////////
+ void constrainScales();
+
+ ///////////////////
+ // SPI Functions //
+ ///////////////////
+ // initSPI() -- Initialize the SPI hardware.
+ // This function will setup all SPI pins and related hardware.
+ void initSPI();
+
+ // SPIwriteByte() -- Write a byte out of SPI to a register in the device
+ // Input:
+ // - csPin = The chip select pin of the slave device.
+ // - subAddress = The register to be written to.
+ // - data = Byte to be written to the register.
+ void SPIwriteByte(uint8_t csPin, uint8_t subAddress, uint8_t data);
+
+ // SPIreadByte() -- Read a single byte from a register over SPI.
+ // Input:
+ // - csPin = The chip select pin of the slave device.
+ // - subAddress = The register to be read from.
+ // Output:
+ // - The byte read from the requested address.
+ uint8_t SPIreadByte(uint8_t csPin, uint8_t subAddress);
+
+ // SPIreadBytes() -- Read a series of bytes, starting at a register via SPI
+ // Input:
+ // - csPin = The chip select pin of a slave device.
+ // - subAddress = The register to begin reading.
+ // - * dest = Pointer to an array where we'll store the readings.
+ // - count = Number of registers to be read.
+ // Output: No value is returned by the function, but the registers read are
+ // all stored in the *dest array given.
+ void SPIreadBytes(uint8_t csPin, uint8_t subAddress,
+ uint8_t * dest, uint8_t count);
+
+ ///////////////////
+ // I2C Functions //
+ ///////////////////
+ // initI2C() -- Initialize the I2C hardware.
+ // This function will setup all I2C pins and related hardware.
+ void initI2C();
+
+ // I2CwriteByte() -- Write a byte out of I2C to a register in the device
+ // Input:
+ // - address = The 7-bit I2C address of the slave device.
+ // - subAddress = The register to be written to.
+ // - data = Byte to be written to the register.
+ void I2CwriteByte(uint8_t address, uint8_t subAddress, uint8_t data);
+
+ // I2CreadByte() -- Read a single byte from a register over I2C.
+ // Input:
+ // - address = The 7-bit I2C address of the slave device.
+ // - subAddress = The register to be read from.
+ // Output:
+ // - The byte read from the requested address.
+ uint8_t I2CreadByte(uint8_t address, uint8_t subAddress);
+
+ // I2CreadBytes() -- Read a series of bytes, starting at a register via SPI
+ // Input:
+ // - address = The 7-bit I2C address of the slave device.
+ // - subAddress = The register to begin reading.
+ // - * dest = Pointer to an array where we'll store the readings.
+ // - count = Number of registers to be read.
+ // Output: No value is returned by the function, but the registers read are
+ // all stored in the *dest array given.
+ uint8_t I2CreadBytes(uint8_t address, uint8_t subAddress, uint8_t * dest, uint8_t count);
