altb_pmic
/
Test_optical_flow_PX4
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Dependencies: mbed
LSM9DS1_i2c.cpp@3:e03714326b83, 2019-08-22 (annotated)
- Committer:
- pmic
- Date:
- Thu Aug 22 14:22:58 2019 +0000
- Revision:
- 3:e03714326b83
Gyro parameterization in Flow and evaluation/comparison with pesboard gyro.
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| pmic | 3:e03714326b83 | 1 | /****************************************************************************** |
| pmic | 3:e03714326b83 | 2 | SFE_LSM9DS1.cpp |
| pmic | 3:e03714326b83 | 3 | SFE_LSM9DS1 Library Source File |
| pmic | 3:e03714326b83 | 4 | Jim Lindblom @ SparkFun Electronics |
| pmic | 3:e03714326b83 | 5 | Original Creation Date: February 27, 2015 |
| pmic | 3:e03714326b83 | 6 | https://github.com/sparkfun/LSM9DS1_Breakout |
| pmic | 3:e03714326b83 | 7 | |
| pmic | 3:e03714326b83 | 8 | This file implements all functions of the LSM9DS1 class. Functions here range |
| pmic | 3:e03714326b83 | 9 | from higher level stuff, like reading/writing LSM9DS1 registers to low-level, |
| pmic | 3:e03714326b83 | 10 | hardware reads and writes. Both SPI and I2C handler functions can be found |
| pmic | 3:e03714326b83 | 11 | towards the bottom of this file. |
| pmic | 3:e03714326b83 | 12 | |
| pmic | 3:e03714326b83 | 13 | Development environment specifics: |
| pmic | 3:e03714326b83 | 14 | IDE: Arduino 1.6 |
| pmic | 3:e03714326b83 | 15 | Hardware Platform: Arduino Uno |
| pmic | 3:e03714326b83 | 16 | LSM9DS1 Breakout Version: 1.0 |
| pmic | 3:e03714326b83 | 17 | |
| pmic | 3:e03714326b83 | 18 | This code is beerware; if you see me (or any other SparkFun employee) at the |
| pmic | 3:e03714326b83 | 19 | local, and you've found our code helpful, please buy us a round! |
| pmic | 3:e03714326b83 | 20 | |
| pmic | 3:e03714326b83 | 21 | Distributed as-is; no warranty is given. |
| pmic | 3:e03714326b83 | 22 | |
| pmic | 3:e03714326b83 | 23 | Modified: Nicolas Borla, 20.01.2019 |
| pmic | 3:e03714326b83 | 24 | ******************************************************************************/ |
| pmic | 3:e03714326b83 | 25 | |
| pmic | 3:e03714326b83 | 26 | #include "LSM9DS1_i2c.h" |
| pmic | 3:e03714326b83 | 27 | #include "LSM9DS1_Registers.h" |
| pmic | 3:e03714326b83 | 28 | #include "LSM9DS1_Types.h" |
| pmic | 3:e03714326b83 | 29 | //#include <Wire.h> // Wire library is used for I2C |
| pmic | 3:e03714326b83 | 30 | //#include <SPI.h> // SPI library is used for...SPI. |
| pmic | 3:e03714326b83 | 31 | |
| pmic | 3:e03714326b83 | 32 | //#if defined(ARDUINO) && ARDUINO >= 100 |
| pmic | 3:e03714326b83 | 33 | // #include "Arduino.h" |
| pmic | 3:e03714326b83 | 34 | //#else |
| pmic | 3:e03714326b83 | 35 | // #include "WProgram.h" |
| pmic | 3:e03714326b83 | 36 | //#endif |
| pmic | 3:e03714326b83 | 37 | |
| pmic | 3:e03714326b83 | 38 | #define LSM9DS1_COMMUNICATION_TIMEOUT 1000 |
| pmic | 3:e03714326b83 | 39 | |
| pmic | 3:e03714326b83 | 40 | float magSensitivity[4] = {0.00014, 0.00029, 0.00043, 0.00058}; |
| pmic | 3:e03714326b83 | 41 | //extern Serial pc; |
| pmic | 3:e03714326b83 | 42 | |
| pmic | 3:e03714326b83 | 43 | LSM9DS1::LSM9DS1(PinName sda, PinName scl, uint8_t xgAddr, uint8_t mAddr) |
| pmic | 3:e03714326b83 | 44 | :i2c(sda, scl) |
| pmic | 3:e03714326b83 | 45 | { |
| pmic | 3:e03714326b83 | 46 | init(IMU_MODE_I2C, xgAddr, mAddr); // dont know about 0xD6 or 0x3B |
| pmic | 3:e03714326b83 | 47 | } |
| pmic | 3:e03714326b83 | 48 | /* |
| pmic | 3:e03714326b83 | 49 | LSM9DS1::LSM9DS1() |
| pmic | 3:e03714326b83 | 50 | { |
| pmic | 3:e03714326b83 | 51 | init(IMU_MODE_I2C, LSM9DS1_AG_ADDR(1), LSM9DS1_M_ADDR(1)); |
| pmic | 3:e03714326b83 | 52 | } |
| pmic | 3:e03714326b83 | 53 | |
| pmic | 3:e03714326b83 | 54 | LSM9DS1::LSM9DS1(interface_mode interface, uint8_t xgAddr, uint8_t mAddr) |
| pmic | 3:e03714326b83 | 55 | { |
| pmic | 3:e03714326b83 | 56 | init(interface, xgAddr, mAddr); |
| pmic | 3:e03714326b83 | 57 | } |
| pmic | 3:e03714326b83 | 58 | */ |
| pmic | 3:e03714326b83 | 59 | |
| pmic | 3:e03714326b83 | 60 | void LSM9DS1::init(interface_mode interface, uint8_t xgAddr, uint8_t mAddr) |
| pmic | 3:e03714326b83 | 61 | { |
| pmic | 3:e03714326b83 | 62 | settings.device.commInterface = interface; |
| pmic | 3:e03714326b83 | 63 | settings.device.agAddress = xgAddr; |
| pmic | 3:e03714326b83 | 64 | settings.device.mAddress = mAddr; |
| pmic | 3:e03714326b83 | 65 | |
| pmic | 3:e03714326b83 | 66 | settings.gyro.enabled = true; |
| pmic | 3:e03714326b83 | 67 | settings.gyro.enableX = true; |
| pmic | 3:e03714326b83 | 68 | settings.gyro.enableY = true; |
| pmic | 3:e03714326b83 | 69 | settings.gyro.enableZ = true; |
| pmic | 3:e03714326b83 | 70 | // gyro scale can be 245, 500, or 2000 dps (degree per second) |
| pmic | 3:e03714326b83 | 71 | settings.gyro.scale = 500; |
| pmic | 3:e03714326b83 | 72 | // gyro sample rate: value between 1-6 in Hz |
| pmic | 3:e03714326b83 | 73 | // 1 = 14.9 4 = 238 |
| pmic | 3:e03714326b83 | 74 | // 2 = 59.5 5 = 476 |
| pmic | 3:e03714326b83 | 75 | // 3 = 119 6 = 952 |
| pmic | 3:e03714326b83 | 76 | settings.gyro.sampleRate = 5; |
| pmic | 3:e03714326b83 | 77 | // gyro cutoff frequency: value between 0-3 |
| pmic | 3:e03714326b83 | 78 | // Actual value of cutoff frequency depends |
| pmic | 3:e03714326b83 | 79 | // on sample rate. |
| pmic | 3:e03714326b83 | 80 | settings.gyro.bandwidth = 0; // 0 corresponds to 21 Hz Cutoff frequency |
| pmic | 3:e03714326b83 | 81 | settings.gyro.lowPowerEnable = false; |
| pmic | 3:e03714326b83 | 82 | settings.gyro.HPFEnable = false; |
| pmic | 3:e03714326b83 | 83 | // Gyro HPF cutoff frequency: value between 0-9 |
| pmic | 3:e03714326b83 | 84 | // Actual value depends on sample rate. Only applies |
| pmic | 3:e03714326b83 | 85 | // if gyroHPFEnable is true. |
| pmic | 3:e03714326b83 | 86 | settings.gyro.HPFCutoff = 0; |
| pmic | 3:e03714326b83 | 87 | settings.gyro.flipX = false; |
| pmic | 3:e03714326b83 | 88 | settings.gyro.flipY = false; |
| pmic | 3:e03714326b83 | 89 | settings.gyro.flipZ = false; |
| pmic | 3:e03714326b83 | 90 | settings.gyro.orientation = 0; |
| pmic | 3:e03714326b83 | 91 | settings.gyro.latchInterrupt = true; |
| pmic | 3:e03714326b83 | 92 | |
| pmic | 3:e03714326b83 | 93 | settings.accel.enabled = true; |
| pmic | 3:e03714326b83 | 94 | settings.accel.enableX = true; |
| pmic | 3:e03714326b83 | 95 | settings.accel.enableY = true; |
| pmic | 3:e03714326b83 | 96 | settings.accel.enableZ = true; |
| pmic | 3:e03714326b83 | 97 | // accel scale can be 2, 4, 8, or 16 |
| pmic | 3:e03714326b83 | 98 | settings.accel.scale = 2; |
| pmic | 3:e03714326b83 | 99 | // accel sample rate can be 1-6 |
| pmic | 3:e03714326b83 | 100 | // 1 = 10 Hz 4 = 238 Hz |
| pmic | 3:e03714326b83 | 101 | // 2 = 50 Hz 5 = 476 Hz |
| pmic | 3:e03714326b83 | 102 | // 3 = 119 Hz 6 = 952 Hz |
| pmic | 3:e03714326b83 | 103 | settings.accel.sampleRate = 5; |
| pmic | 3:e03714326b83 | 104 | // Accel cutoff freqeuncy can be any value between -1 - 3. |
| pmic | 3:e03714326b83 | 105 | // -1 = bandwidth determined by sample rate |
| pmic | 3:e03714326b83 | 106 | // 0 = 408 Hz 2 = 105 Hz |
| pmic | 3:e03714326b83 | 107 | // 1 = 211 Hz 3 = 50 Hz |
| pmic | 3:e03714326b83 | 108 | settings.accel.bandwidth = -1; |
| pmic | 3:e03714326b83 | 109 | settings.accel.highResEnable = false; |
| pmic | 3:e03714326b83 | 110 | // accelHighResBandwidth can be any value between 0-3 |
| pmic | 3:e03714326b83 | 111 | // LP cutoff is set to a factor of sample rate |
| pmic | 3:e03714326b83 | 112 | // 0 = ODR/50 2 = ODR/9 |
| pmic | 3:e03714326b83 | 113 | // 1 = ODR/100 3 = ODR/400 |
| pmic | 3:e03714326b83 | 114 | settings.accel.highResBandwidth = 0; |
| pmic | 3:e03714326b83 | 115 | |
| pmic | 3:e03714326b83 | 116 | settings.mag.enabled = true; |
| pmic | 3:e03714326b83 | 117 | // mag scale can be 4, 8, 12, or 16 |
| pmic | 3:e03714326b83 | 118 | settings.mag.scale = 4; |
| pmic | 3:e03714326b83 | 119 | // mag data rate can be 0-7 |
| pmic | 3:e03714326b83 | 120 | // 0 = 0.625 Hz 4 = 10 Hz |
| pmic | 3:e03714326b83 | 121 | // 1 = 1.25 Hz 5 = 20 Hz |
| pmic | 3:e03714326b83 | 122 | // 2 = 2.5 Hz 6 = 40 Hz |
| pmic | 3:e03714326b83 | 123 | // 3 = 5 Hz 7 = 80 Hz |
| pmic | 3:e03714326b83 | 124 | settings.mag.sampleRate = 4; |
| pmic | 3:e03714326b83 | 125 | settings.mag.tempCompensationEnable = false; |
| pmic | 3:e03714326b83 | 126 | // magPerformance can be any value between 0-3 |
| pmic | 3:e03714326b83 | 127 | // 0 = Low power mode 2 = high performance |
| pmic | 3:e03714326b83 | 128 | // 1 = medium performance 3 = ultra-high performance |
| pmic | 3:e03714326b83 | 129 | settings.mag.XYPerformance = 3; |
| pmic | 3:e03714326b83 | 130 | settings.mag.ZPerformance = 3; |
| pmic | 3:e03714326b83 | 131 | settings.mag.lowPowerEnable = false; |
| pmic | 3:e03714326b83 | 132 | // magOperatingMode can be 0-2 |
| pmic | 3:e03714326b83 | 133 | // 0 = continuous conversion |
| pmic | 3:e03714326b83 | 134 | // 1 = single-conversion |
| pmic | 3:e03714326b83 | 135 | // 2 = power down |
| pmic | 3:e03714326b83 | 136 | settings.mag.operatingMode = 0; |
| pmic | 3:e03714326b83 | 137 | |
| pmic | 3:e03714326b83 | 138 | settings.temp.enabled = true; |
| pmic | 3:e03714326b83 | 139 | for (int i=0; i<3; i++) |
| pmic | 3:e03714326b83 | 140 | { |
| pmic | 3:e03714326b83 | 141 | gBias[i] = 0; |
| pmic | 3:e03714326b83 | 142 | aBias[i] = 0; |
