jim hamblen / Mbed 2 deprecated LSM9DS1_Library

LSM9DS1 IMU Library by J Mar - Fixed typo on comment line 315 *.h file causing compile errors

Dependencies:   PinDetect mbed

Dependents:   4180_final_controller Stabilize

Fork of LSM9DS1_Library by Jason Mar

LSM9DS1_Types.h@2:e8c2301f7523, 2016-02-03 (annotated)

Committer:
4180_1
Date:
Wed Feb 03 18:24:29 2016 +0000
Revision:
2:e8c2301f7523
Parent:
0:e8167f37725c 
ver 1.1

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jmar7 0:e8167f37725c 1 /******************************************************************************
jmar7 0:e8167f37725c 2 LSM9DS1_Types.h
jmar7 0:e8167f37725c 3 SFE_LSM9DS1 Library - LSM9DS1 Types and Enumerations
jmar7 0:e8167f37725c 4 Jim Lindblom @ SparkFun Electronics
jmar7 0:e8167f37725c 5 Original Creation Date: April 21, 2015
jmar7 0:e8167f37725c 6 https://github.com/sparkfun/LSM9DS1_Breakout
jmar7 0:e8167f37725c 7
jmar7 0:e8167f37725c 8 This file defines all types and enumerations used by the LSM9DS1 class.
jmar7 0:e8167f37725c 9
jmar7 0:e8167f37725c 10 Development environment specifics:
jmar7 0:e8167f37725c 11 IDE: Arduino 1.6.0
jmar7 0:e8167f37725c 12 Hardware Platform: Arduino Uno
jmar7 0:e8167f37725c 13 LSM9DS1 Breakout Version: 1.0
jmar7 0:e8167f37725c 14
jmar7 0:e8167f37725c 15 This code is beerware; if you see me (or any other SparkFun employee) at the
jmar7 0:e8167f37725c 16 local, and you've found our code helpful, please buy us a round!
jmar7 0:e8167f37725c 17
jmar7 0:e8167f37725c 18 Distributed as-is; no warranty is given.
jmar7 0:e8167f37725c 19 ******************************************************************************/
jmar7 0:e8167f37725c 20
jmar7 0:e8167f37725c 21 #ifndef __LSM9DS1_Types_H__
jmar7 0:e8167f37725c 22 #define __LSM9DS1_Types_H__
jmar7 0:e8167f37725c 23
jmar7 0:e8167f37725c 24 #include "LSM9DS1_Registers.h"
jmar7 0:e8167f37725c 25
jmar7 0:e8167f37725c 26 // The LSM9DS1 functions over both I2C or SPI. This library supports both.
jmar7 0:e8167f37725c 27 // But the interface mode used must be sent to the LSM9DS1 constructor. Use
jmar7 0:e8167f37725c 28 // one of these two as the first parameter of the constructor.
jmar7 0:e8167f37725c 29 enum interface_mode
jmar7 0:e8167f37725c 30 {
jmar7 0:e8167f37725c 31 IMU_MODE_SPI,
jmar7 0:e8167f37725c 32 IMU_MODE_I2C,
jmar7 0:e8167f37725c 33 };
jmar7 0:e8167f37725c 34
jmar7 0:e8167f37725c 35 // accel_scale defines all possible FSR's of the accelerometer:
jmar7 0:e8167f37725c 36 enum accel_scale
jmar7 0:e8167f37725c 37 {
jmar7 0:e8167f37725c 38 A_SCALE_2G, // 00: 2g
jmar7 0:e8167f37725c 39 A_SCALE_16G,// 01: 16g
jmar7 0:e8167f37725c 40 A_SCALE_4G, // 10: 4g
jmar7 0:e8167f37725c 41 A_SCALE_8G // 11: 8g
jmar7 0:e8167f37725c 42 };
jmar7 0:e8167f37725c 43
jmar7 0:e8167f37725c 44 // gyro_scale defines the possible full-scale ranges of the gyroscope:
jmar7 0:e8167f37725c 45 enum gyro_scale
jmar7 0:e8167f37725c 46 {
jmar7 0:e8167f37725c 47 G_SCALE_245DPS, // 00: 245 degrees per second
