Alexander Valencia / Mbed 2 deprecated Final_Project-RTO-Simulation

Simulation of flight pitch control with servo sweep.

Dependencies:   mbed Servo mbed-rtos Motor

LSM9DS1.h@5:8db82a61e052, 2018-12-13 (annotated)

Committer:
alevale32
Date:
Thu Dec 13 22:02:40 2018 +0000
Revision:
5:8db82a61e052
RTOS pitch control simulation with servo sweep

Who changed what in which revision?

UserRevisionLine numberNew contents of line
alevale32 5:8db82a61e052 1 /******************************************************************************
alevale32 5:8db82a61e052 2 SFE_LSM9DS1.h
alevale32 5:8db82a61e052 3 SFE_LSM9DS1 Library Header File
alevale32 5:8db82a61e052 4 Jim Lindblom @ SparkFun Electronics
alevale32 5:8db82a61e052 5 Original Creation Date: February 27, 2015
alevale32 5:8db82a61e052 6 https://github.com/sparkfun/LSM9DS1_Breakout
alevale32 5:8db82a61e052 7
alevale32 5:8db82a61e052 8 This file prototypes the LSM9DS1 class, implemented in SFE_LSM9DS1.cpp. In
alevale32 5:8db82a61e052 9 addition, it defines every register in the LSM9DS1 (both the Gyro and Accel/
alevale32 5:8db82a61e052 10 Magnetometer registers).
alevale32 5:8db82a61e052 11
alevale32 5:8db82a61e052 12 Development environment specifics:
alevale32 5:8db82a61e052 13 IDE: Arduino 1.6.0
alevale32 5:8db82a61e052 14 Hardware Platform: Arduino Uno
alevale32 5:8db82a61e052 15 LSM9DS1 Breakout Version: 1.0
alevale32 5:8db82a61e052 16
alevale32 5:8db82a61e052 17 This code is beerware; if you see me (or any other SparkFun employee) at the
alevale32 5:8db82a61e052 18 local, and you've found our code helpful, please buy us a round!
alevale32 5:8db82a61e052 19
alevale32 5:8db82a61e052 20 Distributed as-is; no warranty is given.
alevale32 5:8db82a61e052 21 ******************************************************************************/
alevale32 5:8db82a61e052 22 #ifndef __SparkFunLSM9DS1_H__
alevale32 5:8db82a61e052 23 #define __SparkFunLSM9DS1_H__
alevale32 5:8db82a61e052 24
alevale32 5:8db82a61e052 25 //#if defined(ARDUINO) && ARDUINO >= 100
alevale32 5:8db82a61e052 26 // #include "Arduino.h"
alevale32 5:8db82a61e052 27 //#else
alevale32 5:8db82a61e052 28 // #include "WProgram.h"
alevale32 5:8db82a61e052 29 // #include "pins_arduino.h"
alevale32 5:8db82a61e052 30 //#endif
alevale32 5:8db82a61e052 31
alevale32 5:8db82a61e052 32 #include "mbed.h"
alevale32 5:8db82a61e052 33 #include <stdint.h>
alevale32 5:8db82a61e052 34 #include "LSM9DS1_Registers.h"
alevale32 5:8db82a61e052 35 #include "LSM9DS1_Types.h"
alevale32 5:8db82a61e052 36
alevale32 5:8db82a61e052 37 #define LSM9DS1_AG_ADDR(sa0) ((sa0) == 0 ? 0x6A : 0x6B)
alevale32 5:8db82a61e052 38 #define LSM9DS1_M_ADDR(sa1) ((sa1) == 0 ? 0x1C : 0x1E)
alevale32 5:8db82a61e052 39
alevale32 5:8db82a61e052 40 enum lsm9ds1_axis {
alevale32 5:8db82a61e052 41 X_AXIS,
alevale32 5:8db82a61e052 42 Y_AXIS,
alevale32 5:8db82a61e052 43 Z_AXIS,
alevale32 5:8db82a61e052 44 ALL_AXIS
alevale32 5:8db82a61e052 45 };
alevale32 5:8db82a61e052 46
alevale32 5:8db82a61e052 47 class LSM9DS1
alevale32 5:8db82a61e052 48 {
alevale32 5:8db82a61e052 49 public:
alevale32 5:8db82a61e052 50 IMUSettings settings;
alevale32 5:8db82a61e052 51
alevale32 5:8db82a61e052 52 // We'll store the gyro, accel, and magnetometer readings in a series of
alevale32 5:8db82a61e052 53 // public class variables. Each sensor gets three variables -- one for each
alevale32 5:8db82a61e052 54 // axis. Call readGyro(), readAccel(), and readMag() first, before using
alevale32 5:8db82a61e052 55 // these variables!