| pmic | 3:e03714326b83 | 143 | mBias[i] = 0; |
| pmic | 3:e03714326b83 | 144 | gBiasRaw[i] = 0; |
| pmic | 3:e03714326b83 | 145 | aBiasRaw[i] = 0; |
| pmic | 3:e03714326b83 | 146 | mBiasRaw[i] = 0; |
| pmic | 3:e03714326b83 | 147 | } |
| pmic | 3:e03714326b83 | 148 | _autoCalc = false; |
| pmic | 3:e03714326b83 | 149 | } |
| pmic | 3:e03714326b83 | 150 | |
| pmic | 3:e03714326b83 | 151 | |
| pmic | 3:e03714326b83 | 152 | uint16_t LSM9DS1::begin() |
| pmic | 3:e03714326b83 | 153 | { |
| pmic | 3:e03714326b83 | 154 | //! Todo: don't use _xgAddress or _mAddress, duplicating memory |
| pmic | 3:e03714326b83 | 155 | _xgAddress = settings.device.agAddress; |
| pmic | 3:e03714326b83 | 156 | _mAddress = settings.device.mAddress; |
| pmic | 3:e03714326b83 | 157 | |
| pmic | 3:e03714326b83 | 158 | constrainScales(); |
| pmic | 3:e03714326b83 | 159 | // Once we have the scale values, we can calculate the resolution |
| pmic | 3:e03714326b83 | 160 | // of each sensor. That's what these functions are for. One for each sensor |
| pmic | 3:e03714326b83 | 161 | calcgRes(); // Calculate DPS / ADC tick, stored in gRes variable |
| pmic | 3:e03714326b83 | 162 | calcmRes(); // Calculate Gs / ADC tick, stored in mRes variable |
| pmic | 3:e03714326b83 | 163 | calcaRes(); // Calculate g / ADC tick, stored in aRes variable |
| pmic | 3:e03714326b83 | 164 | |
| pmic | 3:e03714326b83 | 165 | // Now, initialize our hardware interface. |
| pmic | 3:e03714326b83 | 166 | if (settings.device.commInterface == IMU_MODE_I2C) // If we're using I2C |
| pmic | 3:e03714326b83 | 167 | initI2C(); // Initialize I2C |
| pmic | 3:e03714326b83 | 168 | else if (settings.device.commInterface == IMU_MODE_SPI) // else, if we're using SPI |
| pmic | 3:e03714326b83 | 169 | initSPI(); // Initialize SPI |
| pmic | 3:e03714326b83 | 170 | |
| pmic | 3:e03714326b83 | 171 | // To verify communication, we can read from the WHO_AM_I register of |
| pmic | 3:e03714326b83 | 172 | // each device. Store those in a variable so we can return them. |
| pmic | 3:e03714326b83 | 173 | uint8_t mTest = mReadByte(WHO_AM_I_M); // Read the gyro WHO_AM_I |
| pmic | 3:e03714326b83 | 174 | uint8_t xgTest = xgReadByte(WHO_AM_I_XG); // Read the accel/mag WHO_AM_I |
| pmic | 3:e03714326b83 | 175 | printf("%x, %x, %x, %x\n\r", mTest, xgTest, _xgAddress, _mAddress); |
| pmic | 3:e03714326b83 | 176 | uint16_t whoAmICombined = (xgTest << 8) | mTest; |
| pmic | 3:e03714326b83 | 177 | |
| pmic | 3:e03714326b83 | 178 | if (whoAmICombined != ((WHO_AM_I_AG_RSP << 8) | WHO_AM_I_M_RSP)) |
| pmic | 3:e03714326b83 | 179 | return 0; |
| pmic | 3:e03714326b83 | 180 | |
| pmic | 3:e03714326b83 | 181 | // Gyro initialization stuff: |
| pmic | 3:e03714326b83 | 182 | initGyro(); // This will "turn on" the gyro. Setting up interrupts, etc. |
| pmic | 3:e03714326b83 | 183 | |
| pmic | 3:e03714326b83 | 184 | // Accelerometer initialization stuff: |
| pmic | 3:e03714326b83 | 185 | initAccel(); // "Turn on" all axes of the accel. Set up interrupts, etc. |
| pmic | 3:e03714326b83 | 186 | |
| pmic | 3:e03714326b83 | 187 | // Magnetometer initialization stuff: |
| pmic | 3:e03714326b83 | 188 | initMag(); // "Turn on" all axes of the mag. Set up interrupts, etc. |
| pmic | 3:e03714326b83 | 189 | |
| pmic | 3:e03714326b83 | 190 | // Once everything is initialized, return the WHO_AM_I registers we read: |
| pmic | 3:e03714326b83 | 191 | return whoAmICombined; |
| pmic | 3:e03714326b83 | 192 | } |
| pmic | 3:e03714326b83 | 193 | |
| pmic | 3:e03714326b83 | 194 | void LSM9DS1::initGyro() |
| pmic | 3:e03714326b83 | 195 | { |
| pmic | 3:e03714326b83 | 196 | uint8_t tempRegValue = 0; |
| pmic | 3:e03714326b83 | 197 | |
| pmic | 3:e03714326b83 | 198 | // CTRL_REG1_G (Default value: 0x00) |
| pmic | 3:e03714326b83 | 199 | // [ODR_G2][ODR_G1][ODR_G0][FS_G1][FS_G0][0][BW_G1][BW_G0] |
| pmic | 3:e03714326b83 | 200 | // ODR_G[2:0] - Output data rate selection |
| pmic | 3:e03714326b83 | 201 | // FS_G[1:0] - Gyroscope full-scale selection |
| pmic | 3:e03714326b83 | 202 | // BW_G[1:0] - Gyroscope bandwidth selection |
| pmic | 3:e03714326b83 | 203 | |
| pmic | 3:e03714326b83 | 204 | // To disable gyro, set sample rate bits to 0. We'll only set sample |
| pmic | 3:e03714326b83 | 205 | // rate if the gyro is enabled. |
| pmic | 3:e03714326b83 | 206 | if (settings.gyro.enabled) |
| pmic | 3:e03714326b83 | 207 | { |
| pmic | 3:e03714326b83 | 208 | tempRegValue = (settings.gyro.sampleRate & 0x07) << 5; |
| pmic | 3:e03714326b83 | 209 | } |
| pmic | 3:e03714326b83 | 210 | switch (settings.gyro.scale) |
| pmic | 3:e03714326b83 | 211 | { |
| pmic | 3:e03714326b83 | 212 | case 500: |
| pmic | 3:e03714326b83 | 213 | tempRegValue |= (0x1 << 3); |
| pmic | 3:e03714326b83 | 214 | break; |
| pmic | 3:e03714326b83 | 215 | case 2000: |
| pmic | 3:e03714326b83 | 216 | tempRegValue |= (0x3 << 3); |
| pmic | 3:e03714326b83 | 217 | break; |
| pmic | 3:e03714326b83 | 218 | // Otherwise we'll set it to 245 dps (0x0 << 4) |
| pmic | 3:e03714326b83 | 219 | } |
| pmic | 3:e03714326b83 | 220 | tempRegValue |= (settings.gyro.bandwidth & 0x3); |
| pmic | 3:e03714326b83 | 221 | xgWriteByte(CTRL_REG1_G, tempRegValue); |
| pmic | 3:e03714326b83 | 222 | |
| pmic | 3:e03714326b83 | 223 | // CTRL_REG2_G (Default value: 0x00) |
| pmic | 3:e03714326b83 | 224 | // [0][0][0][0][INT_SEL1][INT_SEL0][OUT_SEL1][OUT_SEL0] |
| pmic | 3:e03714326b83 | 225 | // INT_SEL[1:0] - INT selection configuration |
| pmic | 3:e03714326b83 | 226 | // OUT_SEL[1:0] - Out selection configuration |
| pmic | 3:e03714326b83 | 227 | xgWriteByte(CTRL_REG2_G, 0x00); |
| pmic | 3:e03714326b83 | 228 | |
| pmic | 3:e03714326b83 | 229 | // CTRL_REG3_G (Default value: 0x00) |
| pmic | 3:e03714326b83 | 230 | // [LP_mode][HP_EN][0][0][HPCF3_G][HPCF2_G][HPCF1_G][HPCF0_G] |
| pmic | 3:e03714326b83 | 231 | // LP_mode - Low-power mode enable (0: disabled, 1: enabled) |
| pmic | 3:e03714326b83 | 232 | // HP_EN - HPF enable (0:disabled, 1: enabled) |
| pmic | 3:e03714326b83 | 233 | // HPCF_G[3:0] - HPF cutoff frequency |
| pmic | 3:e03714326b83 | 234 | tempRegValue = settings.gyro.lowPowerEnable ? (1<<7) : 0; |
| pmic | 3:e03714326b83 | 235 | if (settings.gyro.HPFEnable) |
| pmic | 3:e03714326b83 | 236 | { |
| pmic | 3:e03714326b83 | 237 | tempRegValue |= (1<<6) | (settings.gyro.HPFCutoff & 0x0F); |
| pmic | 3:e03714326b83 | 238 | } |
| pmic | 3:e03714326b83 | 239 | xgWriteByte(CTRL_REG3_G, tempRegValue); |
| pmic | 3:e03714326b83 | 240 | |
| pmic | 3:e03714326b83 | 241 | // CTRL_REG4 (Default value: 0x38) |
| pmic | 3:e03714326b83 | 242 | // [0][0][Zen_G][Yen_G][Xen_G][0][LIR_XL1][4D_XL1] |
| pmic | 3:e03714326b83 | 243 | // Zen_G - Z-axis output enable (0:disable, 1:enable) |
| pmic | 3:e03714326b83 | 244 | // Yen_G - Y-axis output enable (0:disable, 1:enable) |
| pmic | 3:e03714326b83 | 245 | // Xen_G - X-axis output enable (0:disable, 1:enable) |
| pmic | 3:e03714326b83 | 246 | // LIR_XL1 - Latched interrupt (0:not latched, 1:latched) |
| pmic | 3:e03714326b83 | 247 | // 4D_XL1 - 4D option on interrupt (0:6D used, 1:4D used) |
| pmic | 3:e03714326b83 | 248 | tempRegValue = 0; |
| pmic | 3:e03714326b83 | 249 | if (settings.gyro.enableZ) tempRegValue |= (1<<5); |
| pmic | 3:e03714326b83 | 250 | if (settings.gyro.enableY) tempRegValue |= (1<<4); |
| pmic | 3:e03714326b83 | 251 | if (settings.gyro.enableX) tempRegValue |= (1<<3); |
| pmic | 3:e03714326b83 | 252 | if (settings.gyro.latchInterrupt) tempRegValue |= (1<<1); |
| pmic | 3:e03714326b83 | 253 | xgWriteByte(CTRL_REG4, tempRegValue); |
| pmic | 3:e03714326b83 | 254 | |
| pmic | 3:e03714326b83 | 255 | // ORIENT_CFG_G (Default value: 0x00) |
| pmic | 3:e03714326b83 | 256 | // [0][0][SignX_G][SignY_G][SignZ_G][Orient_2][Orient_1][Orient_0] |
| pmic | 3:e03714326b83 | 257 | // SignX_G - Pitch axis (X) angular rate sign (0: positive, 1: negative) |
| pmic | 3:e03714326b83 | 258 | // Orient [2:0] - Directional user orientation selection |
| pmic | 3:e03714326b83 | 259 | tempRegValue = 0; |
| pmic | 3:e03714326b83 | 260 | if (settings.gyro.flipX) tempRegValue |= (1<<5); |
| pmic | 3:e03714326b83 | 261 | if (settings.gyro.flipY) tempRegValue |= (1<<4); |
| pmic | 3:e03714326b83 | 262 | if (settings.gyro.flipZ) tempRegValue |= (1<<3); |
| pmic | 3:e03714326b83 | 263 | xgWriteByte(ORIENT_CFG_G, tempRegValue); |
| pmic | 3:e03714326b83 | 264 | } |
| pmic | 3:e03714326b83 | 265 | |
| pmic | 3:e03714326b83 | 266 | void LSM9DS1::initAccel() |
| pmic | 3:e03714326b83 | 267 | { |
| pmic | 3:e03714326b83 | 268 | uint8_t tempRegValue = 0; |
| pmic | 3:e03714326b83 | 269 | |
| pmic | 3:e03714326b83 | 270 | // CTRL_REG5_XL (0x1F) (Default value: 0x38) |
| pmic | 3:e03714326b83 | 271 | // [DEC_1][DEC_0][Zen_XL][Yen_XL][Zen_XL][0][0][0] |
| pmic | 3:e03714326b83 | 272 | // DEC[0:1] - Decimation of accel data on OUT REG and FIFO. |
| pmic | 3:e03714326b83 | 273 | // 00: None, 01: 2 samples, 10: 4 samples 11: 8 samples |
| pmic | 3:e03714326b83 | 274 | // Zen_XL - Z-axis output enabled |
| pmic | 3:e03714326b83 | 275 | // Yen_XL - Y-axis output enabled |
| pmic | 3:e03714326b83 | 276 | // Xen_XL - X-axis output enabled |
| pmic | 3:e03714326b83 | 277 | if (settings.accel.enableZ) tempRegValue |= (1<<5); |
| pmic | 3:e03714326b83 | 278 | if (settings.accel.enableY) tempRegValue |= (1<<4); |
| pmic | 3:e03714326b83 | 279 | if (settings.accel.enableX) tempRegValue |= (1<<3); |
