adam zhang
20160814
Fork of
LSM9DS0
by 
LDSC_Robotics_TAs
Diff: LSM9DS0.cpp
- Revision:
- 5:56ff956c499e
- Parent:
- 4:90f024c6b406
--- a/LSM9DS0.cpp Sat Jun 18 09:48:50 2016 +0000
+++ b/LSM9DS0.cpp Thu Jul 28 08:16:54 2016 +0000
@@ -45,14 +45,14 @@
{
// interfaceMode will keep track of whether we're using SPI or I2C:
interfaceMode = interface;
-
+
// xmAddress and gAddress will store the 7-bit I2C address, if using I2C.
// If we're using SPI, these variables store the chip-select pins.
gAddress = gAddr;
xmAddress = xmAddr;
}
-uint16_t LSM9DS0::begin(gyro_scale gScl, accel_scale aScl, mag_scale mScl,
+uint16_t LSM9DS0::begin(gyro_scale gScl, accel_scale aScl, mag_scale mScl,
gyro_odr gODR, accel_odr aODR, mag_odr mODR)
{
// Store the given scales in class variables. These scale variables
@@ -60,45 +60,47 @@
gScale = gScl;
aScale = aScl;
mScale = mScl;
-
+
// Once we have the scale values, we can calculate the resolution
// of each sensor. That's what these functions are for. One for each sensor
calcgRes(); // Calculate DPS / ADC tick, stored in gRes variable
calcmRes(); // Calculate Gs / ADC tick, stored in mRes variable
calcaRes(); // Calculate g / ADC tick, stored in aRes variable
-
+
// Now, initialize our hardware interface.
if (interfaceMode == I2C_MODE) // If we're using I2C
initI2C(); // Initialize I2C
else if (interfaceMode == SPI_MODE) // else, if we're using SPI
initSPI(); // Initialize SPI
-
+
// To verify communication, we can read from the WHO_AM_I register of
// each device. Store those in a variable so we can return them.
uint8_t gTest = gReadByte(WHO_AM_I_G); // Read the gyro WHO_AM_I
uint8_t xmTest = xmReadByte(WHO_AM_I_XM); // Read the accel/mag WHO_AM_I
-
+
// Gyro initialization stuff:
initGyro(); // This will "turn on" the gyro. Setting up interrupts, etc.
setGyroODR(gODR); // Set the gyro output data rate and bandwidth.
setGyroScale(gScale); // Set the gyro range
-
+
// Accelerometer initialization stuff:
initAccel(); // "Turn on" all axes of the accel. Set up interrupts, etc.
setAccelODR(aODR); // Set the accel data rate.
setAccelScale(aScale); // Set the accel range.
-
+
// Magnetometer initialization stuff:
initMag(); // "Turn on" all axes of the mag. Set up interrupts, etc.
setMagODR(mODR); // Set the magnetometer output data rate.
setMagScale(mScale); // Set the magnetometer's range.
-
+
setGyroOffset(0,0,0);
setAccelOffset(0,0,0);
setMagOffset(0,0,0);
-
+
// Once everything is initialized, return the WHO_AM_I registers we read:
return (xmTest << 8) | gTest;
+
+ init = 0;
}
void LSM9DS0::initGyro()
@@ -112,7 +114,7 @@
PD - Power down enable (0=power down mode, 1=normal or sleep mode)
Zen, Xen, Yen - Axis enable (o=disabled, 1=enabled) */
gWriteByte(CTRL_REG1_G, 0xFF); // Normal mode, enable all axes
-
+
/* CTRL_REG2_G sets up the HPF
Bits[7:0]: 0 0 HPM1 HPM0 HPCF3 HPCF2 HPCF1 HPCF0
HPM[1:0] - High pass filter mode selection
@@ -122,7 +124,7 @@
Value depends on data rate. See datasheet table 26.