alevale32 5:8db82a61e052 56 // These values are the RAW signed 16-bit readings from the sensors.
alevale32 5:8db82a61e052 57 int16_t gx, gy, gz; // x, y, and z axis readings of the gyroscope
alevale32 5:8db82a61e052 58 int16_t ax, ay, az; // x, y, and z axis readings of the accelerometer
alevale32 5:8db82a61e052 59 int16_t mx, my, mz; // x, y, and z axis readings of the magnetometer
alevale32 5:8db82a61e052 60 int16_t temperature; // Chip temperature
alevale32 5:8db82a61e052 61 float gBias[3], aBias[3], mBias[3];
alevale32 5:8db82a61e052 62 int16_t gBiasRaw[3], aBiasRaw[3], mBiasRaw[3];
alevale32 5:8db82a61e052 63
alevale32 5:8db82a61e052 64 // LSM9DS1 -- LSM9DS1 class constructor
alevale32 5:8db82a61e052 65 // The constructor will set up a handful of private variables, and set the
alevale32 5:8db82a61e052 66 // communication mode as well.
alevale32 5:8db82a61e052 67 /**Input:
alevale32 5:8db82a61e052 68 * - interface = Either IMU_MODE_SPI or IMU_MODE_I2C, whichever you're using
alevale32 5:8db82a61e052 69 * to talk to the IC.
alevale32 5:8db82a61e052 70 * - xgAddr = If IMU_MODE_I2C, this is the I2C address of the accel/gyroscope.
alevale32 5:8db82a61e052 71 * If IMU_MODE_SPI, this is the chip select pin of the gyro (CS_AG)
alevale32 5:8db82a61e052 72 * - mAddr = If IMU_MODE_I2C, this is the I2C address of the magnetometer.
alevale32 5:8db82a61e052 73 * If IMU_MODE_SPI, this is the cs pin of the magnetometer (CS_M)
alevale32 5:8db82a61e052 74
alevale32 5:8db82a61e052 75 */
alevale32 5:8db82a61e052 76 LSM9DS1(PinName sda, PinName scl, uint8_t xgAddr, uint8_t mAddr);
alevale32 5:8db82a61e052 77 //LSM9DS1(interface_mode interface, uint8_t xgAddr, uint8_t mAddr);
alevale32 5:8db82a61e052 78 //LSM9DS1();
alevale32 5:8db82a61e052 79
alevale32 5:8db82a61e052 80
alevale32 5:8db82a61e052 81 /** begin() -- Initialize the gyro, accelerometer, and magnetometer.
alevale32 5:8db82a61e052 82 *This will set up the scale and output rate of each sensor. The values set
alevale32 5:8db82a61e052 83 * in the IMUSettings struct will take effect after calling this function.
alevale32 5:8db82a61e052 84 */
alevale32 5:8db82a61e052 85 uint16_t begin();
alevale32 5:8db82a61e052 86
alevale32 5:8db82a61e052 87 void calibrate(bool autoCalc = true);
alevale32 5:8db82a61e052 88 void calibrateMag(bool loadIn = true);
alevale32 5:8db82a61e052 89 void magOffset(uint8_t axis, int16_t offset);
alevale32 5:8db82a61e052 90
alevale32 5:8db82a61e052 91 /** accelAvailable() -- Polls the accelerometer status register to check
alevale32 5:8db82a61e052 92 * if new data is available.
alevale32 5:8db82a61e052 93 * Output: 1 - New data available
alevale32 5:8db82a61e052 94 * 0 - No new data available
alevale32 5:8db82a61e052 95 */
alevale32 5:8db82a61e052 96 uint8_t accelAvailable();
alevale32 5:8db82a61e052 97
alevale32 5:8db82a61e052 98 /** gyroAvailable() -- Polls the gyroscope status register to check
alevale32 5:8db82a61e052 99 * if new data is available.