| pmic | 3:e03714326b83 | 280 | |
| pmic | 3:e03714326b83 | 281 | xgWriteByte(CTRL_REG5_XL, tempRegValue); |
| pmic | 3:e03714326b83 | 282 | |
| pmic | 3:e03714326b83 | 283 | // CTRL_REG6_XL (0x20) (Default value: 0x00) |
| pmic | 3:e03714326b83 | 284 | // [ODR_XL2][ODR_XL1][ODR_XL0][FS1_XL][FS0_XL][BW_SCAL_ODR][BW_XL1][BW_XL0] |
| pmic | 3:e03714326b83 | 285 | // ODR_XL[2:0] - Output data rate & power mode selection |
| pmic | 3:e03714326b83 | 286 | // FS_XL[1:0] - Full-scale selection |
| pmic | 3:e03714326b83 | 287 | // BW_SCAL_ODR - Bandwidth selection |
| pmic | 3:e03714326b83 | 288 | // BW_XL[1:0] - Anti-aliasing filter bandwidth selection |
| pmic | 3:e03714326b83 | 289 | tempRegValue = 0; |
| pmic | 3:e03714326b83 | 290 | // To disable the accel, set the sampleRate bits to 0. |
| pmic | 3:e03714326b83 | 291 | if (settings.accel.enabled) |
| pmic | 3:e03714326b83 | 292 | { |
| pmic | 3:e03714326b83 | 293 | tempRegValue |= (settings.accel.sampleRate & 0x07) << 5; |
| pmic | 3:e03714326b83 | 294 | } |
| pmic | 3:e03714326b83 | 295 | switch (settings.accel.scale) |
| pmic | 3:e03714326b83 | 296 | { |
| pmic | 3:e03714326b83 | 297 | case 4: |
| pmic | 3:e03714326b83 | 298 | tempRegValue |= (0x2 << 3); |
| pmic | 3:e03714326b83 | 299 | break; |
| pmic | 3:e03714326b83 | 300 | case 8: |
| pmic | 3:e03714326b83 | 301 | tempRegValue |= (0x3 << 3); |
| pmic | 3:e03714326b83 | 302 | break; |
| pmic | 3:e03714326b83 | 303 | case 16: |
| pmic | 3:e03714326b83 | 304 | tempRegValue |= (0x1 << 3); |
| pmic | 3:e03714326b83 | 305 | break; |
| pmic | 3:e03714326b83 | 306 | // Otherwise it'll be set to 2g (0x0 << 3) |
| pmic | 3:e03714326b83 | 307 | } |
| pmic | 3:e03714326b83 | 308 | if (settings.accel.bandwidth >= 0) |
| pmic | 3:e03714326b83 | 309 | { |
| pmic | 3:e03714326b83 | 310 | tempRegValue |= (1<<2); // Set BW_SCAL_ODR |
| pmic | 3:e03714326b83 | 311 | tempRegValue |= (settings.accel.bandwidth & 0x03); |
| pmic | 3:e03714326b83 | 312 | } |
| pmic | 3:e03714326b83 | 313 | xgWriteByte(CTRL_REG6_XL, tempRegValue); |
| pmic | 3:e03714326b83 | 314 | |
| pmic | 3:e03714326b83 | 315 | // CTRL_REG7_XL (0x21) (Default value: 0x00) |
| pmic | 3:e03714326b83 | 316 | // [HR][DCF1][DCF0][0][0][FDS][0][HPIS1] |
| pmic | 3:e03714326b83 | 317 | // HR - High resolution mode (0: disable, 1: enable) |
| pmic | 3:e03714326b83 | 318 | // DCF[1:0] - Digital filter cutoff frequency |
| pmic | 3:e03714326b83 | 319 | // FDS - Filtered data selection |
| pmic | 3:e03714326b83 | 320 | // HPIS1 - HPF enabled for interrupt function |
| pmic | 3:e03714326b83 | 321 | tempRegValue = 0; |
| pmic | 3:e03714326b83 | 322 | if (settings.accel.highResEnable) |
| pmic | 3:e03714326b83 | 323 | { |
| pmic | 3:e03714326b83 | 324 | tempRegValue |= (1<<7); // Set HR bit |
| pmic | 3:e03714326b83 | 325 | tempRegValue |= (settings.accel.highResBandwidth & 0x3) << 5; |
| pmic | 3:e03714326b83 | 326 | } |
| pmic | 3:e03714326b83 | 327 | xgWriteByte(CTRL_REG7_XL, tempRegValue); |
| pmic | 3:e03714326b83 | 328 | } |
| pmic | 3:e03714326b83 | 329 | |
| pmic | 3:e03714326b83 | 330 | // This is a function that uses the FIFO to accumulate sample of accelerometer and gyro data, average |
| pmic | 3:e03714326b83 | 331 | // them, scales them to gs and deg/s, respectively, and then passes the biases to the main sketch |
| pmic | 3:e03714326b83 | 332 | // for subtraction from all subsequent data. There are no gyro and accelerometer bias registers to store |
| pmic | 3:e03714326b83 | 333 | // the data as there are in the ADXL345, a precursor to the LSM9DS0, or the MPU-9150, so we have to |
| pmic | 3:e03714326b83 | 334 | // subtract the biases ourselves. This results in a more accurate measurement in general and can |
| pmic | 3:e03714326b83 | 335 | // remove errors due to imprecise or varying initial placement. Calibration of sensor data in this manner |
| pmic | 3:e03714326b83 | 336 | // is good practice. |
| pmic | 3:e03714326b83 | 337 | void LSM9DS1::calibrate(bool autoCalc) |
| pmic | 3:e03714326b83 | 338 | { |
| pmic | 3:e03714326b83 | 339 | uint8_t data[6] = {0, 0, 0, 0, 0, 0}; |
| pmic | 3:e03714326b83 | 340 | uint8_t samples = 0; |
| pmic | 3:e03714326b83 | 341 | int ii; |
| pmic | 3:e03714326b83 | 342 | int32_t aBiasRawTemp[3] = {0, 0, 0}; |
| pmic | 3:e03714326b83 | 343 | int32_t gBiasRawTemp[3] = {0, 0, 0}; |
| pmic | 3:e03714326b83 | 344 | |
| pmic | 3:e03714326b83 | 345 | // Turn on FIFO and set threshold to 32 samples |
| pmic | 3:e03714326b83 | 346 | enableFIFO(true); |
| pmic | 3:e03714326b83 | 347 | setFIFO(FIFO_THS, 0x1F); |
| pmic | 3:e03714326b83 | 348 | while (samples < 0x7F) |
| pmic | 3:e03714326b83 | 349 | { |
| pmic | 3:e03714326b83 | 350 | samples = (xgReadByte(FIFO_SRC) & 0x3F); // Read number of stored samples |
| pmic | 3:e03714326b83 | 351 | } |
| pmic | 3:e03714326b83 | 352 | for(ii = 0; ii < samples ; ii++) |
| pmic | 3:e03714326b83 | 353 | { // Read the gyro data stored in the FIFO |
| pmic | 3:e03714326b83 | 354 | readGyro(); |
| pmic | 3:e03714326b83 | 355 | gBiasRawTemp[0] += gx; |
| pmic | 3:e03714326b83 | 356 | gBiasRawTemp[1] += gy; |
| pmic | 3:e03714326b83 | 357 | gBiasRawTemp[2] += gz; |
| pmic | 3:e03714326b83 | 358 | readAccel(); |
| pmic | 3:e03714326b83 | 359 | aBiasRawTemp[0] += ax; |
| pmic | 3:e03714326b83 | 360 | aBiasRawTemp[1] += ay; |
| pmic | 3:e03714326b83 | 361 | aBiasRawTemp[2] += az - (int16_t)(1./aRes); // Assumes sensor facing up! |
| pmic | 3:e03714326b83 | 362 | } |
| pmic | 3:e03714326b83 | 363 | for (ii = 0; ii < 3; ii++) |
| pmic | 3:e03714326b83 | 364 | { |
| pmic | 3:e03714326b83 | 365 | gBiasRaw[ii] = gBiasRawTemp[ii] / samples; |
| pmic | 3:e03714326b83 | 366 | gBias[ii] = calcGyro(gBiasRaw[ii]); |
| pmic | 3:e03714326b83 | 367 | aBiasRaw[ii] = aBiasRawTemp[ii] / samples; |
| pmic | 3:e03714326b83 | 368 | aBias[ii] = calcAccel(aBiasRaw[ii]); |
| pmic | 3:e03714326b83 | 369 | } |
| pmic | 3:e03714326b83 | 370 | |
| pmic | 3:e03714326b83 | 371 | enableFIFO(false); |
| pmic | 3:e03714326b83 | 372 | setFIFO(FIFO_OFF, 0x00); |
| pmic | 3:e03714326b83 | 373 | |
| pmic | 3:e03714326b83 | 374 | if (autoCalc) _autoCalc = true; |
| pmic | 3:e03714326b83 | 375 | } |
| pmic | 3:e03714326b83 | 376 | |
| pmic | 3:e03714326b83 | 377 | void LSM9DS1::calibrateMag(bool loadIn) |
| pmic | 3:e03714326b83 | 378 | { |
| pmic | 3:e03714326b83 | 379 | int i, j; |
| pmic | 3:e03714326b83 | 380 | int16_t magMin[3] = {0, 0, 0}; |
| pmic | 3:e03714326b83 | 381 | int16_t magMax[3] = {0, 0, 0}; // The road warrior |
| pmic | 3:e03714326b83 | 382 | |
| pmic | 3:e03714326b83 | 383 | for (i=0; i<128; i++) |
| pmic | 3:e03714326b83 | 384 | { |
| pmic | 3:e03714326b83 | 385 | while (!magAvailable()) |
| pmic | 3:e03714326b83 | 386 | ; |
| pmic | 3:e03714326b83 | 387 | readMag(); |
| pmic | 3:e03714326b83 | 388 | int16_t magTemp[3] = {0, 0, 0}; |
| pmic | 3:e03714326b83 | 389 | magTemp[0] = mx; |
| pmic | 3:e03714326b83 | 390 | magTemp[1] = my; |
| pmic | 3:e03714326b83 | 391 | magTemp[2] = mz; |
| pmic | 3:e03714326b83 | 392 | for (j = 0; j < 3; j++) |
| pmic | 3:e03714326b83 | 393 | { |
| pmic | 3:e03714326b83 | 394 | if (magTemp[j] > magMax[j]) magMax[j] = magTemp[j]; |
| pmic | 3:e03714326b83 | 395 | if (magTemp[j] < magMin[j]) magMin[j] = magTemp[j]; |
| pmic | 3:e03714326b83 | 396 | } |
| pmic | 3:e03714326b83 | 397 | } |
| pmic | 3:e03714326b83 | 398 | for (j = 0; j < 3; j++) |
| pmic | 3:e03714326b83 | 399 | { |
| pmic | 3:e03714326b83 | 400 | mBiasRaw[j] = (magMax[j] + magMin[j]) / 2; |
| pmic | 3:e03714326b83 | 401 | mBias[j] = calcMag(mBiasRaw[j]); |
| pmic | 3:e03714326b83 | 402 | if (loadIn) |
| pmic | 3:e03714326b83 | 403 | magOffset(j, mBiasRaw[j]); |
| pmic | 3:e03714326b83 | 404 | } |
| pmic | 3:e03714326b83 | 405 | |
| pmic | 3:e03714326b83 | 406 | } |
| pmic | 3:e03714326b83 | 407 | void LSM9DS1::magOffset(uint8_t axis, int16_t offset) |
| pmic | 3:e03714326b83 | 408 | { |
| pmic | 3:e03714326b83 | 409 | if (axis > 2) |
| pmic | 3:e03714326b83 | 410 | return; |
| pmic | 3:e03714326b83 | 411 | uint8_t msb, lsb; |
| pmic | 3:e03714326b83 | 412 | msb = (offset & 0xFF00) >> 8; |
| pmic | 3:e03714326b83 | 413 | lsb = offset & 0x00FF; |
| pmic | 3:e03714326b83 | 414 | mWriteByte(OFFSET_X_REG_L_M + (2 * axis), lsb); |
| pmic | 3:e03714326b83 | 415 | mWriteByte(OFFSET_X_REG_H_M + (2 * axis), msb); |
| pmic | 3:e03714326b83 | 416 | } |
| pmic | 3:e03714326b83 | 417 | |
| pmic | 3:e03714326b83 | 418 | void LSM9DS1::initMag() |
| pmic | 3:e03714326b83 | 419 | { |
| pmic | 3:e03714326b83 | 420 | uint8_t tempRegValue = 0; |
| pmic | 3:e03714326b83 | 421 | |
| pmic | 3:e03714326b83 | 422 | // CTRL_REG1_M (Default value: 0x10) |
| pmic | 3:e03714326b83 | 423 | // [TEMP_COMP][OM1][OM0][DO2][DO1][DO0][0][ST] |
| pmic | 3:e03714326b83 | 424 | // TEMP_COMP - Temperature compensation |
| pmic | 3:e03714326b83 | 425 | // OM[1:0] - X & Y axes op mode selection |
| pmic | 3:e03714326b83 | 426 | // 00:low-power, 01:medium performance |
| pmic | 3:e03714326b83 | 427 | // 10: high performance, 11:ultra-high performance |
| pmic | 3:e03714326b83 | 428 | // DO[2:0] - Output data rate selection |
| pmic | 3:e03714326b83 | 429 | // ST - Self-test enable |
| pmic | 3:e03714326b83 | 430 | if (settings.mag.tempCompensationEnable) tempRegValue |= (1<<7); |
| pmic | 3:e03714326b83 | 431 | tempRegValue |= (settings.mag.XYPerformance & 0x3) << 5; |