*/
gWriteByte(CTRL_REG2_G, 0x09); // Normal mode, high cutoff frequency
-
+
/* CTRL_REG3_G sets up interrupt and DRDY_G pins
Bits[7:0]: I1_IINT1 I1_BOOT H_LACTIVE PP_OD I2_DRDY I2_WTM I2_ORUN I2_EMPTY
I1_INT1 - Interrupt enable on INT_G pin (0=disable, 1=enable)
@@ -134,8 +136,8 @@
I2_ORUN - FIFO overrun interrupt on DRDY_G (0=disable 1=enable)
I2_EMPTY - FIFO empty interrupt on DRDY_G (0=disable 1=enable) */
// Int1 enabled (pp, active low), data read on DRDY_G:
- gWriteByte(CTRL_REG3_G, 0x00);
-
+ gWriteByte(CTRL_REG3_G, 0x00);
+
/* CTRL_REG4_G sets the scale, update mode
Bits[7:0] - BDU BLE FS1 FS0 - ST1 ST0 SIM
BDU - Block data update (0=continuous, 1=output not updated until read
@@ -147,7 +149,7 @@
SIM - SPI serial interface mode select
0=4 wire, 1=3 wire */
gWriteByte(CTRL_REG4_G, 0x30); // Set scale to 245 dps
-
+
/* CTRL_REG5_G sets up the FIFO, HPF, and INT1
Bits[7:0] - BOOT FIFO_EN - HPen INT1_Sel1 INT1_Sel0 Out_Sel1 Out_Sel0
BOOT - Reboot memory content (0=normal, 1=reboot)
@@ -156,7 +158,7 @@
INT1_Sel[1:0] - Int 1 selection configuration
Out_Sel[1:0] - Out selection configuration */
gWriteByte(CTRL_REG5_G, 0x00);
-
+
// Temporary !!! For testing !!! Remove !!! Or make useful !!!
configGyroInt(0x2A, 0, 0, 0, 0); // Trigger interrupt when above 0 DPS...
}
@@ -172,20 +174,20 @@
HPIS1 - HPF enabled for interrupt generator 1 (0: bypassed, 1: enabled)
HPIS2 - HPF enabled for interrupt generator 2 (0: bypassed, 1 enabled) */
xmWriteByte(CTRL_REG0_XM, 0x00);
-
+
/* CTRL_REG1_XM (0x20) (Default value: 0x07)
Bits (7-0): AODR3 AODR2 AODR1 AODR0 BDU AZEN AYEN AXEN
AODR[3:0] - select the acceleration data rate:
- 0000=power down, 0001=3.125Hz, 0010=6.25Hz, 0011=12.5Hz,
+ 0000=power down, 0001=3.125Hz, 0010=6.25Hz, 0011=12.5Hz,
0100=25Hz, 0101=50Hz, 0110=100Hz, 0111=200Hz, 1000=400Hz,
1001=800Hz, 1010=1600Hz, (remaining combinations undefined).
BDU - block data update for accel AND mag
0: Continuous update
1: Output registers aren't updated until MSB and LSB have been read.
AZEN, AYEN, and AXEN - Acceleration x/y/z-axis enabled.