jmar7 0:e8167f37725c 48 G_SCALE_500DPS, // 01: 500 dps
jmar7 0:e8167f37725c 49 G_SCALE_2000DPS, // 11: 2000 dps
jmar7 0:e8167f37725c 50 };
jmar7 0:e8167f37725c 51
jmar7 0:e8167f37725c 52 // mag_scale defines all possible FSR's of the magnetometer:
jmar7 0:e8167f37725c 53 enum mag_scale
jmar7 0:e8167f37725c 54 {
jmar7 0:e8167f37725c 55 M_SCALE_4GS, // 00: 4Gs
jmar7 0:e8167f37725c 56 M_SCALE_8GS, // 01: 8Gs
jmar7 0:e8167f37725c 57 M_SCALE_12GS, // 10: 12Gs
jmar7 0:e8167f37725c 58 M_SCALE_16GS, // 11: 16Gs
jmar7 0:e8167f37725c 59 };
jmar7 0:e8167f37725c 60
jmar7 0:e8167f37725c 61 // gyro_odr defines all possible data rate/bandwidth combos of the gyro:
jmar7 0:e8167f37725c 62 enum gyro_odr
jmar7 0:e8167f37725c 63 {
jmar7 0:e8167f37725c 64 //! TODO
jmar7 0:e8167f37725c 65 G_ODR_PD, // Power down (0)
jmar7 0:e8167f37725c 66 G_ODR_149, // 14.9 Hz (1)
jmar7 0:e8167f37725c 67 G_ODR_595, // 59.5 Hz (2)
jmar7 0:e8167f37725c 68 G_ODR_119, // 119 Hz (3)
jmar7 0:e8167f37725c 69 G_ODR_238, // 238 Hz (4)
jmar7 0:e8167f37725c 70 G_ODR_476, // 476 Hz (5)
jmar7 0:e8167f37725c 71 G_ODR_952 // 952 Hz (6)
jmar7 0:e8167f37725c 72 };
jmar7 0:e8167f37725c 73 // accel_oder defines all possible output data rates of the accelerometer:
jmar7 0:e8167f37725c 74 enum accel_odr
jmar7 0:e8167f37725c 75 {
jmar7 0:e8167f37725c 76 XL_POWER_DOWN, // Power-down mode (0x0)
jmar7 0:e8167f37725c 77 XL_ODR_10, // 10 Hz (0x1)
jmar7 0:e8167f37725c 78 XL_ODR_50, // 50 Hz (0x02)
jmar7 0:e8167f37725c 79 XL_ODR_119, // 119 Hz (0x3)
jmar7 0:e8167f37725c 80 XL_ODR_238, // 238 Hz (0x4)
jmar7 0:e8167f37725c 81 XL_ODR_476, // 476 Hz (0x5)
jmar7 0:e8167f37725c 82 XL_ODR_952 // 952 Hz (0x6)
jmar7 0:e8167f37725c 83 };
jmar7 0:e8167f37725c 84
jmar7 0:e8167f37725c 85 // accel_abw defines all possible anti-aliasing filter rates of the accelerometer:
jmar7 0:e8167f37725c 86 enum accel_abw
jmar7 0:e8167f37725c 87 {
jmar7 0:e8167f37725c 88 A_ABW_408, // 408 Hz (0x0)
jmar7 0:e8167f37725c 89 A_ABW_211, // 211 Hz (0x1)
jmar7 0:e8167f37725c 90 A_ABW_105, // 105 Hz (0x2)
jmar7 0:e8167f37725c 91 A_ABW_50, // 50 Hz (0x3)
jmar7 0:e8167f37725c 92 };
jmar7 0:e8167f37725c 93
jmar7 0:e8167f37725c 94
jmar7 0:e8167f37725c 95 // mag_odr defines all possible output data rates of the magnetometer:
jmar7 0:e8167f37725c 96 enum mag_odr
jmar7 0:e8167f37725c 97 {
jmar7 0:e8167f37725c 98 M_ODR_0625, // 0.625 Hz (0)
jmar7 0:e8167f37725c 99 M_ODR_125, // 1.25 Hz (1)
jmar7 0:e8167f37725c 100 M_ODR_250, // 2.5 Hz (2)
jmar7 0:e8167f37725c 101 M_ODR_5, // 5 Hz (3)
jmar7 0:e8167f37725c 102 M_ODR_10, // 10 Hz (4)
jmar7 0:e8167f37725c 103 M_ODR_20, // 20 Hz (5)
jmar7 0:e8167f37725c 104 M_ODR_40, // 40 Hz (6)
jmar7 0:e8167f37725c 105 M_ODR_80 // 80 Hz (7)
jmar7 0:e8167f37725c 106 };
jmar7 0:e8167f37725c 107
jmar7 0:e8167f37725c 108 enum interrupt_select
jmar7 0:e8167f37725c 109 {
jmar7 0:e8167f37725c 110 XG_INT1 = INT1_CTRL,
jmar7 0:e8167f37725c 111 XG_INT2 = INT2_CTRL