alevale32 5:8db82a61e052 100 * Output: 1 - New data available
alevale32 5:8db82a61e052 101 * 0 - No new data available
alevale32 5:8db82a61e052 102 */
alevale32 5:8db82a61e052 103 uint8_t gyroAvailable();
alevale32 5:8db82a61e052 104
alevale32 5:8db82a61e052 105 /** gyroAvailable() -- Polls the temperature status register to check
alevale32 5:8db82a61e052 106 * if new data is available.
alevale32 5:8db82a61e052 107 * Output: 1 - New data available
alevale32 5:8db82a61e052 108 * 0 - No new data available
alevale32 5:8db82a61e052 109 */
alevale32 5:8db82a61e052 110 uint8_t tempAvailable();
alevale32 5:8db82a61e052 111
alevale32 5:8db82a61e052 112 /** magAvailable() -- Polls the accelerometer status register to check
alevale32 5:8db82a61e052 113 * if new data is available.
alevale32 5:8db82a61e052 114 * Input:
alevale32 5:8db82a61e052 115 * - axis can be either X_AXIS, Y_AXIS, Z_AXIS, to check for new data
alevale32 5:8db82a61e052 116 * on one specific axis. Or ALL_AXIS (default) to check for new data
alevale32 5:8db82a61e052 117 * on all axes.
alevale32 5:8db82a61e052 118 * Output: 1 - New data available
alevale32 5:8db82a61e052 119 * 0 - No new data available
alevale32 5:8db82a61e052 120 */
alevale32 5:8db82a61e052 121 uint8_t magAvailable(lsm9ds1_axis axis = ALL_AXIS);
alevale32 5:8db82a61e052 122
alevale32 5:8db82a61e052 123 /** readGyro() -- Read the gyroscope output registers.
alevale32 5:8db82a61e052 124 * This function will read all six gyroscope output registers.
alevale32 5:8db82a61e052 125 * The readings are stored in the class' gx, gy, and gz variables. Read
alevale32 5:8db82a61e052 126 * those _after_ calling readGyro().
alevale32 5:8db82a61e052 127 */
alevale32 5:8db82a61e052 128 void readGyro();
alevale32 5:8db82a61e052 129
alevale32 5:8db82a61e052 130 /** int16_t readGyro(axis) -- Read a specific axis of the gyroscope.
alevale32 5:8db82a61e052 131 * [axis] can be any of X_AXIS, Y_AXIS, or Z_AXIS.
alevale32 5:8db82a61e052 132 * Input:
alevale32 5:8db82a61e052 133 * - axis: can be either X_AXIS, Y_AXIS, or Z_AXIS.
alevale32 5:8db82a61e052 134 * Output:
alevale32 5:8db82a61e052 135 * A 16-bit signed integer with sensor data on requested axis.
alevale32 5:8db82a61e052 136 */
alevale32 5:8db82a61e052 137 int16_t readGyro(lsm9ds1_axis axis);
alevale32 5:8db82a61e052 138
alevale32 5:8db82a61e052 139 /** readAccel() -- Read the accelerometer output registers.
alevale32 5:8db82a61e052 140 * This function will read all six accelerometer output registers.
alevale32 5:8db82a61e052 141 * The readings are stored in the class' ax, ay, and az variables. Read
alevale32 5:8db82a61e052 142 * those _after_ calling readAccel().
alevale32 5:8db82a61e052 143 */
alevale32 5:8db82a61e052 144 void readAccel();
alevale32 5:8db82a61e052 145
alevale32 5:8db82a61e052 146 /** int16_t readAccel(axis) -- Read a specific axis of the accelerometer.
alevale32 5:8db82a61e052 147 * [axis] can be any of X_AXIS, Y_AXIS, or Z_AXIS.
alevale32 5:8db82a61e052 148 * Input:
alevale32 5:8db82a61e052 149 * - axis: can be either X_AXIS, Y_AXIS, or Z_AXIS.
alevale32 5:8db82a61e052 150 * Output:
alevale32 5:8db82a61e052 151 * A 16-bit signed integer with sensor data on requested axis.