- 0: Axis disabled, 1: Axis enabled */
+ 0: Axis disabled, 1: Axis enabled */
xmWriteByte(CTRL_REG1_XM, 0x97); // 100Hz data rate, x/y/z all enabled
-
+
//Serial.println(xmReadByte(CTRL_REG1_XM));
/* CTRL_REG2_XM (0x21) (Default value: 0x00)
Bits (7-0): ABW1 ABW0 AFS2 AFS1 AFS0 AST1 AST0 SIM
@@ -198,16 +200,16 @@
SIM - SPI mode selection
0=4-wire, 1=3-wire */
xmWriteByte(CTRL_REG2_XM, 0xD8); // Set scale to 2g
-
+
/* CTRL_REG3_XM is used to set interrupt generators on INT1_XM
Bits (7-0): P1_BOOT P1_TAP P1_INT1 P1_INT2 P1_INTM P1_DRDYA P1_DRDYM P1_EMPTY
*/
// Accelerometer data ready on INT1_XM (0x04)
- xmWriteByte(CTRL_REG3_XM, 0x00);
+ xmWriteByte(CTRL_REG3_XM, 0x00);
}
void LSM9DS0::initMag()
-{
+{
/* CTRL_REG5_XM enables temp sensor, sets mag resolution and data rate
Bits (7-0): TEMP_EN M_RES1 M_RES0 M_ODR2 M_ODR1 M_ODR0 LIR2 LIR1
TEMP_EN - Enable temperature sensor (0=disabled, 1=enabled)
@@ -219,17 +221,17 @@
LIR1 - Latch interrupt request on INT1_SRC (cleared by readging INT1_SRC)
0=irq not latched, 1=irq latched */
xmWriteByte(CTRL_REG5_XM, 0x74); // Mag data rate - 100 Hz, disable temperature sensor
-
+
/* CTRL_REG6_XM sets the magnetometer full-scale
Bits (7-0): 0 MFS1 MFS0 0 0 0 0 0
MFS[1:0] - Magnetic full-scale selection
00:+/-2Gauss, 01:+/-4Gs, 10:+/-8Gs, 11:+/-12Gs */
xmWriteByte(CTRL_REG6_XM, 0x40); // Mag scale to +/- 2GS
-
+
/* CTRL_REG7_XM sets magnetic sensor mode, low power mode, and filters
AHPM1 AHPM0 AFDS 0 0 MLP MD1 MD0
AHPM[1:0] - HPF mode selection
- 00=normal (resets reference registers), 01=reference signal for filtering,
+ 00=normal (resets reference registers), 01=reference signal for filtering,
10=normal, 11=autoreset on interrupt event
AFDS - Filtered acceleration data selection
0=internal filter bypassed, 1=data from internal filter sent to FIFO
@@ -239,12 +241,12 @@
MD[1:0] - Magnetic sensor mode selection (default 10)
00=continuous-conversion, 01=single-conversion, 10 and 11=power-down */
xmWriteByte(CTRL_REG7_XM, 0x00); // Continuous conversion mode
-
+
/* CTRL_REG4_XM is used to set interrupt generators on INT2_XM
Bits (7-0): P2_TAP P2_INT1 P2_INT2 P2_INTM P2_DRDYA P2_DRDYM P2_Overrun P2_WTM
*/
xmWriteByte(CTRL_REG4_XM, 0x00); // Magnetometer data ready on INT2_XM (0x08)
-
+
/* INT_CTRL_REG_M to set push-pull/open drain, and active-low/high
Bits[7:0] - XMIEN YMIEN ZMIEN PP_OD IEA IEL 4D MIEN
XMIEN, YMIEN, ZMIEN - Enable interrupt recognition on axis for mag data
@@ -267,69 +269,69 @@
// remove errors due to imprecise or varying initial placement. Calibration of sensor data in this manner
// is good practice.