jmar7 0:e8167f37725c 112 };
jmar7 0:e8167f37725c 113
jmar7 0:e8167f37725c 114 enum interrupt_generators
jmar7 0:e8167f37725c 115 {
jmar7 0:e8167f37725c 116 INT_DRDY_XL = (1<<0), // Accelerometer data ready (INT1 & INT2)
jmar7 0:e8167f37725c 117 INT_DRDY_G = (1<<1), // Gyroscope data ready (INT1 & INT2)
jmar7 0:e8167f37725c 118 INT1_BOOT = (1<<2), // Boot status (INT1)
jmar7 0:e8167f37725c 119 INT2_DRDY_TEMP = (1<<2),// Temp data ready (INT2)
jmar7 0:e8167f37725c 120 INT_FTH = (1<<3), // FIFO threshold interrupt (INT1 & INT2)
jmar7 0:e8167f37725c 121 INT_OVR = (1<<4), // Overrun interrupt (INT1 & INT2)
jmar7 0:e8167f37725c 122 INT_FSS5 = (1<<5), // FSS5 interrupt (INT1 & INT2)
jmar7 0:e8167f37725c 123 INT_IG_XL = (1<<6), // Accel interrupt generator (INT1)
jmar7 0:e8167f37725c 124 INT1_IG_G = (1<<7), // Gyro interrupt enable (INT1)
jmar7 0:e8167f37725c 125 INT2_INACT = (1<<7), // Inactivity interrupt output (INT2)
jmar7 0:e8167f37725c 126 };
jmar7 0:e8167f37725c 127
jmar7 0:e8167f37725c 128 enum accel_interrupt_generator
jmar7 0:e8167f37725c 129 {
jmar7 0:e8167f37725c 130 XLIE_XL = (1<<0),
jmar7 0:e8167f37725c 131 XHIE_XL = (1<<1),
jmar7 0:e8167f37725c 132 YLIE_XL = (1<<2),
jmar7 0:e8167f37725c 133 YHIE_XL = (1<<3),
jmar7 0:e8167f37725c 134 ZLIE_XL = (1<<4),
jmar7 0:e8167f37725c 135 ZHIE_XL = (1<<5),
jmar7 0:e8167f37725c 136 GEN_6D = (1<<6)
jmar7 0:e8167f37725c 137 };
jmar7 0:e8167f37725c 138
jmar7 0:e8167f37725c 139 enum gyro_interrupt_generator
jmar7 0:e8167f37725c 140 {
jmar7 0:e8167f37725c 141 XLIE_G = (1<<0),
jmar7 0:e8167f37725c 142 XHIE_G = (1<<1),
jmar7 0:e8167f37725c 143 YLIE_G = (1<<2),
jmar7 0:e8167f37725c 144 YHIE_G = (1<<3),
jmar7 0:e8167f37725c 145 ZLIE_G = (1<<4),
jmar7 0:e8167f37725c 146 ZHIE_G = (1<<5)
jmar7 0:e8167f37725c 147 };
jmar7 0:e8167f37725c 148
jmar7 0:e8167f37725c 149 enum mag_interrupt_generator
jmar7 0:e8167f37725c 150 {
jmar7 0:e8167f37725c 151 ZIEN = (1<<5),
jmar7 0:e8167f37725c 152 YIEN = (1<<6),
jmar7 0:e8167f37725c 153 XIEN = (1<<7)
jmar7 0:e8167f37725c 154 };
jmar7 0:e8167f37725c 155
jmar7 0:e8167f37725c 156 enum h_lactive
jmar7 0:e8167f37725c 157 {
jmar7 0:e8167f37725c 158 INT_ACTIVE_HIGH,
jmar7 0:e8167f37725c 159 INT_ACTIVE_LOW
jmar7 0:e8167f37725c 160 };
jmar7 0:e8167f37725c 161
jmar7 0:e8167f37725c 162 enum pp_od
jmar7 0:e8167f37725c 163 {
jmar7 0:e8167f37725c 164 INT_PUSH_PULL,
jmar7 0:e8167f37725c 165 INT_OPEN_DRAIN
jmar7 0:e8167f37725c 166 };
jmar7 0:e8167f37725c 167
jmar7 0:e8167f37725c 168 enum fifoMode_type
jmar7 0:e8167f37725c 169 {
jmar7 0:e8167f37725c 170 FIFO_OFF = 0,
jmar7 0:e8167f37725c 171 FIFO_THS = 1,
jmar7 0:e8167f37725c 172 FIFO_CONT_TRIGGER = 3,
jmar7 0:e8167f37725c 173 FIFO_OFF_TRIGGER = 4,
jmar7 0:e8167f37725c 174 FIFO_CONT = 5
jmar7 0:e8167f37725c 175 };
jmar7 0:e8167f37725c 176
jmar7 0:e8167f37725c 177 struct gyroSettings
jmar7 0:e8167f37725c 178 {
jmar7 0:e8167f37725c 179 // Gyroscope settings:
jmar7 0:e8167f37725c 180 uint8_t enabled;