| pmic | 3:e03714326b83 | 432 | tempRegValue |= (settings.mag.sampleRate & 0x7) << 2; |
| pmic | 3:e03714326b83 | 433 | mWriteByte(CTRL_REG1_M, tempRegValue); |
| pmic | 3:e03714326b83 | 434 | |
| pmic | 3:e03714326b83 | 435 | // CTRL_REG2_M (Default value 0x00) |
| pmic | 3:e03714326b83 | 436 | // [0][FS1][FS0][0][REBOOT][SOFT_RST][0][0] |
| pmic | 3:e03714326b83 | 437 | // FS[1:0] - Full-scale configuration |
| pmic | 3:e03714326b83 | 438 | // REBOOT - Reboot memory content (0:normal, 1:reboot) |
| pmic | 3:e03714326b83 | 439 | // SOFT_RST - Reset config and user registers (0:default, 1:reset) |
| pmic | 3:e03714326b83 | 440 | tempRegValue = 0; |
| pmic | 3:e03714326b83 | 441 | switch (settings.mag.scale) |
| pmic | 3:e03714326b83 | 442 | { |
| pmic | 3:e03714326b83 | 443 | case 8: |
| pmic | 3:e03714326b83 | 444 | tempRegValue |= (0x1 << 5); |
| pmic | 3:e03714326b83 | 445 | break; |
| pmic | 3:e03714326b83 | 446 | case 12: |
| pmic | 3:e03714326b83 | 447 | tempRegValue |= (0x2 << 5); |
| pmic | 3:e03714326b83 | 448 | break; |
| pmic | 3:e03714326b83 | 449 | case 16: |
| pmic | 3:e03714326b83 | 450 | tempRegValue |= (0x3 << 5); |
| pmic | 3:e03714326b83 | 451 | break; |
| pmic | 3:e03714326b83 | 452 | // Otherwise we'll default to 4 gauss (00) |
| pmic | 3:e03714326b83 | 453 | } |
| pmic | 3:e03714326b83 | 454 | mWriteByte(CTRL_REG2_M, tempRegValue); // +/-4Gauss |
| pmic | 3:e03714326b83 | 455 | |
| pmic | 3:e03714326b83 | 456 | // CTRL_REG3_M (Default value: 0x03) |
| pmic | 3:e03714326b83 | 457 | // [I2C_DISABLE][0][LP][0][0][SIM][MD1][MD0] |
| pmic | 3:e03714326b83 | 458 | // I2C_DISABLE - Disable I2C interace (0:enable, 1:disable) |
| pmic | 3:e03714326b83 | 459 | // LP - Low-power mode cofiguration (1:enable) |
| pmic | 3:e03714326b83 | 460 | // SIM - SPI mode selection (0:write-only, 1:read/write enable) |
| pmic | 3:e03714326b83 | 461 | // MD[1:0] - Operating mode |
| pmic | 3:e03714326b83 | 462 | // 00:continuous conversion, 01:single-conversion, |
| pmic | 3:e03714326b83 | 463 | // 10,11: Power-down |
| pmic | 3:e03714326b83 | 464 | tempRegValue = 0; |
| pmic | 3:e03714326b83 | 465 | if (settings.mag.lowPowerEnable) tempRegValue |= (1<<5); |
| pmic | 3:e03714326b83 | 466 | tempRegValue |= (settings.mag.operatingMode & 0x3); |
| pmic | 3:e03714326b83 | 467 | mWriteByte(CTRL_REG3_M, tempRegValue); // Continuous conversion mode |
| pmic | 3:e03714326b83 | 468 | |
| pmic | 3:e03714326b83 | 469 | // CTRL_REG4_M (Default value: 0x00) |
| pmic | 3:e03714326b83 | 470 | // [0][0][0][0][OMZ1][OMZ0][BLE][0] |
| pmic | 3:e03714326b83 | 471 | // OMZ[1:0] - Z-axis operative mode selection |
| pmic | 3:e03714326b83 | 472 | // 00:low-power mode, 01:medium performance |
| pmic | 3:e03714326b83 | 473 | // 10:high performance, 10:ultra-high performance |
| pmic | 3:e03714326b83 | 474 | // BLE - Big/little endian data |
| pmic | 3:e03714326b83 | 475 | tempRegValue = 0; |
| pmic | 3:e03714326b83 | 476 | tempRegValue = (settings.mag.ZPerformance & 0x3) << 2; |
| pmic | 3:e03714326b83 | 477 | mWriteByte(CTRL_REG4_M, tempRegValue); |
| pmic | 3:e03714326b83 | 478 | |
| pmic | 3:e03714326b83 | 479 | // CTRL_REG5_M (Default value: 0x00) |
| pmic | 3:e03714326b83 | 480 | // [0][BDU][0][0][0][0][0][0] |
| pmic | 3:e03714326b83 | 481 | // BDU - Block data update for magnetic data |
| pmic | 3:e03714326b83 | 482 | // 0:continuous, 1:not updated until MSB/LSB are read |
| pmic | 3:e03714326b83 | 483 | tempRegValue = 0; |
| pmic | 3:e03714326b83 | 484 | mWriteByte(CTRL_REG5_M, tempRegValue); |
| pmic | 3:e03714326b83 | 485 | } |
| pmic | 3:e03714326b83 | 486 | |
| pmic | 3:e03714326b83 | 487 | uint8_t LSM9DS1::accelAvailable() |
| pmic | 3:e03714326b83 | 488 | { |
| pmic | 3:e03714326b83 | 489 | uint8_t status = xgReadByte(STATUS_REG_1); |
| pmic | 3:e03714326b83 | 490 | |
| pmic | 3:e03714326b83 | 491 | return (status & (1<<0)); |
| pmic | 3:e03714326b83 | 492 | } |
| pmic | 3:e03714326b83 | 493 | |
| pmic | 3:e03714326b83 | 494 | uint8_t LSM9DS1::gyroAvailable() |
| pmic | 3:e03714326b83 | 495 | { |
| pmic | 3:e03714326b83 | 496 | uint8_t status = xgReadByte(STATUS_REG_1); |
| pmic | 3:e03714326b83 | 497 | |
| pmic | 3:e03714326b83 | 498 | return ((status & (1<<1)) >> 1); |
| pmic | 3:e03714326b83 | 499 | } |
| pmic | 3:e03714326b83 | 500 | |
| pmic | 3:e03714326b83 | 501 | uint8_t LSM9DS1::tempAvailable() |
| pmic | 3:e03714326b83 | 502 | { |
| pmic | 3:e03714326b83 | 503 | uint8_t status = xgReadByte(STATUS_REG_1); |
| pmic | 3:e03714326b83 | 504 | |
| pmic | 3:e03714326b83 | 505 | return ((status & (1<<2)) >> 2); |
| pmic | 3:e03714326b83 | 506 | } |
| pmic | 3:e03714326b83 | 507 | |
| pmic | 3:e03714326b83 | 508 | uint8_t LSM9DS1::magAvailable(lsm9ds1_axis axis) |
| pmic | 3:e03714326b83 | 509 | { |
| pmic | 3:e03714326b83 | 510 | uint8_t status; |
| pmic | 3:e03714326b83 | 511 | status = mReadByte(STATUS_REG_M); |
| pmic | 3:e03714326b83 | 512 | |
| pmic | 3:e03714326b83 | 513 | return ((status & (1<<axis)) >> axis); |
| pmic | 3:e03714326b83 | 514 | } |
| pmic | 3:e03714326b83 | 515 | |
| pmic | 3:e03714326b83 | 516 | void LSM9DS1::readAccel() |
| pmic | 3:e03714326b83 | 517 | { |
| pmic | 3:e03714326b83 | 518 | uint8_t temp[6]; // We'll read six bytes from the accelerometer into temp |
| pmic | 3:e03714326b83 | 519 | xgReadBytes(OUT_X_L_XL, temp, 6); // Read 6 bytes, beginning at OUT_X_L_XL |
| pmic | 3:e03714326b83 | 520 | ax = (temp[1] << 8) | temp[0]; // Store x-axis values into ax |
| pmic | 3:e03714326b83 | 521 | ay = (temp[3] << 8) | temp[2]; // Store y-axis values into ay |
| pmic | 3:e03714326b83 | 522 | az = (temp[5] << 8) | temp[4]; // Store z-axis values into az |
| pmic | 3:e03714326b83 | 523 | if (_autoCalc) |
| pmic | 3:e03714326b83 | 524 | { |
| pmic | 3:e03714326b83 | 525 | ax -= aBiasRaw[X_AXIS]; |
| pmic | 3:e03714326b83 | 526 | ay -= aBiasRaw[Y_AXIS]; |
| pmic | 3:e03714326b83 | 527 | az -= aBiasRaw[Z_AXIS]; |
| pmic | 3:e03714326b83 | 528 | } |
| pmic | 3:e03714326b83 | 529 | accX = static_cast<float>(ax)/32768.0f*2.0f*9.81f; |
| pmic | 3:e03714326b83 | 530 | accY = static_cast<float>(ay)/32768.0f*2.0f*9.81f; |
| pmic | 3:e03714326b83 | 531 | accZ = static_cast<float>(az)/32768.0f*2.0f*9.81f; |
| pmic | 3:e03714326b83 | 532 | } |
| pmic | 3:e03714326b83 | 533 | |
| pmic | 3:e03714326b83 | 534 | int16_t LSM9DS1::readAccel(lsm9ds1_axis axis) |
| pmic | 3:e03714326b83 | 535 | { |
| pmic | 3:e03714326b83 | 536 | uint8_t temp[2]; |
| pmic | 3:e03714326b83 | 537 | int16_t value; |
| pmic | 3:e03714326b83 | 538 | xgReadBytes(OUT_X_L_XL + (2 * axis), temp, 2); |
| pmic | 3:e03714326b83 | 539 | value = (temp[1] << 8) | temp[0]; |
| pmic | 3:e03714326b83 | 540 | |
| pmic | 3:e03714326b83 | 541 | if (_autoCalc) |
| pmic | 3:e03714326b83 | 542 | value -= aBiasRaw[axis]; |
| pmic | 3:e03714326b83 | 543 | |
| pmic | 3:e03714326b83 | 544 | return value; |
| pmic | 3:e03714326b83 | 545 | } |
| pmic | 3:e03714326b83 | 546 | |
| pmic | 3:e03714326b83 | 547 | void LSM9DS1::readMag() |
| pmic | 3:e03714326b83 | 548 | { |
| pmic | 3:e03714326b83 | 549 | uint8_t temp[6]; // We'll read six bytes from the mag into temp |
| pmic | 3:e03714326b83 | 550 | mReadBytes(OUT_X_L_M, temp, 6); // Read 6 bytes, beginning at OUT_X_L_M |
| pmic | 3:e03714326b83 | 551 | mx = (temp[1] << 8) | temp[0]; // Store x-axis values into mx |
| pmic | 3:e03714326b83 | 552 | my = (temp[3] << 8) | temp[2]; // Store y-axis values into my |
| pmic | 3:e03714326b83 | 553 | mz = (temp[5] << 8) | temp[4]; // Store z-axis values into mz |
| pmic | 3:e03714326b83 | 554 | |
| pmic | 3:e03714326b83 | 555 | magX = static_cast<float>(mx)/32768.0f*4.0f; |
| pmic | 3:e03714326b83 | 556 | magY = static_cast<float>(my)/32768.0f*4.0f; |
| pmic | 3:e03714326b83 | 557 | magZ = static_cast<float>(mz)/32768.0f*4.0f; |
| pmic | 3:e03714326b83 | 558 | } |
| pmic | 3:e03714326b83 | 559 | |
| pmic | 3:e03714326b83 | 560 | int16_t LSM9DS1::readMag(lsm9ds1_axis axis) |
| pmic | 3:e03714326b83 | 561 | { |
| pmic | 3:e03714326b83 | 562 | uint8_t temp[2]; |
| pmic | 3:e03714326b83 | 563 | mReadBytes(OUT_X_L_M + (2 * axis), temp, 2); |
| pmic | 3:e03714326b83 | 564 | return (temp[1] << 8) | temp[0]; |
| pmic | 3:e03714326b83 | 565 | } |
| pmic | 3:e03714326b83 | 566 | |
| pmic | 3:e03714326b83 | 567 | void LSM9DS1::readTemp() |
| pmic | 3:e03714326b83 | 568 | { |
| pmic | 3:e03714326b83 | 569 | uint8_t temp[2]; // We'll read two bytes from the temperature sensor into temp |
| pmic | 3:e03714326b83 | 570 | xgReadBytes(OUT_TEMP_L, temp, 2); // Read 2 bytes, beginning at OUT_TEMP_L |
| pmic | 3:e03714326b83 | 571 | temperature = ((int16_t)temp[1] << 8) | temp[0]; |
| pmic | 3:e03714326b83 | 572 | } |
| pmic | 3:e03714326b83 | 573 | |
| pmic | 3:e03714326b83 | 574 | void LSM9DS1::readGyro() |
| pmic | 3:e03714326b83 | 575 | { |
| pmic | 3:e03714326b83 | 576 | uint8_t temp[6]; // We'll read six bytes from the gyro into temp |
| pmic | 3:e03714326b83 | 577 | xgReadBytes(OUT_X_L_G, temp, 6); // Read 6 bytes, beginning at OUT_X_L_G |
| pmic | 3:e03714326b83 | 578 | gx = (temp[1] << 8) | temp[0]; // Store x-axis values into gx |
| pmic | 3:e03714326b83 | 579 | gy = (temp[3] << 8) | temp[2]; // Store y-axis values into gy |
| pmic | 3:e03714326b83 | 580 | gz = (temp[5] << 8) | temp[4]; // Store z-axis values into gz |
| pmic | 3:e03714326b83 | 581 | if (_autoCalc) |
| pmic | 3:e03714326b83 | 582 | { |
