Kazuki Fujita
LSM9DS1 SPI
Diff: LSM9DS1.cpp
- Revision:
- 0:cc9489570dd1
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/LSM9DS1.cpp Thu Apr 25 04:04:04 2019 +0000
@@ -0,0 +1,158 @@
+#include "mbed.h"
+#include "LSM9DS1.h"
+
+//spi8,はmbedのSPIクラスのインスタンス
+LSM9DS1::LSM9DS1(PinName _mosi, PinName _miso, PinName _sclk, PinName _cs_AG, PinName _cs_M) : spi8(_mosi, _miso, _sclk),cs_AG(_cs_AG),cs_M(_cs_M) {
+ initSPI();
+}
+
+void LSM9DS1::initSPI(void){
+ cs_AG = 1; //deselect
+ cs_M =1;
+ spi8.format(8,3);
+ spi8.frequency(10000000);
+}
+
+void LSM9DS1::initAccel(lsm9ds1AccelRange_t range){
+ // Enable the accelerometer continous
+ write8(LSM9DS1_cs_AG, LSM9DS1_REGISTER_CTRL_REG5_XL, 0x38); // enable X Y and Z axis
+ write8(LSM9DS1_cs_AG,LSM9DS1_REGISTER_CTRL_REG6_XL,0xC0 | range); // 1 KHz out data rate, BW set by ODR, 408Hz anti-aliasing 感度設定
+
+ switch (range)
+ {
+ case LSM9DS1_ACCELRANGE_2G:
+ _accel_mg_lsb = LSM9DS1_ACCEL_MG_LSB_2G;
+ break;
+ case LSM9DS1_ACCELRANGE_4G:
+ _accel_mg_lsb = LSM9DS1_ACCEL_MG_LSB_4G;
+ break;
+ case LSM9DS1_ACCELRANGE_8G:
+ _accel_mg_lsb = LSM9DS1_ACCEL_MG_LSB_8G;
+ break;
+ case LSM9DS1_ACCELRANGE_16G:
+ _accel_mg_lsb =LSM9DS1_ACCEL_MG_LSB_16G;
+ break;
+ }
+}
+
+
+void LSM9DS1::initGyro(lsm9ds1GyroScale_t scale){
+ write8(LSM9DS1_cs_AG,LSM9DS1_REGISTER_CTRL_REG1_G,0xC0 | scale); //感度設定
+
+ switch(scale)
+ {
+ case LSM9DS1_GYROSCALE_245DPS:
+ _gyro_dps_digit = LSM9DS1_GYRO_DPS_DIGIT_245DPS;
+ break;
+ case LSM9DS1_GYROSCALE_500DPS:
+ _gyro_dps_digit = LSM9DS1_GYRO_DPS_DIGIT_500DPS;
+ break;
+ case LSM9DS1_GYROSCALE_2000DPS:
+ _gyro_dps_digit = LSM9DS1_GYRO_DPS_DIGIT_2000DPS;
+ break;
+ }
+}
+
+void LSM9DS1::initMag(lsm9ds1MagGain_t gain){
+ write8(LSM9DS1_cs_M,LSM9DS1_REGISTER_CTRL_REG1_M,0xFC);
+ write8(LSM9DS1_cs_M, LSM9DS1_REGISTER_CTRL_REG2_M, gain ); //感度設定
+ write8(LSM9DS1_cs_M,LSM9DS1_REGISTER_CTRL_REG3_M,0x00);
+ write8(LSM9DS1_cs_M,LSM9DS1_REGISTER_CTRL_REG4_M,0x0C);
+
+ switch(gain)
+ {
+ case LSM9DS1_MAGGAIN_4GAUSS:
+ _mag_mgauss_lsb = LSM9DS1_MAG_MGAUSS_4GAUSS;
+ break;
+ case LSM9DS1_MAGGAIN_8GAUSS:
+ _mag_mgauss_lsb = LSM9DS1_MAG_MGAUSS_8GAUSS;
+ break;
+ case LSM9DS1_MAGGAIN_12GAUSS:
+ _mag_mgauss_lsb = LSM9DS1_MAG_MGAUSS_12GAUSS;
+ break;
+ case LSM9DS1_MAGGAIN_16GAUSS:
+ _mag_mgauss_lsb = LSM9DS1_MAG_MGAUSS_16GAUSS;
+ break;
+ }
+}
+
+void LSM9DS1::readAccel() {
+ // Read the accelerometer
+
+ uint8_t xlo = read8(LSM9DS1_cs_AG,LSM9DS1_REGISTER_OUT_X_L_XL);
+ int16_t xhi = read8(LSM9DS1_cs_AG,LSM9DS1_REGISTER_OUT_X_H_XL);
+ uint8_t ylo = read8(LSM9DS1_cs_AG,LSM9DS1_REGISTER_OUT_Y_L_XL);
