Chen Wei Ting
zero torque and encoder
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LSM9DS1_project_5_zerotorque
by 
Chen Wei Ting
Diff: LSM9DS1.h
- Revision:
- 0:c23e915f255b
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/LSM9DS1.h Sun Aug 05 13:15:56 2018 +0000
@@ -0,0 +1,386 @@
+#ifndef _LSM9DS1_H__
+#define _LSM9DS1_H__
+
+#include "mbed.h"
+
+#define Acce_gain_z_2 -9.825751072961373f
+#define Acce_gain_y_2 -9.810204081632654f
+#define Acce_gain_x_2 -9.579654120040694
+#define Acce_gain_z -10.0512295081967213f
+#define Acce_gain_y -9.9090909090909090f
+#define Acce_gain_x -9.4236311239193f
+#define Gyro_gain_x 0.02035972509905115f
+#define Gyro_gain_y 0.01825192507334282f
+#define Gyro_gain_z 0.02154843475f
+#define Gyro_gain_x_2 -0.02035972509905115f
+#define Gyro_gain_y_2 -0.01825192507334282f
+#define Gyro_gain_z_2 -0.02154843475f
+#define pi 3.1415926f
+/////////////////////////////////////////
+// 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
+
+// Possible I2C addresses for the accel/gyro and mag
+#define LSM9DS1_AG_I2C_ADDR(sa0) ((sa0) ? 0xD6 : 0xD4)
+#define LSM9DS1_M_I2C_ADDR(sa1) ((sa1) ? 0x3C : 0x38)
+
+/**
+ * LSM9DS1 Class - driver for the 9 DoF IMU
+ */
+class LSM9DS1
+{
+public:
+
+ /// gyro_scale defines the possible full-scale ranges of the gyroscope:
+ enum gyro_scale
+ {
+ G_SCALE_245DPS = 0x0 << 3, // 00 << 3: +/- 245 degrees per second
+ G_SCALE_500DPS = 0x1 << 3, // 01 << 3: +/- 500 dps
+ G_SCALE_2000DPS = 0x3 << 3 // 11 << 3: +/- 2000 dps
+ };
+
+ /// gyro_odr defines all possible data rate/bandwidth combos of the gyro:
+ enum gyro_odr
+ { // ODR (Hz) --- Cutoff
+ G_POWER_DOWN = 0x00, // 0 0
+ G_ODR_15_BW_0 = 0x20, // 14.9 0
+ G_ODR_60_BW_16 = 0x40, // 59.5 16
+ G_ODR_119_BW_14 = 0x60, // 119 14
+ G_ODR_119_BW_31 = 0x61, // 119 31
+ G_ODR_238_BW_14 = 0x80, // 238 14
+ G_ODR_238_BW_29 = 0x81, // 238 29
+ G_ODR_238_BW_63 = 0x82, // 238 63
+ G_ODR_238_BW_78 = 0x83, // 238 78
+ G_ODR_476_BW_21 = 0xA0, // 476 21
+ G_ODR_476_BW_28 = 0xA1, // 476 28
+ G_ODR_476_BW_57 = 0xA2, // 476 57
+ G_ODR_476_BW_100 = 0xA3, // 476 100
+ G_ODR_952_BW_33 = 0xC0, // 952 33
+ G_ODR_952_BW_40 = 0xC1, // 952 40
+ G_ODR_952_BW_58 = 0xC2, // 952 58
+ G_ODR_952_BW_100 = 0xC3 // 952 100
+ };
+
+ /// accel_scale defines all possible FSR's of the accelerometer:
+ enum accel_scale
+ {
+ A_SCALE_2G, // 00: +/- 2g
+ A_SCALE_16G,// 01: +/- 16g
+ A_SCALE_4G, // 10: +/- 4g
+ A_SCALE_8G // 11: +/- 8g
+ };
+
+ /// accel_oder defines all possible output data rates of the accelerometer:
+ enum accel_odr
+ {
+ A_POWER_DOWN, // Power-down mode (0x0)
+ A_ODR_10, // 10 Hz (0x1)
+ A_ODR_50, // 50 Hz (0x2)
+ A_ODR_119, // 119 Hz (0x3)
+ A_ODR_238, // 238 Hz (0x4)
+ A_ODR_476, // 476 Hz (0x5)
+ A_ODR_952 // 952 Hz (0x6)
+ };
+
+ // accel_bw defines all possible bandwiths for low-pass filter of the accelerometer:
+ enum accel_bw
+ {
+ A_BW_AUTO_SCALE = 0x0, // Automatic BW scaling (0x0)
+ A_BW_408 = 0x4, // 408 Hz (0x4)
+ A_BW_211 = 0x5, // 211 Hz (0x5)
+ A_BW_105 = 0x6, // 105 Hz (0x6)
+ A_BW_50 = 0x7 // 50 Hz (0x7)
+ };
+
+ /// mag_scale defines all possible FSR's of the magnetometer:
+ enum mag_scale
+ {
+ M_SCALE_4GS, // 00: +/- 4Gs
+ M_SCALE_8GS, // 01: +/- 8Gs
+ M_SCALE_12GS, // 10: +/- 12Gs