void LSM9DS0::calLSM9DS0(float * gbias, float * abias)
-{
- uint8_t data[6] = {0, 0, 0, 0, 0, 0};
- int16_t gyro_bias[3] = {0, 0, 0}, accel_bias[3] = {0, 0, 0};
- int samples, ii;
-
- // First get gyro bias
- uint8_t c = gReadByte(CTRL_REG5_G);
- gWriteByte(CTRL_REG5_G, c | 0x40); // Enable gyro FIFO
- wait_ms(20); // Wait for change to take effect
- gWriteByte(FIFO_CTRL_REG_G, 0x20 | 0x1F); // Enable gyro FIFO stream mode and set watermark at 32 samples
- wait_ms(1000); // delay 1000 milliseconds to collect FIFO samples
-
- samples = (gReadByte(FIFO_SRC_REG_G) & 0x1F); // Read number of stored samples
+{
+ uint8_t data[6] = {0, 0, 0, 0, 0, 0};
+ int16_t gyro_bias[3] = {0, 0, 0}, accel_bias[3] = {0, 0, 0};
+ int samples, ii;
+
+ // First get gyro bias
+ uint8_t c = gReadByte(CTRL_REG5_G);
+ gWriteByte(CTRL_REG5_G, c | 0x40); // Enable gyro FIFO
+ wait_ms(20); // Wait for change to take effect
+ gWriteByte(FIFO_CTRL_REG_G, 0x20 | 0x1F); // Enable gyro FIFO stream mode and set watermark at 32 samples
+ wait_ms(1000); // delay 1000 milliseconds to collect FIFO samples
+
+ samples = (gReadByte(FIFO_SRC_REG_G) & 0x1F); // Read number of stored samples
- for(ii = 0; ii < samples ; ii++) { // Read the gyro data stored in the FIFO
- gReadBytes(OUT_X_L_G, &data[0], 6);
- gyro_bias[0] += (((int16_t)data[1] << 8) | data[0]);
- gyro_bias[1] += (((int16_t)data[3] << 8) | data[2]);
- gyro_bias[2] += (((int16_t)data[5] << 8) | data[4]);
- }
+ for(ii = 0; ii < samples ; ii++) { // Read the gyro data stored in the FIFO
+ gReadBytes(OUT_X_L_G, &data[0], 6);
+ gyro_bias[0] += (((int16_t)data[1] << 8) | data[0]);
+ gyro_bias[1] += (((int16_t)data[3] << 8) | data[2]);
+ gyro_bias[2] += (((int16_t)data[5] << 8) | data[4]);
+ }
+
+ gyro_bias[0] /= samples; // average the data
+ gyro_bias[1] /= samples;
+ gyro_bias[2] /= samples;
+
+ gbias[0] = (float)gyro_bias[0]*gRes; // Properly scale the data to get deg/s
+ gbias[1] = (float)gyro_bias[1]*gRes;
+ gbias[2] = (float)gyro_bias[2]*gRes;
- gyro_bias[0] /= samples; // average the data
- gyro_bias[1] /= samples;
- gyro_bias[2] /= samples;
-
- gbias[0] = (float)gyro_bias[0]*gRes; // Properly scale the data to get deg/s
- gbias[1] = (float)gyro_bias[1]*gRes;
- gbias[2] = (float)gyro_bias[2]*gRes;
-
- c = gReadByte(CTRL_REG5_G);
- gWriteByte(CTRL_REG5_G, c & ~0x40); // Disable gyro FIFO
- wait_ms(20);
- gWriteByte(FIFO_CTRL_REG_G, 0x00); // Enable gyro bypass mode
-
+ c = gReadByte(CTRL_REG5_G);
+ gWriteByte(CTRL_REG5_G, c & ~0x40); // Disable gyro FIFO
+ wait_ms(20);
+ gWriteByte(FIFO_CTRL_REG_G, 0x00); // Enable gyro bypass mode
+
- // Now get the accelerometer biases
- c = xmReadByte(CTRL_REG0_XM);
- xmWriteByte(CTRL_REG0_XM, c | 0x40); // Enable accelerometer FIFO
- wait_ms(20); // Wait for change to take effect
- xmWriteByte(FIFO_CTRL_REG, 0x20 | 0x1F); // Enable accelerometer FIFO stream mode and set watermark at 32 samples
- wait_ms(1000); // delay 1000 milliseconds to collect FIFO samples
+ // Now get the accelerometer biases
+ c = xmReadByte(CTRL_REG0_XM);
+ xmWriteByte(CTRL_REG0_XM, c | 0x40); // Enable accelerometer FIFO
+ wait_ms(20); // Wait for change to take effect
+ xmWriteByte(FIFO_CTRL_REG, 0x20 | 0x1F); // Enable accelerometer FIFO stream mode and set watermark at 32 samples
+ wait_ms(1000); // delay 1000 milliseconds to collect FIFO samples
+
+ samples = (xmReadByte(FIFO_SRC_REG) & 0x1F); // Read number of stored accelerometer samples
- samples = (xmReadByte(FIFO_SRC_REG) & 0x1F); // Read number of stored accelerometer samples
-
- for(ii = 0; ii < samples ; ii++) { // Read the accelerometer data stored in the FIFO
- xmReadBytes(OUT_X_L_A, &data[0], 6);
- accel_bias[0] += (((int16_t)data[1] << 8) | data[0]);
- accel_bias[1] += (((int16_t)data[3] << 8) | data[2]);
- accel_bias[2] += (((int16_t)data[5] << 8) | data[4]) - (int16_t)(1.0f/aRes); // Assumes sensor facing up!