| pmic | 3:e03714326b83 | 583 | gx -= gBiasRaw[X_AXIS]; |
| pmic | 3:e03714326b83 | 584 | gy -= gBiasRaw[Y_AXIS]; |
| pmic | 3:e03714326b83 | 585 | gz -= gBiasRaw[Z_AXIS]; |
| pmic | 3:e03714326b83 | 586 | } |
| pmic | 3:e03714326b83 | 587 | gyroX = static_cast<float>(gx)/32768.0f*(float)settings.gyro.scale*3.14159265358979323846f/180.0f; |
| pmic | 3:e03714326b83 | 588 | gyroY = static_cast<float>(gy)/32768.0f*(float)settings.gyro.scale*3.14159265358979323846f/180.0f; |
| pmic | 3:e03714326b83 | 589 | gyroZ = static_cast<float>(gz)/32768.0f*(float)settings.gyro.scale*3.14159265358979323846f/180.0f; |
| pmic | 3:e03714326b83 | 590 | } |
| pmic | 3:e03714326b83 | 591 | |
| pmic | 3:e03714326b83 | 592 | int16_t LSM9DS1::readGyro(lsm9ds1_axis axis) |
| pmic | 3:e03714326b83 | 593 | { |
| pmic | 3:e03714326b83 | 594 | uint8_t temp[2]; |
| pmic | 3:e03714326b83 | 595 | int16_t value; |
| pmic | 3:e03714326b83 | 596 | |
| pmic | 3:e03714326b83 | 597 | xgReadBytes(OUT_X_L_G + (2 * axis), temp, 2); |
| pmic | 3:e03714326b83 | 598 | |
| pmic | 3:e03714326b83 | 599 | value = (temp[1] << 8) | temp[0]; |
| pmic | 3:e03714326b83 | 600 | |
| pmic | 3:e03714326b83 | 601 | if (_autoCalc) |
| pmic | 3:e03714326b83 | 602 | value -= gBiasRaw[axis]; |
| pmic | 3:e03714326b83 | 603 | |
| pmic | 3:e03714326b83 | 604 | return value; |
| pmic | 3:e03714326b83 | 605 | } |
| pmic | 3:e03714326b83 | 606 | |
| pmic | 3:e03714326b83 | 607 | float LSM9DS1::calcGyro(int16_t gyro) |
| pmic | 3:e03714326b83 | 608 | { |
| pmic | 3:e03714326b83 | 609 | // Return the gyro raw reading times our pre-calculated DPS / (ADC tick): |
| pmic | 3:e03714326b83 | 610 | return gRes * gyro; |
| pmic | 3:e03714326b83 | 611 | } |
| pmic | 3:e03714326b83 | 612 | |
| pmic | 3:e03714326b83 | 613 | float LSM9DS1::calcAccel(int16_t accel) |
| pmic | 3:e03714326b83 | 614 | { |
| pmic | 3:e03714326b83 | 615 | // Return the accel raw reading times our pre-calculated g's / (ADC tick): |
| pmic | 3:e03714326b83 | 616 | return aRes * accel; |
| pmic | 3:e03714326b83 | 617 | } |
| pmic | 3:e03714326b83 | 618 | |
| pmic | 3:e03714326b83 | 619 | float LSM9DS1::calcMag(int16_t mag) |
| pmic | 3:e03714326b83 | 620 | { |
| pmic | 3:e03714326b83 | 621 | // Return the mag raw reading times our pre-calculated Gs / (ADC tick): |
| pmic | 3:e03714326b83 | 622 | return mRes * mag; |
| pmic | 3:e03714326b83 | 623 | } |
| pmic | 3:e03714326b83 | 624 | |
| pmic | 3:e03714326b83 | 625 | void LSM9DS1::setGyroScale(uint16_t gScl) |
| pmic | 3:e03714326b83 | 626 | { |
| pmic | 3:e03714326b83 | 627 | // Read current value of CTRL_REG1_G: |
| pmic | 3:e03714326b83 | 628 | uint8_t ctrl1RegValue = xgReadByte(CTRL_REG1_G); |
| pmic | 3:e03714326b83 | 629 | // Mask out scale bits (3 & 4): |
| pmic | 3:e03714326b83 | 630 | ctrl1RegValue &= 0xE7; |
| pmic | 3:e03714326b83 | 631 | switch (gScl) |
| pmic | 3:e03714326b83 | 632 | { |
| pmic | 3:e03714326b83 | 633 | case 500: |
| pmic | 3:e03714326b83 | 634 | ctrl1RegValue |= (0x1 << 3); |
| pmic | 3:e03714326b83 | 635 | settings.gyro.scale = 500; |
| pmic | 3:e03714326b83 | 636 | break; |
| pmic | 3:e03714326b83 | 637 | case 2000: |
| pmic | 3:e03714326b83 | 638 | ctrl1RegValue |= (0x3 << 3); |
| pmic | 3:e03714326b83 | 639 | settings.gyro.scale = 2000; |
| pmic | 3:e03714326b83 | 640 | break; |
| pmic | 3:e03714326b83 | 641 | default: // Otherwise we'll set it to 245 dps (0x0 << 4) |
| pmic | 3:e03714326b83 | 642 | settings.gyro.scale = 245; |
| pmic | 3:e03714326b83 | 643 | break; |
| pmic | 3:e03714326b83 | 644 | } |
| pmic | 3:e03714326b83 | 645 | xgWriteByte(CTRL_REG1_G, ctrl1RegValue); |
| pmic | 3:e03714326b83 | 646 | |
| pmic | 3:e03714326b83 | 647 | calcgRes(); |
| pmic | 3:e03714326b83 | 648 | } |
| pmic | 3:e03714326b83 | 649 | |
| pmic | 3:e03714326b83 | 650 | void LSM9DS1::setAccelScale(uint8_t aScl) |
| pmic | 3:e03714326b83 | 651 | { |
| pmic | 3:e03714326b83 | 652 | // We need to preserve the other bytes in CTRL_REG6_XL. So, first read it: |
| pmic | 3:e03714326b83 | 653 | uint8_t tempRegValue = xgReadByte(CTRL_REG6_XL); |
| pmic | 3:e03714326b83 | 654 | // Mask out accel scale bits: |
| pmic | 3:e03714326b83 | 655 | tempRegValue &= 0xE7; |
| pmic | 3:e03714326b83 | 656 | |
| pmic | 3:e03714326b83 | 657 | switch (aScl) |
| pmic | 3:e03714326b83 | 658 | { |
| pmic | 3:e03714326b83 | 659 | case 4: |
| pmic | 3:e03714326b83 | 660 | tempRegValue |= (0x2 << 3); |
| pmic | 3:e03714326b83 | 661 | settings.accel.scale = 4; |
| pmic | 3:e03714326b83 | 662 | break; |
| pmic | 3:e03714326b83 | 663 | case 8: |
| pmic | 3:e03714326b83 | 664 | tempRegValue |= (0x3 << 3); |
| pmic | 3:e03714326b83 | 665 | settings.accel.scale = 8; |
| pmic | 3:e03714326b83 | 666 | break; |
| pmic | 3:e03714326b83 | 667 | case 16: |
| pmic | 3:e03714326b83 | 668 | tempRegValue |= (0x1 << 3); |
| pmic | 3:e03714326b83 | 669 | settings.accel.scale = 16; |
| pmic | 3:e03714326b83 | 670 | break; |
| pmic | 3:e03714326b83 | 671 | default: // Otherwise it'll be set to 2g (0x0 << 3) |
| pmic | 3:e03714326b83 | 672 | settings.accel.scale = 2; |
| pmic | 3:e03714326b83 | 673 | break; |
| pmic | 3:e03714326b83 | 674 | } |
| pmic | 3:e03714326b83 | 675 | xgWriteByte(CTRL_REG6_XL, tempRegValue); |
| pmic | 3:e03714326b83 | 676 | |
| pmic | 3:e03714326b83 | 677 | // Then calculate a new aRes, which relies on aScale being set correctly: |
| pmic | 3:e03714326b83 | 678 | calcaRes(); |
| pmic | 3:e03714326b83 | 679 | } |
| pmic | 3:e03714326b83 | 680 | |
| pmic | 3:e03714326b83 | 681 | void LSM9DS1::setMagScale(uint8_t mScl) |
| pmic | 3:e03714326b83 | 682 | { |
| pmic | 3:e03714326b83 | 683 | // We need to preserve the other bytes in CTRL_REG6_XM. So, first read it: |
| pmic | 3:e03714326b83 | 684 | uint8_t temp = mReadByte(CTRL_REG2_M); |
| pmic | 3:e03714326b83 | 685 | // Then mask out the mag scale bits: |
| pmic | 3:e03714326b83 | 686 | temp &= 0xFF^(0x3 << 5); |
| pmic | 3:e03714326b83 | 687 | |
| pmic | 3:e03714326b83 | 688 | switch (mScl) |
| pmic | 3:e03714326b83 | 689 | { |
| pmic | 3:e03714326b83 | 690 | case 8: |
| pmic | 3:e03714326b83 | 691 | temp |= (0x1 << 5); |
| pmic | 3:e03714326b83 | 692 | settings.mag.scale = 8; |
| pmic | 3:e03714326b83 | 693 | break; |
| pmic | 3:e03714326b83 | 694 | case 12: |
| pmic | 3:e03714326b83 | 695 | temp |= (0x2 << 5); |
| pmic | 3:e03714326b83 | 696 | settings.mag.scale = 12; |
| pmic | 3:e03714326b83 | 697 | break; |
| pmic | 3:e03714326b83 | 698 | case 16: |
| pmic | 3:e03714326b83 | 699 | temp |= (0x3 << 5); |
| pmic | 3:e03714326b83 | 700 | settings.mag.scale = 16; |
| pmic | 3:e03714326b83 | 701 | break; |
| pmic | 3:e03714326b83 | 702 | default: // Otherwise we'll default to 4 gauss (00) |
| pmic | 3:e03714326b83 | 703 | settings.mag.scale = 4; |
| pmic | 3:e03714326b83 | 704 | break; |
| pmic | 3:e03714326b83 | 705 | } |
| pmic | 3:e03714326b83 | 706 | |
| pmic | 3:e03714326b83 | 707 | // And write the new register value back into CTRL_REG6_XM: |
| pmic | 3:e03714326b83 | 708 | mWriteByte(CTRL_REG2_M, temp); |
| pmic | 3:e03714326b83 | 709 | |
| pmic | 3:e03714326b83 | 710 | // We've updated the sensor, but we also need to update our class variables |
| pmic | 3:e03714326b83 | 711 | // First update mScale: |
| pmic | 3:e03714326b83 | 712 | //mScale = mScl; |
| pmic | 3:e03714326b83 | 713 | // Then calculate a new mRes, which relies on mScale being set correctly: |
| pmic | 3:e03714326b83 | 714 | calcmRes(); |
| pmic | 3:e03714326b83 | 715 | } |
| pmic | 3:e03714326b83 | 716 | |
| pmic | 3:e03714326b83 | 717 | void LSM9DS1::setGyroODR(uint8_t gRate) |
| pmic | 3:e03714326b83 | 718 | { |
| pmic | 3:e03714326b83 | 719 | // Only do this if gRate is not 0 (which would disable the gyro) |
| pmic | 3:e03714326b83 | 720 | if ((gRate & 0x07) != 0) |
| pmic | 3:e03714326b83 | 721 | { |
| pmic | 3:e03714326b83 | 722 | // We need to preserve the other bytes in CTRL_REG1_G. So, first read it: |
| pmic | 3:e03714326b83 | 723 | uint8_t temp = xgReadByte(CTRL_REG1_G); |
| pmic | 3:e03714326b83 | 724 | // Then mask out the gyro ODR bits: |
| pmic | 3:e03714326b83 | 725 | temp &= 0xFF^(0x7 << 5); |
| pmic | 3:e03714326b83 | 726 | temp |= (gRate & 0x07) << 5; |
| pmic | 3:e03714326b83 | 727 | // Update our settings struct |
| pmic | 3:e03714326b83 | 728 | settings.gyro.sampleRate = gRate & 0x07; |
| pmic | 3:e03714326b83 | 729 | // And write the new register value back into CTRL_REG1_G: |
| pmic | 3:e03714326b83 | 730 | xgWriteByte(CTRL_REG1_G, temp); |
| pmic | 3:e03714326b83 | 731 | } |
| pmic | 3:e03714326b83 | 732 | } |
| pmic | 3:e03714326b83 | 733 | |
| pmic | 3:e03714326b83 | 734 | void LSM9DS1::setAccelODR(uint8_t aRate) |
| pmic | 3:e03714326b83 | 735 | { |
| pmic | 3:e03714326b83 | 736 | // Only do this if aRate is not 0 (which would disable the accel) |
| pmic | 3:e03714326b83 | 737 | if ((aRate & 0x07) != 0) |
| pmic | 3:e03714326b83 | 738 | { |
| pmic | 3:e03714326b83 | 739 | // We need to preserve the other bytes in CTRL_REG1_XM. So, first read it: |
| pmic | 3:e03714326b83 | 740 | uint8_t temp = xgReadByte(CTRL_REG6_XL); |
| pmic | 3:e03714326b83 | 741 | // Then mask out the accel ODR bits: |
| pmic | 3:e03714326b83 | 742 | temp &= 0x1F; |
| pmic | 3:e03714326b83 | 743 | // Then shift in our new ODR bits: |
| pmic | 3:e03714326b83 | 744 | temp |= ((aRate & 0x07) << 5); |
| pmic | 3:e03714326b83 | 745 | settings.accel.sampleRate = aRate & 0x07; |