+ M_SCALE_16GS, // 11: +/- 16Gs
+ };
+
+ /// mag_odr defines all possible output data rates of the magnetometer:
+ enum mag_odr
+ {
+ M_ODR_0625, // 0.625 Hz (0x00)
+ M_ODR_125, // 1.25 Hz (0x01)
+ M_ODR_25, // 2.5 Hz (0x02)
+ M_ODR_5, // 5 Hz (0x03)
+ M_ODR_10, // 10 (0x04)
+ M_ODR_20, // 20 Hz (0x05)
+ M_ODR_40, // 40 Hz (0x06)
+ M_ODR_80 // 80 Hz (0x07)
+ };
+
+ // We'll store the gyro, accel, and magnetometer readings in a series of
+ // public class variables. Each sensor gets three variables -- one for each
+ // axis. Call readGyro(), readAccel(), and readMag() first, before using
+ // these variables!
+ // These values are the RAW signed 16-bit readings from the sensors.
+ int16_t gx_raw, gy_raw, gz_raw; // x, y, and z axis readings of the gyroscope
+ int16_t ax_raw, ay_raw, az_raw; // x, y, and z axis readings of the accelerometer
+ int16_t mx_raw, my_raw, mz_raw; // x, y, and z axis readings of the magnetometer
+ int16_t temperature_raw;
+
+ // floating-point values of scaled data in real-world units
+ float gx, gy, gz;
+ float ax, ay, az;
+ float mx, my, mz;
+ float temperature_c, temperature_f; // temperature in celcius and fahrenheit
+
+
+ /** LSM9DS1 -- LSM9DS1 class constructor
+ * The constructor will set up a handful of private variables, and set the
+ * communication mode as well.
+ * Input:
+ * - interface = Either MODE_SPI or MODE_I2C, whichever you're using
+ * to talk to the IC.
+ * - xgAddr = If MODE_I2C, this is the I2C address of the accel/gyro.
+ * If MODE_SPI, this is the chip select pin of the accel/gyro (CS_A/G)
+ * - mAddr = If MODE_I2C, this is the I2C address of the mag.
+ * If MODE_SPI, this is the cs pin of the mag (CS_M)
+ */
+ LSM9DS1(PinName sda, PinName scl, uint8_t xgAddr = LSM9DS1_AG_I2C_ADDR(1), uint8_t mAddr = LSM9DS1_M_I2C_ADDR(1));
+
+ /** begin() -- Initialize the gyro, accelerometer, and magnetometer.
+ * This will set up the scale and output rate of each sensor. It'll also
+ * "turn on" every sensor and every axis of every sensor.
+ * Input:
+ * - gScl = The scale of the gyroscope. This should be a gyro_scale value.
+ * - aScl = The scale of the accelerometer. Should be a accel_scale value.
+ * - mScl = The scale of the magnetometer. Should be a mag_scale value.
+ * - gODR = Output data rate of the gyroscope. gyro_odr value.
+ * - aODR = Output data rate of the accelerometer. accel_odr value.
+ * - mODR = Output data rate of the magnetometer. mag_odr value.
+ * Output: The function will return an unsigned 16-bit value. The most-sig
+ * bytes of the output are the WHO_AM_I reading of the accel/gyro. The
+ * least significant two bytes are the WHO_AM_I reading of the mag.
+ * All parameters have a defaulted value, so you can call just "begin()".
+ * Default values are FSR's of: +/- 245DPS, 4g, 2Gs; ODRs of 119 Hz for
+ * gyro, 119 Hz for accelerometer, 80 Hz for magnetometer.
+ * Use the return value of this function to verify communication.
+ */
+ uint16_t begin(gyro_scale gScl = G_SCALE_245DPS,
+ accel_scale aScl = A_SCALE_2G, mag_scale mScl = M_SCALE_4GS,
+ gyro_odr gODR = G_ODR_119_BW_14, accel_odr aODR = A_ODR_119,
+ mag_odr mODR = M_ODR_80);
+
+ /** readGyro() -- Read the gyroscope output registers.
+ * This function will read all six gyroscope output registers.