+
+private:
+ I2C i2c;
+};
+
+#endif // SFE_LSM9DS1_H //
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/ekf.cpp Fri May 03 13:46:40 2019 +0000
@@ -0,0 +1,104 @@
+#include "ekf.h"
+
+using namespace std;
+
+ekf::ekf(float Ts) : x(6,1,0.0),x_km(6,1,0.0),P(6,0.01),Q(6),R(2,0.025),F(6,6,0.0),H(2,6,0.0),K(6,2,0.0),E(6)
+{
+
+ g = 9.81;
+ tau_g = 10;
+ itau_g = 1/tau_g;
+ k1 = 0.25;
+ m = 1.1;
+ kdm = k1/m;
+ this->Ts = Ts;
+
+ F.put_entry(1,3,-1);
+ F.put_entry(2,4,-1);
+ F.put_entry(3,3,-1/tau_g);
+ F.put_entry(4,4,-1/tau_g);
+ F.put_entry(5,2,-g);
+ F.put_entry(6,1,g);
+ F.put_entry(5,5,-k1/m);
+ F.put_entry(6,6,-k1/m);
+ H.put_entry(1,5,-kdm);
+ H.put_entry(2,6,-kdm);
+ F.scale(Ts);
+ Q.mcopy(&(F/=F)); // Q=A*A'
+ Q.scale(.1);
+ F.mcopy(&(F+E));
+ }
+
+
+ekf::~ekf(void) {
+ printf("EKF is being deleted\r\n");
+ }
+
+void ekf::dgl(matrix *Z)
+{
+
+ x_km.a[0][0]= x.a[0][0]+Ts*(Z->a[0][0]-x.a[2][0]+tan(x.a[1][0])*sin(x.a[0][0])*(Z->a[1][0]-x.a[3][0]));
+ x_km.a[1][0]= x.a[1][0]+Ts*(cos(x.a[0][0])*(Z->a[1][0]-x.a[3][0]));
+ x_km.a[2][0]= x.a[2][0]+Ts*(-itau_g*x.a[2][0]);
+ x_km.a[3][0]= x.a[3][0]+Ts*(-itau_g*x.a[3][0]);
+ x_km.a[4][0]= x.a[4][0]+Ts*(-g*sin(x.a[1][0])-kdm*x.a[4][0]);
+ x_km.a[5][0]= x.a[5][0]+Ts*(g*cos(x.a[1][0])*sin(x.a[0][0])-kdm*x.a[5][0]);
+ }
+
+void ekf::loop(matrix *Z)
+{
+ // F_km1 is constant
+
+ dgl(Z); // here x_km is calculated
+ P.mcopy(&(((F*P)/=F)+Q)); //P_km = F_km1*P_km*F_km1'+Q_k
+
+ matrix dum1(2);
+ dum1.mcopy(&(((H*P)/=H)+R));
+ K.mcopy(&((P/=H)*dum1.inv_2x2())); // K_k=(P_km*H_k')*inv(H_k*P_km*H_k'+R_k); % Kalman-Gain
+ // x_k = x_km + K_k*(Z(r,[4 5])'-copter3D_calc_h_ekf(x_km,kin));
+ matrix dum2(2,1,0.0);
+ dum2.put_entry(1,1,Z->a[3][0]+kdm*x_km.a[4][0]);
+ dum2.put_entry(2,1,Z->a[4][0]+kdm*x_km.a[5][0]); // calculates Z-h h is -k/m*...
+ x_km += (K*dum2);
+ x.mcopy(&x_km);
+ // P_km = (eye(6)-K_k*H_k)*P_km; % Kovar
+ P.mcopy(&((E-(K*H))*P));
+
+ }
+float ekf::get_est_state(uint8_t i)
+{
+ return x_km.a[i-1][0];
+ }
+
+//
+void ekf::display_matrix(char c)
+{
+ switch(c) {
+ case 'H':
+ printf("H=\r\n");
+ H.printout();
+ break;
+ case 'P':
+ printf("P=\r\n");
+ P.printout();
+ break;
+ case 'Q':
+ printf("Q=\r\n");
+ Q.printout();
+ break;
+ case 'R':
+ printf("R=\r\n");
+ R.printout();
+ break;
+ case 'F':
+ printf("F=\r\n");
+ F.printout();
+ break;
+ case 'K':
+ printf("K=\r\n");
+ K.printout();
+ break;
+ default:
+ break;
+ }
+ }
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/ekf.h Fri May 03 13:46:40 2019 +0000
@@ -0,0 +1,41 @@
+
+#ifndef EKF_H_
+#define EKF_H_
+
+#include <mbed.h>
+#include "matrix.h"
+
+class ekf
+{
+public:
+
+ ekf(float);
+ virtual ~ekf();
+ float get_est_state(uint8_t);