- }
+ for(ii = 0; ii < samples ; ii++) { // Read the accelerometer data stored in the FIFO
+ xmReadBytes(OUT_X_L_A, &data[0], 6);
+ accel_bias[0] += (((int16_t)data[1] << 8) | data[0]);
+ accel_bias[1] += (((int16_t)data[3] << 8) | data[2]);
+ accel_bias[2] += (((int16_t)data[5] << 8) | data[4]) - (int16_t)(1.0f/aRes); // Assumes sensor facing up!
+ }
- accel_bias[0] /= samples; // average the data
- accel_bias[1] /= samples;
- accel_bias[2] /= samples;
-
- abias[0] = (float)accel_bias[0]*aRes; // Properly scale data to get gs
- abias[1] = (float)accel_bias[1]*aRes;
- abias[2] = (float)accel_bias[2]*aRes;
+ accel_bias[0] /= samples; // average the data
+ accel_bias[1] /= samples;
+ accel_bias[2] /= samples;
- c = xmReadByte(CTRL_REG0_XM);
- xmWriteByte(CTRL_REG0_XM, c & ~0x40); // Disable accelerometer FIFO
- wait_ms(20);
- xmWriteByte(FIFO_CTRL_REG, 0x00); // Enable accelerometer bypass mode
+ abias[0] = (float)accel_bias[0]*aRes; // Properly scale data to get gs
+ abias[1] = (float)accel_bias[1]*aRes;
+ abias[2] = (float)accel_bias[2]*aRes;
+
+ c = xmReadByte(CTRL_REG0_XM);
+ xmWriteByte(CTRL_REG0_XM, c & ~0x40); // Disable accelerometer FIFO
+ wait_ms(20);
+ xmWriteByte(FIFO_CTRL_REG, 0x00); // Enable accelerometer bypass mode
}
//**********************
@@ -398,7 +400,7 @@
//**********************
void LSM9DS0::readAccel()
{
- uint8_t temp[6]; // We'll read six bytes from the accelerometer into temp
+ uint8_t temp[6]; // We'll read six bytes from the accelerometer into temp
xmReadBytes(OUT_X_L_A, temp, 6); // Read 6 bytes, beginning at OUT_X_L_A
ax = (temp[1] << 8) | temp[0]; // Store x-axis values into ax
ay = (temp[3] << 8) | temp[2]; // Store y-axis values into ay
@@ -459,7 +461,7 @@
//**********************
void LSM9DS0::readMag()
{
- uint8_t temp[6]; // We'll read six bytes from the mag into temp
+ uint8_t temp[6]; // We'll read six bytes from the mag into temp
xmReadBytes(OUT_X_L_M, temp, 6); // Read 6 bytes, beginning at OUT_X_L_M
mx = (temp[1] << 8) | temp[0]; // Store x-axis values into mx
my = (temp[3] << 8) | temp[2]; // Store y-axis values into my
@@ -520,7 +522,7 @@
//**********************
void LSM9DS0::readTemp()
{
- uint8_t temp[2]; // We'll read two bytes from the temperature sensor into temp
+ uint8_t temp[2]; // We'll read two bytes from the temperature sensor into temp
xmReadBytes(OUT_TEMP_L_XM, temp, 2); // Read 2 bytes, beginning at OUT_TEMP_L_M
temperature = (((int16_t) temp[1] << 12) | temp[0] << 4 ) >> 4; // Temperature is a 12-bit signed integer
}
@@ -528,7 +530,7 @@
float LSM9DS0::calcGyro(int16_t gyro)
{
// Return the gyro raw reading times our pre-calculated DPS / (ADC tick):
- return gRes * gyro;
+ return gRes * gyro;
}
float LSM9DS0::calcAccel(int16_t accel)
@@ -553,7 +555,7 @@
temp |= gScl << 4;
