Erik van de Coevering
A library to interface with the LSM9DS1 IMU using SPI
Revision 0:dc98084cf6be, committed 2017-10-18
- Comitter:
- Anaesthetix
- Date:
- Wed Oct 18 09:22:00 2017 +0000
- Commit message:
- LSM9DS1 spi library
Changed in this revision
diff -r 000000000000 -r dc98084cf6be LSM9DS1_SPI.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/LSM9DS1_SPI.cpp Wed Oct 18 09:22:00 2017 +0000
@@ -0,0 +1,249 @@
+// Written by: Erik van de Coevering
+
+#include "mbed.h"
+#include "LSM9DS1_SPI.h"
+#include "LSM9DS1_SPI_Registers.h"
+
+lsm9ds1_spi::lsm9ds1_spi(SPI& _spi, PinName _csAG, PinName _csM) : spi(_spi), csAG(_csAG), csM(_csM) {}
+
+unsigned int lsm9ds1_spi::WriteRegAG( uint8_t WriteAddr, uint8_t WriteData)
+{
+ unsigned int temp_val;
+ selectAG();
+ spi.write(WriteAddr);
+ temp_val=spi.write(WriteData);
+ deselectAG();
+ wait_us(5);
+ return temp_val;
+}
+
+unsigned int lsm9ds1_spi::WriteRegM( uint8_t WriteAddr, uint8_t WriteData)
+{
+ unsigned int temp_val;
+ selectM();
+ spi.write(WriteAddr);
+ temp_val=spi.write(WriteData);
+ deselectM();
+ wait_us(5);
+ return temp_val;
+}
+
+unsigned int lsm9ds1_spi::ReadRegAG( uint8_t WriteAddr, uint8_t WriteData)
+{
+ return WriteRegAG(WriteAddr | READ_FLAG, WriteData);
+}
+
+unsigned int lsm9ds1_spi::ReadRegM( uint8_t WriteAddr, uint8_t WriteData)
+{
+ return WriteRegM(WriteAddr | READ_FLAG, WriteData);
+}
+
+void lsm9ds1_spi::ReadRegsAG( uint8_t ReadAddr, uint8_t *ReadBuf, unsigned int Bytes )
+{
+ unsigned int i = 0;
+
+ selectAG();
+ spi.write(ReadAddr | READ_FLAG);
+ for(i=0; i<Bytes; i++)
+ ReadBuf[i] = spi.write(0x00);
+ deselectAG();
+ //wait_us(50);
+}
+
+void lsm9ds1_spi::ReadRegsM( uint8_t ReadAddr, uint8_t *ReadBuf, unsigned int Bytes )
+{
+ unsigned int i = 0;
+
+ selectM();
+ spi.write(ReadAddr | READ_FLAG);
+ for(i=0; i<Bytes; i++)
+ ReadBuf[i] = spi.write(0x00);
+ deselectM();
+}
+
+#define LSM_InitRegNumAG 10
+#define LSM_InitRegNumM 6
+
+/*--------------------------------------INIT-----------------------------------------------
+Possible values for BW / FS / ODR:
+
+Gyroscope full-scale setting:
+FS_G_245DPS
+FS_G_500DPS
+FS_G_2000DPS
+
+Gyroscope output data rate setting:
+ODR_G_15HZ
+ODR_G_60HZ
+ODR_G_119HZ
+ODR_G_238HZ
+ODR_G_476HZ
+ODR_G_952HZ
+
+Gyro bandwidth dependant on ODR, these freq's are correct for ODR=476Hz or 952Hz. Check datasheet for other ODR's
+BW_G_33HZ
+BW_G_40HZ
+BW_G_58HZ
+BW_G_100HZ
+
+Accelerometer full-scale setting:
+FS_A_2G
+FS_A_4G
+FS_A_8G
+FS_A_16G
+
+Magnetometer full-scale setting:
+FS_M_4GAUSS
+FS_M_8GAUSS
+FS_M_12GAUSS
+FS_M_16GAUSS
+
+
+Set sensitivity according to full-scale settings. Possible values are:
+ACC_SENS_2G
+ACC_SENS_4G
+ACC_SENS_8G
+ACC_SENS_16G
+GYR_SENS_245DPS
+GYR_SENS_500DPS
+GYR_SENS_2000DPS
+MAG_SENS_4GAUSS
+MAG_SENS_8GAUSS
+MAG_SENS_12GAUSS
+MAG_SENS_16GAUSS
+*/
+
+
+void lsm9ds1_spi::init() {
+
+ deselectAG();
+ deselectM();
+
+ uint8_t LSM_Init_Data[LSM_InitRegNumAG][2] = {