+ void loop(matrix *);
+ void display_matrix(char);
+ float getRoll(){
+ return x.a[1][1];
+ }
+ float getPitch(){
+ return x.a[2][1];
+ }
+ float getYaw(void){
+ return 0;
+ }
+private:
+ matrix x;
+ matrix x_km;
+ matrix P;
+ matrix Q;
+ matrix R;
+ matrix F;
+ matrix H;
+ matrix K;
+ matrix E;
+ float g,tau_g,m,itau_g,k1,kdm;
+ float Ts;
+ void dgl(matrix *);
+};
+
+#endif
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/matrix.cpp Fri May 03 13:46:40 2019 +0000
@@ -0,0 +1,170 @@
+#include "matrix.h"
+using namespace std;
+
+matrix::matrix(uint8_t I,uint8_t J,float e)
+{
+ this->I = I;
+ this->J = J;
+ //int **mat = (int **)malloc(rows * sizeof(int*));
+ //for(int i = 0; i < rows; i++) mat[i] = (int *)malloc(cols * sizeof(int));
+ a = (float **)malloc(I * sizeof(float *));
+ for (uint8_t i=0; i<I; i++)
+ a[i] = (float *)malloc(J * sizeof(float));
+ for(uint8_t i=0;i<I;i++)
+ for(uint8_t j=0;j<J;j++)
+ a[i][j]=e;//;*/
+ }
+// create Unity matrix
+matrix::matrix(uint8_t IJ)
+{
+ this->I = IJ;
+ this->J = IJ;
+ //int **mat = (int **)malloc(rows * sizeof(int*));
+ //for(int i = 0; i < rows; i++) mat[i] = (int *)malloc(cols * sizeof(int));
+ a = (float **)malloc(IJ * sizeof(float *));
+ for (uint8_t i=0; i<IJ; i++)
+ a[i] = (float *)malloc(IJ * sizeof(float));
+ for(uint8_t i=0;i<IJ;i++)
+ for(uint8_t j=0;j<IJ;j++)
+ a[i][j]=0.0;//;*/
+ for(uint8_t i=0;i<IJ;i++)
+ a[i][i]=1.0;//;*/
+ }
+// create Unity matrix
+matrix::matrix(uint8_t IJ,float e)
+{
+ this->I = IJ;
+ this->J = IJ;
+ //int **mat = (int **)malloc(rows * sizeof(int*));
+ //for(int i = 0; i < rows; i++) mat[i] = (int *)malloc(cols * sizeof(int));
+ a = (float **)malloc(IJ * sizeof(float *));
+ for (uint8_t i=0; i<IJ; i++)
+ a[i] = (float *)malloc(IJ * sizeof(float));
+ for(uint8_t i=0;i<IJ;i++)
+ for(uint8_t j=0;j<IJ;j++)
+ a[i][j]=0.0;//;*/
+ for(uint8_t i=0;i<IJ;i++)
+ a[i][i]=e;//;*/
+ }
+
+void matrix::printout(void)
+{
+ for(uint8_t i=0;i<I;i++)
+ {
+ for(uint8_t j=0;j<J;j++)
+ printf("%.8e ",a[i][j]);
+ printf("..\r\n");
+ }
+ }
+
+matrix::~matrix(void) {
+ for (uint8_t i=0; i<I; i++)
+ delete a[i];
+ delete [] a;
+// printf("Matrix is being deleted\r\n");
+ }
+uint8_t matrix::getI(void)
+ {return I;}
+uint8_t matrix::getJ(void)
+ {return J;}
+
+
+matrix matrix::operator*(const matrix& B) {
+ if (J != B.I) {
+ printf("Matrices shapes mismatch");
+ }
+ matrix C(I, B.J,0.0);
+ for(uint8_t i=0;i<I;i++)
+ for(uint8_t j=0;j<B.J;j++)
+ for(uint8_t k=0;k<J;k++)
+ C.a[i][j]+=(a[i][k]*B.a[k][j]);
+ return C;
+}
+// calculate A'*B
+matrix matrix::operator *=(const matrix& B) {
+ if (I != B.I) {
+ printf("Matrices shapes mismatch");
+ }
+ matrix C(J, B.J,0.0);
+ for(uint8_t j1=0;j1<J;j1++)