jmar7 0:e8167f37725c 181 uint16_t scale; // Changed this to 16-bit
jmar7 0:e8167f37725c 182 uint8_t sampleRate;
jmar7 0:e8167f37725c 183 // New gyro stuff:
jmar7 0:e8167f37725c 184 uint8_t bandwidth;
jmar7 0:e8167f37725c 185 uint8_t lowPowerEnable;
jmar7 0:e8167f37725c 186 uint8_t HPFEnable;
jmar7 0:e8167f37725c 187 uint8_t HPFCutoff;
jmar7 0:e8167f37725c 188 uint8_t flipX;
jmar7 0:e8167f37725c 189 uint8_t flipY;
jmar7 0:e8167f37725c 190 uint8_t flipZ;
jmar7 0:e8167f37725c 191 uint8_t orientation;
jmar7 0:e8167f37725c 192 uint8_t enableX;
jmar7 0:e8167f37725c 193 uint8_t enableY;
jmar7 0:e8167f37725c 194 uint8_t enableZ;
jmar7 0:e8167f37725c 195 uint8_t latchInterrupt;
jmar7 0:e8167f37725c 196 };
jmar7 0:e8167f37725c 197
jmar7 0:e8167f37725c 198 struct deviceSettings
jmar7 0:e8167f37725c 199 {
jmar7 0:e8167f37725c 200 uint8_t commInterface; // Can be I2C, SPI 4-wire or SPI 3-wire
jmar7 0:e8167f37725c 201 uint8_t agAddress; // I2C address or SPI CS pin
jmar7 0:e8167f37725c 202 uint8_t mAddress; // I2C address or SPI CS pin
jmar7 0:e8167f37725c 203 };
jmar7 0:e8167f37725c 204
jmar7 0:e8167f37725c 205 struct accelSettings
jmar7 0:e8167f37725c 206 {
jmar7 0:e8167f37725c 207 // Accelerometer settings:
jmar7 0:e8167f37725c 208 uint8_t enabled;
jmar7 0:e8167f37725c 209 uint8_t scale;
jmar7 0:e8167f37725c 210 uint8_t sampleRate;
jmar7 0:e8167f37725c 211 // New accel stuff:
jmar7 0:e8167f37725c 212 uint8_t enableX;
jmar7 0:e8167f37725c 213 uint8_t enableY;
jmar7 0:e8167f37725c 214 uint8_t enableZ;
jmar7 0:e8167f37725c 215 int8_t bandwidth;
jmar7 0:e8167f37725c 216 uint8_t highResEnable;
jmar7 0:e8167f37725c 217 uint8_t highResBandwidth;
jmar7 0:e8167f37725c 218 };
jmar7 0:e8167f37725c 219
jmar7 0:e8167f37725c 220 struct magSettings
jmar7 0:e8167f37725c 221 {
jmar7 0:e8167f37725c 222 // Magnetometer settings:
jmar7 0:e8167f37725c 223 uint8_t enabled;
jmar7 0:e8167f37725c 224 uint8_t scale;
jmar7 0:e8167f37725c 225 uint8_t sampleRate;
jmar7 0:e8167f37725c 226 // New mag stuff:
jmar7 0:e8167f37725c 227 uint8_t tempCompensationEnable;
jmar7 0:e8167f37725c 228 uint8_t XYPerformance;
jmar7 0:e8167f37725c 229 uint8_t ZPerformance;
jmar7 0:e8167f37725c 230 uint8_t lowPowerEnable;
jmar7 0:e8167f37725c 231 uint8_t operatingMode;
jmar7 0:e8167f37725c 232 };
jmar7 0:e8167f37725c 233
jmar7 0:e8167f37725c 234 struct temperatureSettings
jmar7 0:e8167f37725c 235 {
jmar7 0:e8167f37725c 236 // Temperature settings
jmar7 0:e8167f37725c 237 uint8_t enabled;
jmar7 0:e8167f37725c 238 };
jmar7 0:e8167f37725c 239
jmar7 0:e8167f37725c 240 struct IMUSettings
jmar7 0:e8167f37725c 241 {
jmar7 0:e8167f37725c 242 deviceSettings device;
jmar7 0:e8167f37725c 243
jmar7 0:e8167f37725c 244 gyroSettings gyro;
jmar7 0:e8167f37725c 245 accelSettings accel;
jmar7 0:e8167f37725c 246 magSettings mag;
jmar7 0:e8167f37725c 247
jmar7 0:e8167f37725c 248 temperatureSettings temp;
jmar7 0:e8167f37725c 249 };
jmar7 0:e8167f37725c 250
jmar7 0:e8167f37725c 251 #endif