+ {ODR_G_952HZ | FS_G_500DPS | BW_G_100HZ, CTRL_REG1_G},
+ {0x00, CTRL_REG2_G}, // enable FIFO, disable HPF/LPF2 <-- something seems to be wrong with the filters, check datasheet if you want to use them
+ {0x09, CTRL_REG3_G}, // Disable HPF
+ {0x00, ORIENT_CFG_G},
+ {0x38, CTRL_REG4}, //Enable gyro outputs, no latched interrupt
+ {0x38, CTRL_REG5_XL}, //No decimation of accel data, Enable accelerometer outputs
+ {0xC0 | FS_A_2G, CTRL_REG6_XL}, // Accel ODR 952Hz, BW 408 Hz, +-2g
+ {0xC0, CTRL_REG7_XL}, //LP cutoff ODR/9, LPF enabled, HPF bypassed, bypass LPF = 0xC0
+ {0x16, CTRL_REG9}, //Temperature FIFO enabled, I2C disabled, FIFO enabled
+ {0xC0, FIFO_CTRL}, //Continuous mode, overwrite if FIFO is full
+ };
+
+ uint8_t LSM_Init_DataM[LSM_InitRegNumM][2] = {
+ {0x7C, CTRL_REG1_M}, // Ultra-high performance mode (x & y axis), ODR 80Hz, no temp comp
+ {FS_M_4GAUSS, CTRL_REG2_M}, // FS +- 4 gauss
+ {0x84, CTRL_REG3_M}, // Disable I2C, enable SPI read/write, continuous-conversion mode
+ {0x0C, CTRL_REG4_M}, // Ultra-high performance mode (z-axis)
+ {0x00, CTRL_REG5_M}, // Fast read disabled, continuous update
+ {0x02, INT_CFG_M},
+ };
+ spi.format(8,3);
+ spi.frequency(10000000);
+
+ for(int i=0; i<LSM_InitRegNumAG; i++) {
+ WriteRegAG(LSM_Init_Data[i][1], LSM_Init_Data[i][0]);
+ }
+
+ for(int i=0; i<LSM_InitRegNumM; i++) {
+ WriteRegM(LSM_Init_DataM[i][1], LSM_Init_DataM[i][0]);
+ }
+
+ // Sensitivity settings
+ acc_multiplier = ACC_SENS_2G;
+ gyro_multiplier = GYR_SENS_500DPS;
+ mag_multiplier = MAG_SENS_4GAUSS;
+}
+
+void lsm9ds1_spi::read_acc()
+{
+ uint8_t response[6];
+ int16_t bit_data;
+ float data;
+ int i;
+ ReadRegsAG(OUT_X_L_XL,response,6);
+ for(i=0; i<3; i++) {
+ bit_data=((int16_t)response[i*2+1]<<8)|response[i*2];
+ data=(float)bit_data;
+ accelerometer_data[i]=data*acc_multiplier;
+ }
+
+}
+
+void lsm9ds1_spi::read_gyr()
+{
+ uint8_t response[6];
+ int16_t bit_data;
+ float data;
+ int i;
+ ReadRegsAG(OUT_X_L_G,response,6);
+ for(i=0; i<3; i++) {
+ bit_data=((int16_t)response[i*2+1]<<8)|response[i*2];
+ data=(float)bit_data;
+ gyroscope_data[i]=data*gyro_multiplier;
+ }
+
+}
+
+float lsm9ds1_spi::read_temp(){
+ uint8_t response[2];
+ int16_t bit_data;
+ float data;
+ ReadRegsAG(OUT_TEMP_L,response,2);
+
+ bit_data=((int16_t)response[1]<<8)|response[0];
+ data=(float)bit_data;
+ data = data/16;
+ return (data+25);
+}
+
+void lsm9ds1_spi::read_mag()
+{
+ uint8_t response[6];
+ int16_t bit_data;
+ float data;
+ int i;
+ ReadRegsM(OUT_X_L_M,response,6);
+ for(i=0; i<3; i++) {
+ bit_data=((int16_t)response[i*2+1]<<8)|response[i*2];
+ data=(float)bit_data;
+ magnetometer_data[i]=data*mag_multiplier;
+ }
+
+}
+
+void lsm9ds1_spi::read_all()
+{
+ read_acc();
+ read_gyr();
+ read_mag();
+}
+
+unsigned int lsm9ds1_spi::whoami()
+{
+ return ReadRegAG(WHO_AM_I_XG, 0x00);
+}
+
+unsigned int lsm9ds1_spi::whoamiM()
+{
+ return ReadRegM(WHO_AM_I_M, 0x00);
+}
+
+void lsm9ds1_spi::selectAG() {
+ csAG = 0;
+}
+