// And write the new register value back into CTRL_REG4_G:
gWriteByte(CTRL_REG4_G, temp);
-
+
// We've updated the sensor, but we also need to update our class variables
// First update gScale:
gScale = gScl;
@@ -571,7 +573,7 @@
temp |= aScl << 3;
// And write the new register value back into CTRL_REG2_XM:
xmWriteByte(CTRL_REG2_XM, temp);
-
+
// We've updated the sensor, but we also need to update our class variables
// First update aScale:
aScale = aScl;
@@ -589,7 +591,7 @@
temp |= mScl << 5;
// And write the new register value back into CTRL_REG6_XM:
xmWriteByte(CTRL_REG6_XM, temp);
-
+
// We've updated the sensor, but we also need to update our class variables
// First update mScale:
mScale = mScl;
@@ -662,26 +664,25 @@
// Possible gyro scales (and their register bit settings) are:
// 245 DPS (00), 500 DPS (01), 2000 DPS (10). Here's a bit of an algorithm
// to calculate DPS/(ADC tick) based on that 2-bit value:
- switch (gScale)
- {
- case G_SCALE_245DPS:
- gRes = 245.0 / 32768.0;
- break;
- case G_SCALE_500DPS:
- gRes = 500.0 / 32768.0;
- break;
- case G_SCALE_2000DPS:
- gRes = 2000.0 / 32768.0;
- break;
+ switch (gScale) {
+ case G_SCALE_245DPS:
+ gRes = 245.0 / 32768.0;
+ break;
+ case G_SCALE_500DPS:
+ gRes = 500.0 / 32768.0;
+ break;
+ case G_SCALE_2000DPS:
+ gRes = 2000.0 / 32768.0;
+ break;
}
}
void LSM9DS0::calcaRes()
{
// Possible accelerometer scales (and their register bit settings) are:
- // 2 g (000), 4g (001), 6g (010) 8g (011), 16g (100). Here's a bit of an
+ // 2 g (000), 4g (001), 6g (010) 8g (011), 16g (100). Here's a bit of an
// algorithm to calculate g/(ADC tick) based on that 3-bit value:
- aRes = aScale == A_SCALE_16G ? 16.0 / 32768.0 :
+ aRes = aScale == A_SCALE_16G ? 16.0 / 32768.0 :
(((float) aScale + 1.0f) * 2.0f) / 32768.0f;
}
@@ -690,10 +691,10 @@
// Possible magnetometer scales (and their register bit settings) are:
// 2 Gs (00), 4 Gs (01), 8 Gs (10) 12 Gs (11). Here's a bit of an algorithm
// to calculate Gs/(ADC tick) based on that 2-bit value:
- mRes = mScale == M_SCALE_2GS ? 2.0 / 32768.0 :
+ mRes = mScale == M_SCALE_2GS ? 2.0 / 32768.0 :
(float) (mScale << 2) / 32768.0f;
}
-
+
void LSM9DS0::gWriteByte(uint8_t subAddress, uint8_t data)
{
// Whether we're using I2C or SPI, write a byte using the
@@ -762,7 +763,7 @@
{
csG_ = 1;
csXM_= 1;
-
+
// Maximum SPI frequency is 10MHz:
// spi_.frequency(1000000);
spi_.format(8,0b11);
@@ -775,12 +776,12 @@
csG_ = 0;
else if(csPin == xmAddress)
csXM_= 0;
-
+
// If write, bit 0 (MSB) should be 0
// If single write, bit 1 should be 0
spi_.write(subAddress & 0x3F); // Send Address
spi_.write(data); // Send data
-
+
csG_ = 1; // Close communication
csXM_= 1;
}
@@ -788,14 +789,14 @@
uint8_t LSM9DS0::SPIreadByte(uint8_t csPin, uint8_t subAddress)
{
uint8_t temp;
- // Use the multiple read function to read 1 byte.