| pmic | 3:e03714326b83 | 746 | // And write the new register value back into CTRL_REG1_XM: |
| pmic | 3:e03714326b83 | 747 | xgWriteByte(CTRL_REG6_XL, temp); |
| pmic | 3:e03714326b83 | 748 | } |
| pmic | 3:e03714326b83 | 749 | } |
| pmic | 3:e03714326b83 | 750 | |
| pmic | 3:e03714326b83 | 751 | void LSM9DS1::setMagODR(uint8_t mRate) |
| pmic | 3:e03714326b83 | 752 | { |
| pmic | 3:e03714326b83 | 753 | // We need to preserve the other bytes in CTRL_REG5_XM. So, first read it: |
| pmic | 3:e03714326b83 | 754 | uint8_t temp = mReadByte(CTRL_REG1_M); |
| pmic | 3:e03714326b83 | 755 | // Then mask out the mag ODR bits: |
| pmic | 3:e03714326b83 | 756 | temp &= 0xFF^(0x7 << 2); |
| pmic | 3:e03714326b83 | 757 | // Then shift in our new ODR bits: |
| pmic | 3:e03714326b83 | 758 | temp |= ((mRate & 0x07) << 2); |
| pmic | 3:e03714326b83 | 759 | settings.mag.sampleRate = mRate & 0x07; |
| pmic | 3:e03714326b83 | 760 | // And write the new register value back into CTRL_REG5_XM: |
| pmic | 3:e03714326b83 | 761 | mWriteByte(CTRL_REG1_M, temp); |
| pmic | 3:e03714326b83 | 762 | } |
| pmic | 3:e03714326b83 | 763 | |
| pmic | 3:e03714326b83 | 764 | void LSM9DS1::calcgRes() |
| pmic | 3:e03714326b83 | 765 | { |
| pmic | 3:e03714326b83 | 766 | gRes = ((float) settings.gyro.scale) / 32768.0f; |
| pmic | 3:e03714326b83 | 767 | } |
| pmic | 3:e03714326b83 | 768 | |
| pmic | 3:e03714326b83 | 769 | void LSM9DS1::calcaRes() |
| pmic | 3:e03714326b83 | 770 | { |
| pmic | 3:e03714326b83 | 771 | aRes = ((float) settings.accel.scale) / 32768.0f; |
| pmic | 3:e03714326b83 | 772 | } |
| pmic | 3:e03714326b83 | 773 | |
| pmic | 3:e03714326b83 | 774 | void LSM9DS1::calcmRes() |
| pmic | 3:e03714326b83 | 775 | { |
| pmic | 3:e03714326b83 | 776 | //mRes = ((float) settings.mag.scale) / 32768.0; |
| pmic | 3:e03714326b83 | 777 | switch (settings.mag.scale) |
| pmic | 3:e03714326b83 | 778 | { |
| pmic | 3:e03714326b83 | 779 | case 4: |
| pmic | 3:e03714326b83 | 780 | mRes = magSensitivity[0]; |
| pmic | 3:e03714326b83 | 781 | break; |
| pmic | 3:e03714326b83 | 782 | case 8: |
| pmic | 3:e03714326b83 | 783 | mRes = magSensitivity[1]; |
| pmic | 3:e03714326b83 | 784 | break; |
| pmic | 3:e03714326b83 | 785 | case 12: |
| pmic | 3:e03714326b83 | 786 | mRes = magSensitivity[2]; |
| pmic | 3:e03714326b83 | 787 | break; |
| pmic | 3:e03714326b83 | 788 | case 16: |
| pmic | 3:e03714326b83 | 789 | mRes = magSensitivity[3]; |
| pmic | 3:e03714326b83 | 790 | break; |
| pmic | 3:e03714326b83 | 791 | } |
| pmic | 3:e03714326b83 | 792 | |
| pmic | 3:e03714326b83 | 793 | } |
| pmic | 3:e03714326b83 | 794 | |
| pmic | 3:e03714326b83 | 795 | void LSM9DS1::configInt(interrupt_select interrupt, uint8_t generator, |
| pmic | 3:e03714326b83 | 796 | h_lactive activeLow, pp_od pushPull) |
| pmic | 3:e03714326b83 | 797 | { |
| pmic | 3:e03714326b83 | 798 | // Write to INT1_CTRL or INT2_CTRL. [interupt] should already be one of |
| pmic | 3:e03714326b83 | 799 | // those two values. |
| pmic | 3:e03714326b83 | 800 | // [generator] should be an OR'd list of values from the interrupt_generators enum |
| pmic | 3:e03714326b83 | 801 | xgWriteByte(interrupt, generator); |
| pmic | 3:e03714326b83 | 802 | |
| pmic | 3:e03714326b83 | 803 | // Configure CTRL_REG8 |
| pmic | 3:e03714326b83 | 804 | uint8_t temp; |
| pmic | 3:e03714326b83 | 805 | temp = xgReadByte(CTRL_REG8); |
| pmic | 3:e03714326b83 | 806 | |
| pmic | 3:e03714326b83 | 807 | if (activeLow) temp |= (1<<5); |
| pmic | 3:e03714326b83 | 808 | else temp &= ~(1<<5); |
| pmic | 3:e03714326b83 | 809 | |
| pmic | 3:e03714326b83 | 810 | if (pushPull) temp &= ~(1<<4); |
| pmic | 3:e03714326b83 | 811 | else temp |= (1<<4); |
| pmic | 3:e03714326b83 | 812 | |
| pmic | 3:e03714326b83 | 813 | xgWriteByte(CTRL_REG8, temp); |
| pmic | 3:e03714326b83 | 814 | } |
| pmic | 3:e03714326b83 | 815 | |
| pmic | 3:e03714326b83 | 816 | void LSM9DS1::configInactivity(uint8_t duration, uint8_t threshold, bool sleepOn) |
| pmic | 3:e03714326b83 | 817 | { |
| pmic | 3:e03714326b83 | 818 | uint8_t temp = 0; |
| pmic | 3:e03714326b83 | 819 | |
| pmic | 3:e03714326b83 | 820 | temp = threshold & 0x7F; |
| pmic | 3:e03714326b83 | 821 | if (sleepOn) temp |= (1<<7); |
| pmic | 3:e03714326b83 | 822 | xgWriteByte(ACT_THS, temp); |
| pmic | 3:e03714326b83 | 823 | |
| pmic | 3:e03714326b83 | 824 | xgWriteByte(ACT_DUR, duration); |
| pmic | 3:e03714326b83 | 825 | } |
| pmic | 3:e03714326b83 | 826 | |
| pmic | 3:e03714326b83 | 827 | uint8_t LSM9DS1::getInactivity() |
| pmic | 3:e03714326b83 | 828 | { |
| pmic | 3:e03714326b83 | 829 | uint8_t temp = xgReadByte(STATUS_REG_0); |
| pmic | 3:e03714326b83 | 830 | temp &= (0x10); |
| pmic | 3:e03714326b83 | 831 | return temp; |
| pmic | 3:e03714326b83 | 832 | } |
| pmic | 3:e03714326b83 | 833 | |
| pmic | 3:e03714326b83 | 834 | void LSM9DS1::configAccelInt(uint8_t generator, bool andInterrupts) |
| pmic | 3:e03714326b83 | 835 | { |
| pmic | 3:e03714326b83 | 836 | // Use variables from accel_interrupt_generator, OR'd together to create |
| pmic | 3:e03714326b83 | 837 | // the [generator]value. |
| pmic | 3:e03714326b83 | 838 | uint8_t temp = generator; |
| pmic | 3:e03714326b83 | 839 | if (andInterrupts) temp |= 0x80; |
| pmic | 3:e03714326b83 | 840 | xgWriteByte(INT_GEN_CFG_XL, temp); |
| pmic | 3:e03714326b83 | 841 | } |
| pmic | 3:e03714326b83 | 842 | |
| pmic | 3:e03714326b83 | 843 | void LSM9DS1::configAccelThs(uint8_t threshold, lsm9ds1_axis axis, uint8_t duration, bool wait) |
| pmic | 3:e03714326b83 | 844 | { |
| pmic | 3:e03714326b83 | 845 | // Write threshold value to INT_GEN_THS_?_XL. |
| pmic | 3:e03714326b83 | 846 | // axis will be 0, 1, or 2 (x, y, z respectively) |
| pmic | 3:e03714326b83 | 847 | xgWriteByte(INT_GEN_THS_X_XL + axis, threshold); |
| pmic | 3:e03714326b83 | 848 | |
| pmic | 3:e03714326b83 | 849 | // Write duration and wait to INT_GEN_DUR_XL |
| pmic | 3:e03714326b83 | 850 | uint8_t temp; |
| pmic | 3:e03714326b83 | 851 | temp = (duration & 0x7F); |
| pmic | 3:e03714326b83 | 852 | if (wait) temp |= 0x80; |
| pmic | 3:e03714326b83 | 853 | xgWriteByte(INT_GEN_DUR_XL, temp); |
| pmic | 3:e03714326b83 | 854 | } |
| pmic | 3:e03714326b83 | 855 | |
| pmic | 3:e03714326b83 | 856 | uint8_t LSM9DS1::getAccelIntSrc() |
| pmic | 3:e03714326b83 | 857 | { |
| pmic | 3:e03714326b83 | 858 | uint8_t intSrc = xgReadByte(INT_GEN_SRC_XL); |
| pmic | 3:e03714326b83 | 859 | |
| pmic | 3:e03714326b83 | 860 | // Check if the IA_XL (interrupt active) bit is set |
| pmic | 3:e03714326b83 | 861 | if (intSrc & (1<<6)) |
| pmic | 3:e03714326b83 | 862 | { |
| pmic | 3:e03714326b83 | 863 | return (intSrc & 0x3F); |
| pmic | 3:e03714326b83 | 864 | } |
| pmic | 3:e03714326b83 | 865 | |
| pmic | 3:e03714326b83 | 866 | return 0; |
| pmic | 3:e03714326b83 | 867 | } |
| pmic | 3:e03714326b83 | 868 | |
| pmic | 3:e03714326b83 | 869 | void LSM9DS1::configGyroInt(uint8_t generator, bool aoi, bool latch) |
| pmic | 3:e03714326b83 | 870 | { |
| pmic | 3:e03714326b83 | 871 | // Use variables from accel_interrupt_generator, OR'd together to create |
| pmic | 3:e03714326b83 | 872 | // the [generator]value. |
| pmic | 3:e03714326b83 | 873 | uint8_t temp = generator; |
| pmic | 3:e03714326b83 | 874 | if (aoi) temp |= 0x80; |
| pmic | 3:e03714326b83 | 875 | if (latch) temp |= 0x40; |
| pmic | 3:e03714326b83 | 876 | xgWriteByte(INT_GEN_CFG_G, temp); |
| pmic | 3:e03714326b83 | 877 | } |
| pmic | 3:e03714326b83 | 878 | |
| pmic | 3:e03714326b83 | 879 | void LSM9DS1::configGyroThs(int16_t threshold, lsm9ds1_axis axis, uint8_t duration, bool wait) |
| pmic | 3:e03714326b83 | 880 | { |
| pmic | 3:e03714326b83 | 881 | uint8_t buffer[2]; |
| pmic | 3:e03714326b83 | 882 | buffer[0] = (threshold & 0x7F00) >> 8; |
| pmic | 3:e03714326b83 | 883 | buffer[1] = (threshold & 0x00FF); |
| pmic | 3:e03714326b83 | 884 | // Write threshold value to INT_GEN_THS_?H_G and INT_GEN_THS_?L_G. |
| pmic | 3:e03714326b83 | 885 | // axis will be 0, 1, or 2 (x, y, z respectively) |
| pmic | 3:e03714326b83 | 886 | xgWriteByte(INT_GEN_THS_XH_G + (axis * 2), buffer[0]); |
| pmic | 3:e03714326b83 | 887 | xgWriteByte(INT_GEN_THS_XH_G + 1 + (axis * 2), buffer[1]); |
| pmic | 3:e03714326b83 | 888 | |
| pmic | 3:e03714326b83 | 889 | // Write duration and wait to INT_GEN_DUR_XL |
| pmic | 3:e03714326b83 | 890 | uint8_t temp; |
| pmic | 3:e03714326b83 | 891 | temp = (duration & 0x7F); |
| pmic | 3:e03714326b83 | 892 | if (wait) temp |= 0x80; |
| pmic | 3:e03714326b83 | 893 | xgWriteByte(INT_GEN_DUR_G, temp); |
| pmic | 3:e03714326b83 | 894 | } |
| pmic | 3:e03714326b83 | 895 | |
| pmic | 3:e03714326b83 | 896 | uint8_t LSM9DS1::getGyroIntSrc() |
| pmic | 3:e03714326b83 | 897 | { |
| pmic | 3:e03714326b83 | 898 | uint8_t intSrc = xgReadByte(INT_GEN_SRC_G); |
| pmic | 3:e03714326b83 | 899 | |
| pmic | 3:e03714326b83 | 900 | // Check if the IA_G (interrupt active) bit is set |
| pmic | 3:e03714326b83 | 901 | if (intSrc & (1<<6)) |
| pmic | 3:e03714326b83 | 902 | { |
| pmic | 3:e03714326b83 | 903 | return (intSrc & 0x3F); |
| pmic | 3:e03714326b83 | 904 | } |
| pmic | 3:e03714326b83 | 905 | |
| pmic | 3:e03714326b83 | 906 | return 0; |
| pmic | 3:e03714326b83 | 907 | } |
| pmic | 3:e03714326b83 | 908 | |
| pmic | 3:e03714326b83 | 909 | void LSM9DS1::configMagInt(uint8_t generator, h_lactive activeLow, bool latch) |
| pmic | 3:e03714326b83 | 910 | { |