+void lsm9ds1_spi::selectM() {
+ csM = 0;
+}
+
+void lsm9ds1_spi::deselectAG() {
+ csAG = 1;
+}
+
+void lsm9ds1_spi::deselectM() {
+ csM = 1;
+}
+
diff -r 000000000000 -r dc98084cf6be LSM9DS1_SPI.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/LSM9DS1_SPI.h Wed Oct 18 09:22:00 2017 +0000
@@ -0,0 +1,84 @@
+// Written by: Erik van de Coevering
+
+#ifndef __LSM9DS1_SPI_H__
+#define __LSM9DS1_SPI_H__
+
+#include "mbed.h"
+
+class lsm9ds1_spi
+{
+ SPI& spi;
+ DigitalOut csAG;
+ DigitalOut csM;
+
+ public:
+ lsm9ds1_spi(SPI& _spi, PinName _csAG, PinName _csM);
+ unsigned int WriteRegAG(uint8_t WriteAddr, uint8_t WriteData);
+ unsigned int WriteRegM(uint8_t WriteAddr, uint8_t WriteData);
+ unsigned int ReadRegAG(uint8_t WriteAddr, uint8_t WriteData);
+ unsigned int ReadRegM(uint8_t WriteAddr, uint8_t WriteData);
+ void ReadRegsAG(uint8_t ReadAddr, uint8_t *ReadBuf, unsigned int Bytes );
+ void ReadRegsM(uint8_t ReadAddr, uint8_t *ReadBuf, unsigned int Bytes );
+
+ void selectAG();
+ void selectM();
+ void deselectAG();
+ void deselectM();
+
+ void init();
+ unsigned int whoami();
+ unsigned int whoamiM();
+ float read_temp(); // reads temperature in degrees C
+ void read_acc(); // reads accelerometer in G
+ void read_gyr(); // reads gyroscope in DPS
+ void read_mag(); // reads magnetometer in gauss
+ void read_all(); // reads acc / gyro / magneto
+
+ float acc_multiplier;
+ float gyro_multiplier;
+ float mag_multiplier;
+ float accelerometer_data[3];
+ float gyroscope_data[3];
+ float magnetometer_data[3];
+
+};
+
+#define FS_G_245DPS 0x00
+#define FS_G_500DPS 0x08
+#define FS_G_2000DPS 0x18
+#define ODR_G_15HZ 0x20
+#define ODR_G_60HZ 0x40
+#define ODR_G_119HZ 0x60
+#define ODR_G_238HZ 0x80
+#define ODR_G_476HZ 0xA0
+#define ODR_G_952HZ 0xC0
+#define BW_G_33HZ 0x00 // Bandwidth dependant on ODR, these freq's are correct for ODR=476Hz or 952Hz. Check datasheet for other ODR's
+#define BW_G_40HZ 0x01
+#define BW_G_58HZ 0x02
+#define BW_G_100HZ 0x03
+#define FS_A_2G 0x00
+#define FS_A_4G 0x10
+#define FS_A_8G 0x18
+#define FS_A_16G 0x08
+#define FS_M_4GAUSS 0x00
+#define FS_M_8GAUSS 0x20
+#define FS_M_12GAUSS 0x40
+#define FS_M_16GAUSS 0x60
+
+#define ACC_SENS_2G 0.000061f
+#define ACC_SENS_4G 0.000122f
+#define ACC_SENS_8G 0.000244f
+#define ACC_SENS_16G 0.000732f
+#define GYR_SENS_245DPS 0.00875f
+#define GYR_SENS_500DPS 0.0175f
+#define GYR_SENS_2000DPS 0.07f
+#define MAG_SENS_4GAUSS 0.00014f
+#define MAG_SENS_8GAUSS 0.00029f
+#define MAG_SENS_12GAUSS 0.00043f
+#define MAG_SENS_16GAUSS 0.000732f
+
+#define READ_FLAG 0x80
+
+#endif
+
+