+ * The readings are stored in the class' gx_raw, gy_raw, and gz_raw variables. Read
+ * those _after_ calling readGyro().
+ */
+ void readGyro();
+
+ /** readAccel() -- Read the accelerometer output registers.
+ * This function will read all six accelerometer output registers.
+ * The readings are stored in the class' ax_raw, ay_raw, and az_raw variables. Read
+ * those _after_ calling readAccel().
+ */
+ void readAccel();
+
+ /** readMag() -- Read the magnetometer output registers.
+ * This function will read all six magnetometer output registers.
+ * The readings are stored in the class' mx_raw, my_raw, and mz_raw variables. Read
+ * those _after_ calling readMag().
+ */
+ void readMag();
+
+ /** readTemp() -- Read the temperature output register.
+ * This function will read two temperature output registers.
+ * The combined readings are stored in the class' temperature variables. Read
+ * those _after_ calling readTemp().
+ */
+ void readTemp();
+
+ /** setGyroScale() -- Set the full-scale range of the gyroscope.
+ * This function can be called to set the scale of the gyroscope to
+ * 245, 500, or 2000 degrees per second.
+ * Input:
+ * - gScl = The desired gyroscope scale. Must be one of three possible
+ * values from the gyro_scale enum.
+ */
+ void setGyroScale(gyro_scale gScl);
+
+ /** setAccelScale() -- Set the full-scale range of the accelerometer.
+ * This function can be called to set the scale of the accelerometer to
+ * 2, 4, 8, or 16 g's.
+ * Input:
+ * - aScl = The desired accelerometer scale. Must be one of five possible
+ * values from the accel_scale enum.
+ */
+ void setAccelScale(accel_scale aScl);
+
+ /** setMagScale() -- Set the full-scale range of the magnetometer.
+ * This function can be called to set the scale of the magnetometer to
+ * 4, 8, 12, or 16 Gs.
+ * Input:
+ * - mScl = The desired magnetometer scale. Must be one of four possible
+ * values from the mag_scale enum.
+ */
+ void setMagScale(mag_scale mScl);
+
+ /** setGyroODR() -- Set the output data rate and bandwidth of the gyroscope
+ * Input:
+ * - gRate = The desired output rate and cutoff frequency of the gyro.
+ * Must be a value from the gyro_odr enum (check above).
+ */
+ void setGyroODR(gyro_odr gRate);
+
+ /** setAccelODR() -- Set the output data rate of the accelerometer
+ * Input:
+ * - aRate = The desired output rate of the accel.
+ * Must be a value from the accel_odr enum (check above).
+ */
+ void setAccelODR(accel_odr aRate);
+
+ /** setMagODR() -- Set the output data rate of the magnetometer
+ * Input:
+ * - mRate = The desired output rate of the mag.
+ * Must be a value from the mag_odr enum (check above).
+ */
+ void setMagODR(mag_odr mRate);
+
+
+private:
+ /** xgAddress and mAddress store the I2C address
+ * for each sensor.
+ */
+ uint8_t xgAddress, mAddress;
+
+ // I2C bus
+ I2C i2c;
+
+ /** gScale, aScale, and mScale store the current scale range for each
+ * sensor. Should be updated whenever that value changes.
+ */
+ gyro_scale gScale;
+ accel_scale aScale;
+ mag_scale mScale;
+
+ /** gRes, aRes, and mRes store the current resolution for each sensor.
+ * Units of these values would be DPS (or g's or Gs's) per ADC tick.
+ * This value is calculated as (sensor scale) / (2^15).
+ */
+ float gRes, aRes, mRes;
+
+ /** initGyro() -- Sets up the gyroscope to begin reading.
+ * This function steps through all three gyroscope control registers.
+ */
+ void initGyro();
+
+ /** initAccel() -- Sets up the accelerometer to begin reading.
+ * This function steps through all accelerometer related control registers.
+ */
+ void initAccel();
+
+ /** initMag() -- Sets up the magnetometer to begin reading.
+ * This function steps through all magnetometer-related control registers.
+ */
+ void initMag();
+
+ /** calcgRes() -- Calculate the resolution of the gyroscope.
+ * This function will set the value of the gRes variable. gScale must
+ * be set prior to calling this function.
+ */
+ void calcgRes();
+
+ /** calcmRes() -- Calculate the resolution of the magnetometer.
+ * This function will set the value of the mRes variable. mScale must
+ * be set prior to calling this function.
+ */
+ void calcmRes();
+
+ /** calcaRes() -- Calculate the resolution of the accelerometer.
+ * This function will set the value of the aRes variable. aScale must
+ * be set prior to calling this function.
+ */
+ void calcaRes();
+};
+
+#endif // _LSM9DS1_H //