+ for(uint8_t j=0;j<B.J;j++)
+ for(uint8_t k=0;k<I;k++)
+ C.a[j1][j]+=(a[k][j1]*B.a[k][j]);
+ return C;
+}
+// calculate A*B'
+matrix matrix::operator /=(const matrix& B) {
+ if (J != B.J) {
+ printf("Matrices shapes mismatch");
+ }
+ matrix C(I, B.I,0.0);
+ for(uint8_t i=0;i<I;i++)
+ for(uint8_t i1=0;i1<B.I;i1++)
+ for(uint8_t k=0;k<J;k++)
+ C.a[i][i1]+=(a[i][k]*B.a[i1][k]);
+ return C;
+}
+// calc Matrix A+B
+matrix matrix::operator+(const matrix& B) {
+ matrix C(I, J,0.0);
+ for(uint8_t i=0;i<I;i++)
+ for(uint8_t j=0;j<B.J;j++)
+ C.a[i][j]=(a[i][j]+B.a[i][j]);
+ return C;
+}
+// calc Matrix A=A+B
+void matrix::operator+=(const matrix& B) {
+ for(uint8_t i=0;i<I;i++)
+ for(uint8_t j=0;j<B.J;j++)
+ a[i][j]+=B.a[i][j];
+}
+// calc Matrix A+B
+matrix matrix::operator-(const matrix& B) {
+ matrix C(I, J,0.0);
+ for(uint8_t i=0;i<I;i++)
+ for(uint8_t j=0;j<B.J;j++)
+ C.a[i][j]=(a[i][j]-B.a[i][j]);
+ return C;
+}
+
+// calc Matrix inv(A), A must be 2x2
+matrix matrix::inv_2x2(void) {
+ matrix C(2, 2,0.0);
+ float idet=1/(a[0][0]*a[1][1]-a[0][1]*a[1][0]);
+ C.a[0][0] = idet * a[1][1];
+ C.a[0][1] = -idet * a[0][1];
+ C.a[1][0] = -idet * a[1][0];
+ C.a[1][1] = idet * a[0][0];
+ return C;
+}
+void matrix::scale(float sc)
+{
+ for(uint8_t i=0;i<I;i++)
+ for(uint8_t j=0;j<J;j++)
+ a[i][j]*=sc;
+ }
+void matrix::put_entry(uint8_t i,uint8_t j,float e)
+{
+ a[i-1][j-1]=e;
+ }
+// Fill Column
+void matrix::fill_row(uint8_t i,float *e)
+{
+ for(uint8_t j=0;j<J;j++)
+ a[i-1][j]=e[j];
+ }
+
+// Fill Row
+void matrix::fill_col(uint8_t j,float *e)
+{
+ for(uint8_t i=0;i<I;i++)
+ a[i][j-1]=e[i];
+ }
+// Copy matrix
+void matrix::mcopy(matrix *B)
+{
+ for(uint8_t i=0;i<I;i++)
+ for(uint8_t j=0;j<J;j++)
+ a[i][j]=B->a[i][j];
+
+ }
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/matrix.h Fri May 03 13:46:40 2019 +0000
@@ -0,0 +1,37 @@
+
+#ifndef MYMATRIX_H_
+#define MYMATRIX_H_
+
+#include <mbed.h>
+
+class matrix
+{
+public:
+ matrix(){};
+ matrix(uint8_t,uint8_t,float);
+ matrix(uint8_t); //define n x n Unity Matrix
+ matrix(uint8_t,float); //define n x n diagonal matrix with equal entries (e*I)
+ matrix operator*(const matrix& B);
+ matrix operator *=(const matrix& B); // calculat A'*B
+ matrix operator /=(const matrix& B);
+ matrix operator +(const matrix& B);
+ void operator +=(const matrix& B);
+ matrix operator -(const matrix& B);
+ void scale(float);
+ matrix inv_2x2(void);
+ void mcopy(matrix *);
+ void printout(void);
+ void put_entry(uint8_t,uint8_t,float);
+ void fill_row(uint8_t i,float *e);
+ void fill_col(uint8_t i,float *e);
+ uint8_t getI(void);
+ uint8_t getJ(void);
+ virtual ~matrix();
+ float** a;
+
+
+private:
+ uint8_t I,J;
+};
+
+#endif
\ No newline at end of file