diff -r 000000000000 -r dc98084cf6be LSM9DS1_SPI_Registers.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/LSM9DS1_SPI_Registers.h Wed Oct 18 09:22:00 2017 +0000 @@ -0,0 +1,113 @@ +/****************************************************************************** +LSM9DS1_Registers.h +SFE_LSM9DS1 Library - LSM9DS1 Register Map +Jim Lindblom @ SparkFun Electronics +Original Creation Date: April 21, 2015 +https://github.com/sparkfun/LSM9DS1_Breakout + +This file defines all registers internal to the gyro/accel and magnetometer +devices in the LSM9DS1. + +Development environment specifics: + IDE: Arduino 1.6.0 + Hardware Platform: Arduino Uno + LSM9DS1 Breakout Version: 1.0 + +This code is beerware; if you see me (or any other SparkFun employee) at the +local, and you've found our code helpful, please buy us a round! + +Distributed as-is; no warranty is given. +******************************************************************************/ + +#ifndef __LSM9DS1_Registers_H__ +#define __LSM9DS1_Registers_H__ + +///////////////////////////////////////// +// LSM9DS1 Accel/Gyro (XL/G) Registers // +///////////////////////////////////////// +#define ACT_THS 0x04 +#define ACT_DUR 0x05 +#define INT_GEN_CFG_XL 0x06 +#define INT_GEN_THS_X_XL 0x07 +#define INT_GEN_THS_Y_XL 0x08 +#define INT_GEN_THS_Z_XL 0x09 +#define INT_GEN_DUR_XL 0x0A +#define REFERENCE_G 0x0B +#define INT1_CTRL 0x0C +#define INT2_CTRL 0x0D +#define WHO_AM_I_XG 0x0F +#define CTRL_REG1_G 0x10 +#define CTRL_REG2_G 0x11 +#define CTRL_REG3_G 0x12 +#define ORIENT_CFG_G 0x13 +#define INT_GEN_SRC_G 0x14 +#define OUT_TEMP_L 0x15 +#define OUT_TEMP_H 0x16 +#define STATUS_REG_0 0x17 +#define OUT_X_L_G 0x18 +#define OUT_X_H_G 0x19 +#define OUT_Y_L_G 0x1A +#define OUT_Y_H_G 0x1B +#define OUT_Z_L_G 0x1C +#define OUT_Z_H_G 0x1D +#define CTRL_REG4 0x1E +#define CTRL_REG5_XL 0x1F +#define CTRL_REG6_XL 0x20 +#define CTRL_REG7_XL 0x21 +#define CTRL_REG8 0x22 +#define CTRL_REG9 0x23 +#define CTRL_REG10 0x24 +#define INT_GEN_SRC_XL 0x26 +#define STATUS_REG_1 0x27 +#define OUT_X_L_XL 0x28 +#define OUT_X_H_XL 0x29 +#define OUT_Y_L_XL 0x2A +#define OUT_Y_H_XL 0x2B +#define OUT_Z_L_XL 0x2C +#define OUT_Z_H_XL 0x2D +#define FIFO_CTRL 0x2E +#define FIFO_SRC 0x2F +#define INT_GEN_CFG_G 0x30 +#define INT_GEN_THS_XH_G 0x31 +#define INT_GEN_THS_XL_G 0x32 +#define INT_GEN_THS_YH_G 0x33 +#define INT_GEN_THS_YL_G 0x34 +#define INT_GEN_THS_ZH_G 0x35 +#define INT_GEN_THS_ZL_G 0x36 +#define INT_GEN_DUR_G 0x37 + +/////////////////////////////// +// LSM9DS1 Magneto Registers // +/////////////////////////////// +#define OFFSET_X_REG_L_M 0x05 +#define OFFSET_X_REG_H_M 0x06 +#define OFFSET_Y_REG_L_M 0x07 +#define OFFSET_Y_REG_H_M 0x08 +#define OFFSET_Z_REG_L_M 0x09 +#define OFFSET_Z_REG_H_M 0x0A +#define WHO_AM_I_M 0x0F +#define CTRL_REG1_M 0x20 +#define CTRL_REG2_M 0x21 +#define CTRL_REG3_M 0x22 +#define CTRL_REG4_M 0x23 +#define CTRL_REG5_M 0x24 +#define STATUS_REG_M 0x27 +#define OUT_X_L_M 0x28 +#define OUT_X_H_M 0x29 +#define OUT_Y_L_M 0x2A +#define OUT_Y_H_M 0x2B +#define OUT_Z_L_M 0x2C +#define OUT_Z_H_M 0x2D +#define INT_CFG_M 0x30 +#define INT_SRC_M 0x30 +#define INT_THS_L_M 0x32 +#define INT_THS_H_M 0x33 + +//////////////////////////////// +// LSM9DS1 WHO_AM_I Responses // +//////////////////////////////// +#define WHO_AM_I_AG_RSP 0x68 +#define WHO_AM_I_M_RSP 0x3D + +#endif +