Kazuki Fujita
LSM9DS1 SPI
Revision 0:cc9489570dd1, committed 2019-04-25
- Comitter:
- 771_8bit
- Date:
- Thu Apr 25 04:04:04 2019 +0000
- Commit message:
- hello
Changed in this revision
| LSM9DS1.cpp | Show annotated file Show diff for this revision Revisions of this file |
| LSM9DS1.h | Show annotated file Show diff for this revision Revisions of this file |
--- /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;
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/LSM9DS1.h Thu Apr 25 04:04:04 2019 +0000
@@ -0,0 +1,167 @@
+// 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;
+};
\ No newline at end of file