+ int16_t yhi = read8(LSM9DS1_cs_AG,LSM9DS1_REGISTER_OUT_Y_H_XL);
+ uint8_t zlo = read8(LSM9DS1_cs_AG,LSM9DS1_REGISTER_OUT_Z_L_XL);
+ int16_t zhi = read8(LSM9DS1_cs_AG,LSM9DS1_REGISTER_OUT_Z_H_XL);
+
+ // Shift values to create properly formed integer (low byte first)
+ xhi <<= 8; xhi |= xlo;
+ yhi <<= 8; yhi |= ylo;
+ zhi <<= 8; zhi |= zlo;
+ accel_x = (xhi * _accel_mg_lsb)/100;
+ accel_y = (yhi * _accel_mg_lsb)/100;
+ accel_z = (zhi * _accel_mg_lsb)/100;
+}
+
+void LSM9DS1::readGyro(){
+
+ uint8_t xlo = read8(LSM9DS1_cs_AG,LSM9DS1_REGISTER_OUT_X_L_G);
+ int16_t xhi = read8(LSM9DS1_cs_AG,LSM9DS1_REGISTER_OUT_X_H_G);
+ uint8_t ylo = read8(LSM9DS1_cs_AG,LSM9DS1_REGISTER_OUT_Y_L_G);
+ int16_t yhi = read8(LSM9DS1_cs_AG,LSM9DS1_REGISTER_OUT_Y_H_G);
+ uint8_t zlo = read8(LSM9DS1_cs_AG,LSM9DS1_REGISTER_OUT_Z_L_G);
+ int16_t zhi = read8(LSM9DS1_cs_AG,LSM9DS1_REGISTER_OUT_Z_H_G);
+
+ // Shift values to create properly formed integer (low byte first)
+ xhi <<= 8; xhi |= xlo;
+ yhi <<= 8; yhi |= ylo;
+ zhi <<= 8; zhi |= zlo;
+
+ gyro_x = xhi * _gyro_dps_digit;
+ gyro_y = yhi * _gyro_dps_digit;
+ gyro_z = zhi * _gyro_dps_digit;
+}
+
+void LSM9DS1::readMag(){
+
+
+ uint8_t xlo = read8(LSM9DS1_cs_M,LSM9DS1_REGISTER_OUT_X_L_M);
+ int16_t xhi = read8(LSM9DS1_cs_M,LSM9DS1_REGISTER_OUT_X_H_M);
+ uint8_t ylo = read8(LSM9DS1_cs_M,LSM9DS1_REGISTER_OUT_Y_L_M);
+ int16_t yhi = read8(LSM9DS1_cs_M,LSM9DS1_REGISTER_OUT_Y_H_M);
+ uint8_t zlo = read8(LSM9DS1_cs_M,LSM9DS1_REGISTER_OUT_Z_L_M);
+ int16_t zhi = read8(LSM9DS1_cs_M,LSM9DS1_REGISTER_OUT_Z_H_M);
+
+ // Shift values to create properly formed integer (low byte first)
+ xhi <<= 8; xhi |= xlo;
+ yhi <<= 8; yhi |= ylo;
+ zhi <<= 8; zhi |= zlo;
+
+ mag_x = xhi * _mag_mgauss_lsb;
+ mag_y = yhi * _mag_mgauss_lsb;
+ mag_z = zhi * _mag_mgauss_lsb;
+}
+
+uint8_t LSM9DS1::whoami(void){
+ return read8(LSM9DS1_cs_AG,0x0F);
+}
+
+uint8_t LSM9DS1::read8(lsm9ds1ChipSelect_t cs,uint8_t address){
+ if(cs == LSM9DS1_cs_AG) cs_AG = 0;
+ else if(cs == LSM9DS1_cs_M) cs_M = 0;
+ spi8.write(address | 0x80); //先頭ビットを1にするとreadモードになる
+ uint8_t x = spi8.write(0x00); //ダミーリードして読み込み
+ if(cs == LSM9DS1_cs_AG) cs_AG = 1;
+ else if(cs == LSM9DS1_cs_M) cs_M = 1;
+ return x;
+}
+
+void LSM9DS1::write8(lsm9ds1ChipSelect_t cs,uint8_t address,uint8_t data){
+ if(cs == LSM9DS1_cs_AG) cs_AG = 0;
+ else if(cs == LSM9DS1_cs_M) cs_M = 0;
+ spi8.write(address);
+ spi8.write(data);
+ if(cs == LSM9DS1_cs_AG) cs_AG = 1;
+ else if(cs == LSM9DS1_cs_M) cs_M = 1;
+}
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