| pmic | 3:e03714326b83 | 911 | // Mask out non-generator bits (0-4) |
| pmic | 3:e03714326b83 | 912 | uint8_t config = (generator & 0xE0); |
| pmic | 3:e03714326b83 | 913 | // IEA bit is 0 for active-low, 1 for active-high. |
| pmic | 3:e03714326b83 | 914 | if (activeLow == INT_ACTIVE_HIGH) config |= (1<<2); |
| pmic | 3:e03714326b83 | 915 | // IEL bit is 0 for latched, 1 for not-latched |
| pmic | 3:e03714326b83 | 916 | if (!latch) config |= (1<<1); |
| pmic | 3:e03714326b83 | 917 | // As long as we have at least 1 generator, enable the interrupt |
| pmic | 3:e03714326b83 | 918 | if (generator != 0) config |= (1<<0); |
| pmic | 3:e03714326b83 | 919 | |
| pmic | 3:e03714326b83 | 920 | mWriteByte(INT_CFG_M, config); |
| pmic | 3:e03714326b83 | 921 | } |
| pmic | 3:e03714326b83 | 922 | |
| pmic | 3:e03714326b83 | 923 | void LSM9DS1::configMagThs(uint16_t threshold) |
| pmic | 3:e03714326b83 | 924 | { |
| pmic | 3:e03714326b83 | 925 | // Write high eight bits of [threshold] to INT_THS_H_M |
| pmic | 3:e03714326b83 | 926 | mWriteByte(INT_THS_H_M, uint8_t((threshold & 0x7F00) >> 8)); |
| pmic | 3:e03714326b83 | 927 | // Write low eight bits of [threshold] to INT_THS_L_M |
| pmic | 3:e03714326b83 | 928 | mWriteByte(INT_THS_L_M, uint8_t(threshold & 0x00FF)); |
| pmic | 3:e03714326b83 | 929 | } |
| pmic | 3:e03714326b83 | 930 | |
| pmic | 3:e03714326b83 | 931 | uint8_t LSM9DS1::getMagIntSrc() |
| pmic | 3:e03714326b83 | 932 | { |
| pmic | 3:e03714326b83 | 933 | uint8_t intSrc = mReadByte(INT_SRC_M); |
| pmic | 3:e03714326b83 | 934 | |
| pmic | 3:e03714326b83 | 935 | // Check if the INT (interrupt active) bit is set |
| pmic | 3:e03714326b83 | 936 | if (intSrc & (1<<0)) |
| pmic | 3:e03714326b83 | 937 | { |
| pmic | 3:e03714326b83 | 938 | return (intSrc & 0xFE); |
| pmic | 3:e03714326b83 | 939 | } |
| pmic | 3:e03714326b83 | 940 | |
| pmic | 3:e03714326b83 | 941 | return 0; |
| pmic | 3:e03714326b83 | 942 | } |
| pmic | 3:e03714326b83 | 943 | |
| pmic | 3:e03714326b83 | 944 | void LSM9DS1::sleepGyro(bool enable) |
| pmic | 3:e03714326b83 | 945 | { |
| pmic | 3:e03714326b83 | 946 | uint8_t temp = xgReadByte(CTRL_REG9); |
| pmic | 3:e03714326b83 | 947 | if (enable) temp |= (1<<6); |
| pmic | 3:e03714326b83 | 948 | else temp &= ~(1<<6); |
| pmic | 3:e03714326b83 | 949 | xgWriteByte(CTRL_REG9, temp); |
| pmic | 3:e03714326b83 | 950 | } |
| pmic | 3:e03714326b83 | 951 | |
| pmic | 3:e03714326b83 | 952 | void LSM9DS1::enableFIFO(bool enable) |
| pmic | 3:e03714326b83 | 953 | { |
| pmic | 3:e03714326b83 | 954 | uint8_t temp = xgReadByte(CTRL_REG9); |
| pmic | 3:e03714326b83 | 955 | if (enable) temp |= (1<<1); |
| pmic | 3:e03714326b83 | 956 | else temp &= ~(1<<1); |
| pmic | 3:e03714326b83 | 957 | xgWriteByte(CTRL_REG9, temp); |
| pmic | 3:e03714326b83 | 958 | } |
| pmic | 3:e03714326b83 | 959 | |
| pmic | 3:e03714326b83 | 960 | void LSM9DS1::setFIFO(fifoMode_type fifoMode, uint8_t fifoThs) |
| pmic | 3:e03714326b83 | 961 | { |
| pmic | 3:e03714326b83 | 962 | // Limit threshold - 0x1F (31) is the maximum. If more than that was asked |
| pmic | 3:e03714326b83 | 963 | // limit it to the maximum. |
| pmic | 3:e03714326b83 | 964 | uint8_t threshold = fifoThs <= 0x1F ? fifoThs : 0x1F; |
| pmic | 3:e03714326b83 | 965 | xgWriteByte(FIFO_CTRL, ((fifoMode & 0x7) << 5) | (threshold & 0x1F)); |
| pmic | 3:e03714326b83 | 966 | } |
| pmic | 3:e03714326b83 | 967 | |
| pmic | 3:e03714326b83 | 968 | uint8_t LSM9DS1::getFIFOSamples() |
| pmic | 3:e03714326b83 | 969 | { |
| pmic | 3:e03714326b83 | 970 | return (xgReadByte(FIFO_SRC) & 0x3F); |
| pmic | 3:e03714326b83 | 971 | } |
| pmic | 3:e03714326b83 | 972 | |
| pmic | 3:e03714326b83 | 973 | void LSM9DS1::constrainScales() |
| pmic | 3:e03714326b83 | 974 | { |
| pmic | 3:e03714326b83 | 975 | if ((settings.gyro.scale != 245) && (settings.gyro.scale != 500) && |
| pmic | 3:e03714326b83 | 976 | (settings.gyro.scale != 2000)) |
| pmic | 3:e03714326b83 | 977 | { |
| pmic | 3:e03714326b83 | 978 | settings.gyro.scale = 245; |
| pmic | 3:e03714326b83 | 979 | } |
| pmic | 3:e03714326b83 | 980 | |
| pmic | 3:e03714326b83 | 981 | if ((settings.accel.scale != 2) && (settings.accel.scale != 4) && |
| pmic | 3:e03714326b83 | 982 | (settings.accel.scale != 8) && (settings.accel.scale != 16)) |
| pmic | 3:e03714326b83 | 983 | { |
| pmic | 3:e03714326b83 | 984 | settings.accel.scale = 2; |
| pmic | 3:e03714326b83 | 985 | } |
| pmic | 3:e03714326b83 | 986 | |
| pmic | 3:e03714326b83 | 987 | if ((settings.mag.scale != 4) && (settings.mag.scale != 8) && |
| pmic | 3:e03714326b83 | 988 | (settings.mag.scale != 12) && (settings.mag.scale != 16)) |
| pmic | 3:e03714326b83 | 989 | { |
| pmic | 3:e03714326b83 | 990 | settings.mag.scale = 4; |
| pmic | 3:e03714326b83 | 991 | } |
| pmic | 3:e03714326b83 | 992 | } |
| pmic | 3:e03714326b83 | 993 | |
| pmic | 3:e03714326b83 | 994 | void LSM9DS1::xgWriteByte(uint8_t subAddress, uint8_t data) |
| pmic | 3:e03714326b83 | 995 | { |
| pmic | 3:e03714326b83 | 996 | // Whether we're using I2C or SPI, write a byte using the |
| pmic | 3:e03714326b83 | 997 | // gyro-specific I2C address or SPI CS pin. |
| pmic | 3:e03714326b83 | 998 | if (settings.device.commInterface == IMU_MODE_I2C) { |
| pmic | 3:e03714326b83 | 999 | printf("yo"); |
| pmic | 3:e03714326b83 | 1000 | I2CwriteByte(_xgAddress, subAddress, data); |
| pmic | 3:e03714326b83 | 1001 | } else if (settings.device.commInterface == IMU_MODE_SPI) { |
| pmic | 3:e03714326b83 | 1002 | SPIwriteByte(_xgAddress, subAddress, data); |
| pmic | 3:e03714326b83 | 1003 | } |
| pmic | 3:e03714326b83 | 1004 | } |
| pmic | 3:e03714326b83 | 1005 | |
| pmic | 3:e03714326b83 | 1006 | void LSM9DS1::mWriteByte(uint8_t subAddress, uint8_t data) |
| pmic | 3:e03714326b83 | 1007 | { |
| pmic | 3:e03714326b83 | 1008 | // Whether we're using I2C or SPI, write a byte using the |
| pmic | 3:e03714326b83 | 1009 | // accelerometer-specific I2C address or SPI CS pin. |
| pmic | 3:e03714326b83 | 1010 | if (settings.device.commInterface == IMU_MODE_I2C) |
| pmic | 3:e03714326b83 | 1011 | return I2CwriteByte(_mAddress, subAddress, data); |
| pmic | 3:e03714326b83 | 1012 | else if (settings.device.commInterface == IMU_MODE_SPI) |
| pmic | 3:e03714326b83 | 1013 | return SPIwriteByte(_mAddress, subAddress, data); |
| pmic | 3:e03714326b83 | 1014 | } |
| pmic | 3:e03714326b83 | 1015 | |
| pmic | 3:e03714326b83 | 1016 | uint8_t LSM9DS1::xgReadByte(uint8_t subAddress) |
| pmic | 3:e03714326b83 | 1017 | { |
| pmic | 3:e03714326b83 | 1018 | // Whether we're using I2C or SPI, read a byte using the |
| pmic | 3:e03714326b83 | 1019 | // gyro-specific I2C address or SPI CS pin. |
| pmic | 3:e03714326b83 | 1020 | if (settings.device.commInterface == IMU_MODE_I2C) |
| pmic | 3:e03714326b83 | 1021 | return I2CreadByte(_xgAddress, subAddress); |
| pmic | 3:e03714326b83 | 1022 | else if (settings.device.commInterface == IMU_MODE_SPI) |
| pmic | 3:e03714326b83 | 1023 | return SPIreadByte(_xgAddress, subAddress); |
| pmic | 3:e03714326b83 | 1024 | } |
| pmic | 3:e03714326b83 | 1025 | |
| pmic | 3:e03714326b83 | 1026 | void LSM9DS1::xgReadBytes(uint8_t subAddress, uint8_t * dest, uint8_t count) |
| pmic | 3:e03714326b83 | 1027 | { |
| pmic | 3:e03714326b83 | 1028 | // Whether we're using I2C or SPI, read multiple bytes using the |
| pmic | 3:e03714326b83 | 1029 | // gyro-specific I2C address or SPI CS pin. |
| pmic | 3:e03714326b83 | 1030 | if (settings.device.commInterface == IMU_MODE_I2C) { |
| pmic | 3:e03714326b83 | 1031 | I2CreadBytes(_xgAddress, subAddress, dest, count); |
| pmic | 3:e03714326b83 | 1032 | } else if (settings.device.commInterface == IMU_MODE_SPI) { |
| pmic | 3:e03714326b83 | 1033 | SPIreadBytes(_xgAddress, subAddress, dest, count); |
| pmic | 3:e03714326b83 | 1034 | } |
| pmic | 3:e03714326b83 | 1035 | } |
| pmic | 3:e03714326b83 | 1036 | |
| pmic | 3:e03714326b83 | 1037 | uint8_t LSM9DS1::mReadByte(uint8_t subAddress) |
| pmic | 3:e03714326b83 | 1038 | { |
| pmic | 3:e03714326b83 | 1039 | // Whether we're using I2C or SPI, read a byte using the |
| pmic | 3:e03714326b83 | 1040 | // accelerometer-specific I2C address or SPI CS pin. |
| pmic | 3:e03714326b83 | 1041 | if (settings.device.commInterface == IMU_MODE_I2C) |
| pmic | 3:e03714326b83 | 1042 | return I2CreadByte(_mAddress, subAddress); |
| pmic | 3:e03714326b83 | 1043 | else if (settings.device.commInterface == IMU_MODE_SPI) |
| pmic | 3:e03714326b83 | 1044 | return SPIreadByte(_mAddress, subAddress); |
| pmic | 3:e03714326b83 | 1045 | } |
| pmic | 3:e03714326b83 | 1046 | |
| pmic | 3:e03714326b83 | 1047 | void LSM9DS1::mReadBytes(uint8_t subAddress, uint8_t * dest, uint8_t count) |
| pmic | 3:e03714326b83 | 1048 | { |
| pmic | 3:e03714326b83 | 1049 | // Whether we're using I2C or SPI, read multiple bytes using the |
| pmic | 3:e03714326b83 | 1050 | // accelerometer-specific I2C address or SPI CS pin. |
| pmic | 3:e03714326b83 | 1051 | if (settings.device.commInterface == IMU_MODE_I2C) |
| pmic | 3:e03714326b83 | 1052 | I2CreadBytes(_mAddress, subAddress, dest, count); |
| pmic | 3:e03714326b83 | 1053 | else if (settings.device.commInterface == IMU_MODE_SPI) |
| pmic | 3:e03714326b83 | 1054 | SPIreadBytes(_mAddress, subAddress, dest, count); |
| pmic | 3:e03714326b83 | 1055 | } |
| pmic | 3:e03714326b83 | 1056 | |
| pmic | 3:e03714326b83 | 1057 | void LSM9DS1::initSPI() |
| pmic | 3:e03714326b83 | 1058 | { |
