LSM9DS1 SPI
LSM9DS1.h
- Committer:
- 771_8bit
- Date:
- 2019-04-25
- Revision:
- 0:cc9489570dd1
File content as of revision 0:cc9489570dd1:
// Linear Acceleration: mg per LSB #define LSM9DS1_ACCEL_MG_LSB_2G (0.061F) #define LSM9DS1_ACCEL_MG_LSB_4G (0.122F) #define LSM9DS1_ACCEL_MG_LSB_8G (0.244F) #define LSM9DS1_ACCEL_MG_LSB_16G (0.732F) // Magnetic Field Strength: gauss range #define LSM9DS1_MAG_MGAUSS_4GAUSS (0.14F) #define LSM9DS1_MAG_MGAUSS_8GAUSS (0.29F) #define LSM9DS1_MAG_MGAUSS_12GAUSS (0.43F) #define LSM9DS1_MAG_MGAUSS_16GAUSS (0.58F) // Angular Rate: dps per LSB #define LSM9DS1_GYRO_DPS_DIGIT_245DPS (0.00875F) #define LSM9DS1_GYRO_DPS_DIGIT_500DPS (0.01750F) #define LSM9DS1_GYRO_DPS_DIGIT_2000DPS (0.07000F) #include "mbed.h" class LSM9DS1 { SPI spi8; DigitalOut cs_AG; DigitalOut cs_M; public: LSM9DS1(PinName _mosi, PinName _miso, PinName _sclk, PinName _cs_AG, PinName _cs_M); float gyro_x; float gyro_y; float gyro_z; float accel_x; float accel_y; float accel_z; float mag_x; float mag_y; float mag_z; typedef enum { LSM9DS1_cs_AG = 0, LSM9DS1_cs_M = 1, } lsm9ds1ChipSelect_t; typedef enum { LSM9DS1_REGISTER_WHO_AM_I_XG = 0x0F, LSM9DS1_REGISTER_CTRL_REG1_G = 0x10, LSM9DS1_REGISTER_CTRL_REG2_G = 0x11, LSM9DS1_REGISTER_CTRL_REG3_G = 0x12, LSM9DS1_REGISTER_TEMP_OUT_L = 0x15, LSM9DS1_REGISTER_TEMP_OUT_H = 0x16, LSM9DS1_REGISTER_STATUS_REG = 0x17, LSM9DS1_REGISTER_OUT_X_L_G = 0x18, LSM9DS1_REGISTER_OUT_X_H_G = 0x19, LSM9DS1_REGISTER_OUT_Y_L_G = 0x1A, LSM9DS1_REGISTER_OUT_Y_H_G = 0x1B, LSM9DS1_REGISTER_OUT_Z_L_G = 0x1C, LSM9DS1_REGISTER_OUT_Z_H_G = 0x1D, LSM9DS1_REGISTER_CTRL_REG4 = 0x1E, LSM9DS1_REGISTER_CTRL_REG5_XL = 0x1F, LSM9DS1_REGISTER_CTRL_REG6_XL = 0x20, LSM9DS1_REGISTER_CTRL_REG7_XL = 0x21, LSM9DS1_REGISTER_CTRL_REG8 = 0x22, LSM9DS1_REGISTER_CTRL_REG9 = 0x23, LSM9DS1_REGISTER_CTRL_REG10 = 0x24, LSM9DS1_REGISTER_OUT_X_L_XL = 0x28, LSM9DS1_REGISTER_OUT_X_H_XL = 0x29, LSM9DS1_REGISTER_OUT_Y_L_XL = 0x2A, LSM9DS1_REGISTER_OUT_Y_H_XL = 0x2B, LSM9DS1_REGISTER_OUT_Z_L_XL = 0x2C, LSM9DS1_REGISTER_OUT_Z_H_XL = 0x2D, } lsm9ds1AccGyroRegisters_t; typedef enum { LSM9DS1_REGISTER_WHO_AM_I_M = 0x0F, LSM9DS1_REGISTER_CTRL_REG1_M = 0x20, LSM9DS1_REGISTER_CTRL_REG2_M = 0x21, LSM9DS1_REGISTER_CTRL_REG3_M = 0x22, LSM9DS1_REGISTER_CTRL_REG4_M = 0x23, LSM9DS1_REGISTER_CTRL_REG5_M = 0x24, LSM9DS1_REGISTER_STATUS_REG_M = 0x27, LSM9DS1_REGISTER_OUT_X_L_M = 0x28, LSM9DS1_REGISTER_OUT_X_H_M = 0x29, LSM9DS1_REGISTER_OUT_Y_L_M = 0x2A, LSM9DS1_REGISTER_OUT_Y_H_M = 0x2B, LSM9DS1_REGISTER_OUT_Z_L_M = 0x2C, LSM9DS1_REGISTER_OUT_Z_H_M = 0x2D, LSM9DS1_REGISTER_CFG_M = 0x30, LSM9DS1_REGISTER_INT_SRC_M = 0x31, } lsm9ds1MagRegisters_t; typedef enum { LSM9DS1_ACCELRANGE_2G = (0b00 << 3), LSM9DS1_ACCELRANGE_16G = (0b01 << 3), LSM9DS1_ACCELRANGE_4G = (0b10 << 3), LSM9DS1_ACCELRANGE_8G = (0b11 << 3), } lsm9ds1AccelRange_t; typedef enum { LSM9DS1_ACCELDATARATE_POWERDOWN = (0b0000 << 4), LSM9DS1_ACCELDATARATE_3_125HZ = (0b0001 << 4), LSM9DS1_ACCELDATARATE_6_25HZ = (0b0010 << 4), LSM9DS1_ACCELDATARATE_12_5HZ = (0b0011 << 4), LSM9DS1_ACCELDATARATE_25HZ = (0b0100 << 4), LSM9DS1_ACCELDATARATE_50HZ = (0b0101 << 4), LSM9DS1_ACCELDATARATE_100HZ = (0b0110 << 4), LSM9DS1_ACCELDATARATE_200HZ = (0b0111 << 4), LSM9DS1_ACCELDATARATE_400HZ = (0b1000 << 4), LSM9DS1_ACCELDATARATE_800HZ = (0b1001 << 4), LSM9DS1_ACCELDATARATE_1600HZ = (0b1010 << 4) } lm9ds1AccelDataRate_t; typedef enum { LSM9DS1_MAGGAIN_4GAUSS = (0b00 << 5), // +/- 4 gauss LSM9DS1_MAGGAIN_8GAUSS = (0b01 << 5), // +/- 8 gauss LSM9DS1_MAGGAIN_12GAUSS = (0b10 << 5), // +/- 12 gauss LSM9DS1_MAGGAIN_16GAUSS = (0b11 << 5) // +/- 16 gauss } lsm9ds1MagGain_t; typedef enum { LSM9DS1_MAGDATARATE_3_125HZ = (0b000 << 2), LSM9DS1_MAGDATARATE_6_25HZ = (0b001 << 2), LSM9DS1_MAGDATARATE_12_5HZ = (0b010 << 2), LSM9DS1_MAGDATARATE_25HZ = (0b011 << 2), LSM9DS1_MAGDATARATE_50HZ = (0b100 << 2), LSM9DS1_MAGDATARATE_100HZ = (0b101 << 2) } lsm9ds1MagDataRate_t; typedef enum { LSM9DS1_GYROSCALE_245DPS = (0b00 << 3), // +/- 245 degrees per second rotation LSM9DS1_GYROSCALE_500DPS = (0b01 << 3), // +/- 500 degrees per second rotation LSM9DS1_GYROSCALE_2000DPS = (0b11 << 3) // +/- 2000 degrees per second rotation } lsm9ds1GyroScale_t; typedef struct vector_s { float x; float y; float z; } lsm9ds1Vector_t; void initSPI(void); void initAccel(lsm9ds1AccelRange_t scale); void initGyro(lsm9ds1GyroScale_t scale); void initMag(lsm9ds1MagGain_t scale); void readAccel(); void readGyro(); void readMag(); uint8_t whoami(); uint8_t read8(lsm9ds1ChipSelect_t cs,uint8_t address); void write8(lsm9ds1ChipSelect_t cs,uint8_t address,uint8_t data); private: float _accel_mg_lsb; float _mag_mgauss_lsb; float _gyro_dps_digit; };