+ // Use the multiple read function to read 1 byte.
// Value is returned to `temp`.
SPIreadBytes(csPin, subAddress, &temp, 1);
return temp;
}
void LSM9DS0::SPIreadBytes(uint8_t csPin, uint8_t subAddress,
- uint8_t * dest, uint8_t count)
+ uint8_t * dest, uint8_t count)
{
// Initiate communication
if(csPin == gAddress)
@@ -809,8 +810,7 @@
spi_.write(0xC0 | (subAddress & 0x3F));
else
spi_.write(0x80 | (subAddress & 0x3F));
- for (int i=0; i<count; i++)
- {
+ for (int i=0; i<count; i++) {
dest[i] = spi_.write(0x00); // Read into destination array
}
csG_ = 1; // Close communication
@@ -836,11 +836,11 @@
uint8_t LSM9DS0::I2CreadByte(uint8_t address, uint8_t subAddress)
{
return 0;
-// uint8_t data; // `data` will store the register data
+// uint8_t data; // `data` will store the register data
// Wire.beginTransmission(address); // Initialize the Tx buffer
// Wire.write(subAddress); // Put slave register address in Tx buffer
// Wire.endTransmission(false); // Send the Tx buffer, but send a restart to keep connection alive
-// Wire.requestFrom(address, (uint8_t) 1); // Read one byte from slave register address
+// Wire.requestFrom(address, (uint8_t) 1); // Read one byte from slave register address
// data = Wire.read(); // Fill Rx buffer with result
// return data; // Return data read from slave register
}
@@ -853,8 +853,8 @@
// Wire.write(subAddress | 0x80); // Put slave register address in Tx buffer
// Wire.endTransmission(false); // Send the Tx buffer, but send a restart to keep connection alive
// uint8_t i = 0;
-// Wire.requestFrom(address, count); // Read bytes from slave register address
-// while (Wire.available())
+// Wire.requestFrom(address, count); // Read bytes from slave register address
+// while (Wire.available())
// {
// dest[i++] = Wire.read(); // Put read results in the Rx buffer
// }
@@ -862,19 +862,23 @@
void LSM9DS0::complementaryFilter(float * data, float dt)
{
-
- float pitchAcc, rollAcc;
-
- /* Integrate the gyro data(deg/s) over time to get angle */
- pitch += data[5] * dt; // Angle around the Z-axis
+ if(init == 0) {
+ pitch = (float)atan2f(-data[0], -data[1])*180.0f/PI;
+ init = 1;
+ } else {
+ float pitchAcc, rollAcc;
+
+ /* Integrate the gyro data(deg/s) over time to get angle */
+ pitch += data[5] * dt; // Angle around the Z-axis
// roll += data[3] * dt; // Angle around the X-axis
-
- /* Turning around the X-axis results in a vector on the Y-axis
- whereas turning around the Y-axis results in a vector on the X-axis. */
- pitchAcc = (float)atan2f(-data[0], -data[1])*180.0f/PI;
+
+ /* Turning around the X-axis results in a vector on the Y-axis
+ whereas turning around the Y-axis results in a vector on the X-axis. */
+ pitchAcc = (float)atan2f(-data[0], -data[1])*180.0f/PI;
// rollAcc = (float)atan2f(data[2], -data[1])*180.0f/PI;
-
- /* Apply Complementary Filter */
- pitch = pitch * 0.999 + pitchAcc * 0.001;
+
+ /* Apply Complementary Filter */
+ pitch = pitch * 0.9999 + pitchAcc * 0.0001;
// roll = roll * 0.999 + rollAcc * 0.001;
+ }
}
\ No newline at end of file