| pmic | 3:e03714326b83 | 1059 | /* |
| pmic | 3:e03714326b83 | 1060 | pinMode(_xgAddress, OUTPUT); |
| pmic | 3:e03714326b83 | 1061 | digitalWrite(_xgAddress, HIGH); |
| pmic | 3:e03714326b83 | 1062 | pinMode(_mAddress, OUTPUT); |
| pmic | 3:e03714326b83 | 1063 | digitalWrite(_mAddress, HIGH); |
| pmic | 3:e03714326b83 | 1064 | |
| pmic | 3:e03714326b83 | 1065 | SPI.begin(); |
| pmic | 3:e03714326b83 | 1066 | // Maximum SPI frequency is 10MHz, could divide by 2 here: |
| pmic | 3:e03714326b83 | 1067 | SPI.setClockDivider(SPI_CLOCK_DIV2); |
| pmic | 3:e03714326b83 | 1068 | // Data is read and written MSb first. |
| pmic | 3:e03714326b83 | 1069 | SPI.setBitOrder(MSBFIRST); |
| pmic | 3:e03714326b83 | 1070 | // Data is captured on rising edge of clock (CPHA = 0) |
| pmic | 3:e03714326b83 | 1071 | // Base value of the clock is HIGH (CPOL = 1) |
| pmic | 3:e03714326b83 | 1072 | SPI.setDataMode(SPI_MODE0); |
| pmic | 3:e03714326b83 | 1073 | */ |
| pmic | 3:e03714326b83 | 1074 | } |
| pmic | 3:e03714326b83 | 1075 | |
| pmic | 3:e03714326b83 | 1076 | void LSM9DS1::SPIwriteByte(uint8_t csPin, uint8_t subAddress, uint8_t data) |
| pmic | 3:e03714326b83 | 1077 | { |
| pmic | 3:e03714326b83 | 1078 | /* |
| pmic | 3:e03714326b83 | 1079 | digitalWrite(csPin, LOW); // Initiate communication |
| pmic | 3:e03714326b83 | 1080 | |
| pmic | 3:e03714326b83 | 1081 | // If write, bit 0 (MSB) should be 0 |
| pmic | 3:e03714326b83 | 1082 | // If single write, bit 1 should be 0 |
| pmic | 3:e03714326b83 | 1083 | SPI.transfer(subAddress & 0x3F); // Send Address |
| pmic | 3:e03714326b83 | 1084 | SPI.transfer(data); // Send data |
| pmic | 3:e03714326b83 | 1085 | |
| pmic | 3:e03714326b83 | 1086 | digitalWrite(csPin, HIGH); // Close communication |
| pmic | 3:e03714326b83 | 1087 | */ |
| pmic | 3:e03714326b83 | 1088 | } |
| pmic | 3:e03714326b83 | 1089 | |
| pmic | 3:e03714326b83 | 1090 | uint8_t LSM9DS1::SPIreadByte(uint8_t csPin, uint8_t subAddress) |
| pmic | 3:e03714326b83 | 1091 | { |
| pmic | 3:e03714326b83 | 1092 | uint8_t temp; |
| pmic | 3:e03714326b83 | 1093 | // Use the multiple read function to read 1 byte. |
| pmic | 3:e03714326b83 | 1094 | // Value is returned to `temp`. |
| pmic | 3:e03714326b83 | 1095 | SPIreadBytes(csPin, subAddress, &temp, 1); |
| pmic | 3:e03714326b83 | 1096 | return temp; |
| pmic | 3:e03714326b83 | 1097 | } |
| pmic | 3:e03714326b83 | 1098 | |
| pmic | 3:e03714326b83 | 1099 | void LSM9DS1::SPIreadBytes(uint8_t csPin, uint8_t subAddress, |
| pmic | 3:e03714326b83 | 1100 | uint8_t * dest, uint8_t count) |
| pmic | 3:e03714326b83 | 1101 | { |
| pmic | 3:e03714326b83 | 1102 | // To indicate a read, set bit 0 (msb) of first byte to 1 |
| pmic | 3:e03714326b83 | 1103 | uint8_t rAddress = 0x80 | (subAddress & 0x3F); |
| pmic | 3:e03714326b83 | 1104 | // Mag SPI port is different. If we're reading multiple bytes, |
| pmic | 3:e03714326b83 | 1105 | // set bit 1 to 1. The remaining six bytes are the address to be read |
| pmic | 3:e03714326b83 | 1106 | if ((csPin == _mAddress) && count > 1) |
| pmic | 3:e03714326b83 | 1107 | rAddress |= 0x40; |
| pmic | 3:e03714326b83 | 1108 | |
| pmic | 3:e03714326b83 | 1109 | /* |
| pmic | 3:e03714326b83 | 1110 | digitalWrite(csPin, LOW); // Initiate communication |
| pmic | 3:e03714326b83 | 1111 | SPI.transfer(rAddress); |
| pmic | 3:e03714326b83 | 1112 | for (int i=0; i<count; i++) |
| pmic | 3:e03714326b83 | 1113 | { |
| pmic | 3:e03714326b83 | 1114 | dest[i] = SPI.transfer(0x00); // Read into destination array |
| pmic | 3:e03714326b83 | 1115 | } |
| pmic | 3:e03714326b83 | 1116 | digitalWrite(csPin, HIGH); // Close communication |
| pmic | 3:e03714326b83 | 1117 | */ |
| pmic | 3:e03714326b83 | 1118 | } |
| pmic | 3:e03714326b83 | 1119 | |
| pmic | 3:e03714326b83 | 1120 | void LSM9DS1::initI2C() |
| pmic | 3:e03714326b83 | 1121 | { |
| pmic | 3:e03714326b83 | 1122 | /* |
| pmic | 3:e03714326b83 | 1123 | Wire.begin(); // Initialize I2C library |
| pmic | 3:e03714326b83 | 1124 | */ |
| pmic | 3:e03714326b83 | 1125 | |
| pmic | 3:e03714326b83 | 1126 | //already initialized in constructor! |
| pmic | 3:e03714326b83 | 1127 | } |
| pmic | 3:e03714326b83 | 1128 | |
| pmic | 3:e03714326b83 | 1129 | // Wire.h read and write protocols |
| pmic | 3:e03714326b83 | 1130 | void LSM9DS1::I2CwriteByte(uint8_t address, uint8_t subAddress, uint8_t data) |
| pmic | 3:e03714326b83 | 1131 | { |
| pmic | 3:e03714326b83 | 1132 | /* |
| pmic | 3:e03714326b83 | 1133 | Wire.beginTransmission(address); // Initialize the Tx buffer |
| pmic | 3:e03714326b83 | 1134 | Wire.write(subAddress); // Put slave register address in Tx buffer |
| pmic | 3:e03714326b83 | 1135 | Wire.write(data); // Put data in Tx buffer |
| pmic | 3:e03714326b83 | 1136 | Wire.endTransmission(); // Send the Tx buffer |
| pmic | 3:e03714326b83 | 1137 | */ |
| pmic | 3:e03714326b83 | 1138 | char temp_data[2] = {subAddress, data}; |
| pmic | 3:e03714326b83 | 1139 | i2c.write(address, temp_data, 2); |
| pmic | 3:e03714326b83 | 1140 | } |
| pmic | 3:e03714326b83 | 1141 | |
| pmic | 3:e03714326b83 | 1142 | uint8_t LSM9DS1::I2CreadByte(uint8_t address, uint8_t subAddress) |
| pmic | 3:e03714326b83 | 1143 | { |
| pmic | 3:e03714326b83 | 1144 | /* |
| pmic | 3:e03714326b83 | 1145 | int timeout = LSM9DS1_COMMUNICATION_TIMEOUT; |
| pmic | 3:e03714326b83 | 1146 | uint8_t data; // `data` will store the register data |
| pmic | 3:e03714326b83 | 1147 | |
| pmic | 3:e03714326b83 | 1148 | Wire.beginTransmission(address); // Initialize the Tx buffer |
| pmic | 3:e03714326b83 | 1149 | Wire.write(subAddress); // Put slave register address in Tx buffer |
| pmic | 3:e03714326b83 | 1150 | Wire.endTransmission(true); // Send the Tx buffer, but send a restart to keep connection alive |
| pmic | 3:e03714326b83 | 1151 | Wire.requestFrom(address, (uint8_t) 1); // Read one byte from slave register address |
| pmic | 3:e03714326b83 | 1152 | while ((Wire.available() < 1) && (timeout-- > 0)) |
| pmic | 3:e03714326b83 | 1153 | delay(1); |
| pmic | 3:e03714326b83 | 1154 | |
| pmic | 3:e03714326b83 | 1155 | if (timeout <= 0) |
| pmic | 3:e03714326b83 | 1156 | return 255; //! Bad! 255 will be misinterpreted as a good value. |
| pmic | 3:e03714326b83 | 1157 | |
| pmic | 3:e03714326b83 | 1158 | data = Wire.read(); // Fill Rx buffer with result |
| pmic | 3:e03714326b83 | 1159 | return data; // Return data read from slave register |
| pmic | 3:e03714326b83 | 1160 | */ |
| pmic | 3:e03714326b83 | 1161 | char data; |
| pmic | 3:e03714326b83 | 1162 | char temp[1] = {subAddress}; |
| pmic | 3:e03714326b83 | 1163 | |
| pmic | 3:e03714326b83 | 1164 | i2c.write(address, temp, 1); |
| pmic | 3:e03714326b83 | 1165 | //i2c.write(address & 0xFE); |
| pmic | 3:e03714326b83 | 1166 | temp[1] = 0x00; |
| pmic | 3:e03714326b83 | 1167 | i2c.write(address, temp, 1); |
| pmic | 3:e03714326b83 | 1168 | //i2c.write( address | 0x01); |
| pmic | 3:e03714326b83 | 1169 | int a = i2c.read(address, &data, 1); |
| pmic | 3:e03714326b83 | 1170 | return data; |
| pmic | 3:e03714326b83 | 1171 | } |
| pmic | 3:e03714326b83 | 1172 | |
| pmic | 3:e03714326b83 | 1173 | uint8_t LSM9DS1::I2CreadBytes(uint8_t address, uint8_t subAddress, uint8_t * dest, uint8_t count) |
| pmic | 3:e03714326b83 | 1174 | { |
| pmic | 3:e03714326b83 | 1175 | /* |
| pmic | 3:e03714326b83 | 1176 | int timeout = LSM9DS1_COMMUNICATION_TIMEOUT; |
| pmic | 3:e03714326b83 | 1177 | Wire.beginTransmission(address); // Initialize the Tx buffer |
| pmic | 3:e03714326b83 | 1178 | // Next send the register to be read. OR with 0x80 to indicate multi-read. |
| pmic | 3:e03714326b83 | 1179 | Wire.write(subAddress | 0x80); // Put slave register address in Tx buffer |
| pmic | 3:e03714326b83 | 1180 | |
| pmic | 3:e03714326b83 | 1181 | Wire.endTransmission(true); // Send the Tx buffer, but send a restart to keep connection alive |
| pmic | 3:e03714326b83 | 1182 | uint8_t i = 0; |
| pmic | 3:e03714326b83 | 1183 | Wire.requestFrom(address, count); // Read bytes from slave register address |
| pmic | 3:e03714326b83 | 1184 | while ((Wire.available() < count) && (timeout-- > 0)) |
| pmic | 3:e03714326b83 | 1185 | delay(1); |
| pmic | 3:e03714326b83 | 1186 | if (timeout <= 0) |
| pmic | 3:e03714326b83 | 1187 | return -1; |
| pmic | 3:e03714326b83 | 1188 | |
| pmic | 3:e03714326b83 | 1189 | for (int i=0; i<count;) |
| pmic | 3:e03714326b83 | 1190 | { |
| pmic | 3:e03714326b83 | 1191 | if (Wire.available()) |
| pmic | 3:e03714326b83 | 1192 | { |
| pmic | 3:e03714326b83 | 1193 | dest[i++] = Wire.read(); |
| pmic | 3:e03714326b83 | 1194 | } |
| pmic | 3:e03714326b83 | 1195 | } |
| pmic | 3:e03714326b83 | 1196 | return count; |
| pmic | 3:e03714326b83 | 1197 | */ |
| pmic | 3:e03714326b83 | 1198 | int i; |
| pmic | 3:e03714326b83 | 1199 | char temp_dest[count]; |
| pmic | 3:e03714326b83 | 1200 | char temp[1] = {subAddress}; |
| pmic | 3:e03714326b83 | 1201 | i2c.write(address, temp, 1); |
| pmic | 3:e03714326b83 | 1202 | i2c.read(address, temp_dest, count); |
| pmic | 3:e03714326b83 | 1203 | |
| pmic | 3:e03714326b83 | 1204 | //i2c doesn't take uint8_ts, but rather chars so do this nasty af conversion |
| pmic | 3:e03714326b83 | 1205 | for (i=0; i < count; i++) { |
| pmic | 3:e03714326b83 | 1206 | dest[i] = temp_dest[i]; |
| pmic | 3:e03714326b83 | 1207 | } |
| pmic | 3:e03714326b83 | 1208 | return count; |
| pmic | 3:e03714326b83 | 1209 | } |
| pmic | 3:e03714326b83 | 1210 |