alevale32 5:8db82a61e052 152 */
alevale32 5:8db82a61e052 153 int16_t readAccel(lsm9ds1_axis axis);
alevale32 5:8db82a61e052 154
alevale32 5:8db82a61e052 155 /** readMag() -- Read the magnetometer output registers.
alevale32 5:8db82a61e052 156 * This function will read all six magnetometer output registers.
alevale32 5:8db82a61e052 157 * The readings are stored in the class' mx, my, and mz variables. Read
alevale32 5:8db82a61e052 158 * those _after_ calling readMag().
alevale32 5:8db82a61e052 159 */
alevale32 5:8db82a61e052 160 void readMag();
alevale32 5:8db82a61e052 161
alevale32 5:8db82a61e052 162 /** int16_t readMag(axis) -- Read a specific axis of the magnetometer.
alevale32 5:8db82a61e052 163 * [axis] can be any of X_AXIS, Y_AXIS, or Z_AXIS.
alevale32 5:8db82a61e052 164 * Input:
alevale32 5:8db82a61e052 165 * - axis: can be either X_AXIS, Y_AXIS, or Z_AXIS.
alevale32 5:8db82a61e052 166 * Output:
alevale32 5:8db82a61e052 167 * A 16-bit signed integer with sensor data on requested axis.
alevale32 5:8db82a61e052 168 */
alevale32 5:8db82a61e052 169 int16_t readMag(lsm9ds1_axis axis);
alevale32 5:8db82a61e052 170
alevale32 5:8db82a61e052 171 /** readTemp() -- Read the temperature output register.
alevale32 5:8db82a61e052 172 * This function will read two temperature output registers.
alevale32 5:8db82a61e052 173 * The combined readings are stored in the class' temperature variables. Read
alevale32 5:8db82a61e052 174 * those _after_ calling readTemp().
alevale32 5:8db82a61e052 175 */
alevale32 5:8db82a61e052 176 void readTemp();
alevale32 5:8db82a61e052 177
alevale32 5:8db82a61e052 178 /** calcGyro() -- Convert from RAW signed 16-bit value to degrees per second
alevale32 5:8db82a61e052 179 * This function reads in a signed 16-bit value and returns the scaled
alevale32 5:8db82a61e052 180 * DPS. This function relies on gScale and gRes being correct.
alevale32 5:8db82a61e052 181 * Input:
alevale32 5:8db82a61e052 182 * - gyro = A signed 16-bit raw reading from the gyroscope.
alevale32 5:8db82a61e052 183 */
alevale32 5:8db82a61e052 184 float calcGyro(int16_t gyro);
alevale32 5:8db82a61e052 185
alevale32 5:8db82a61e052 186 /** calcAccel() -- Convert from RAW signed 16-bit value to gravity (g's).
alevale32 5:8db82a61e052 187 * This function reads in a signed 16-bit value and returns the scaled
alevale32 5:8db82a61e052 188 * g's. This function relies on aScale and aRes being correct.
alevale32 5:8db82a61e052 189 * Input:
alevale32 5:8db82a61e052 190 * - accel = A signed 16-bit raw reading from the accelerometer.
alevale32 5:8db82a61e052 191 */
alevale32 5:8db82a61e052 192 float calcAccel(int16_t accel);
alevale32 5:8db82a61e052 193
alevale32 5:8db82a61e052 194 /** calcMag() -- Convert from RAW signed 16-bit value to Gauss (Gs)
alevale32 5:8db82a61e052 195 * This function reads in a signed 16-bit value and returns the scaled
alevale32 5:8db82a61e052 196 * Gs. This function relies on mScale and mRes being correct.
alevale32 5:8db82a61e052 197 * Input:
alevale32 5:8db82a61e052 198 * - mag = A signed 16-bit raw reading from the magnetometer.
alevale32 5:8db82a61e052 199 */
alevale32 5:8db82a61e052 200 float calcMag(int16_t mag);
alevale32 5:8db82a61e052 201
alevale32 5:8db82a61e052 202 /** setGyroScale() -- Set the full-scale range of the gyroscope.
alevale32 5:8db82a61e052 203 * This function can be called to set the scale of the gyroscope to
alevale32 5:8db82a61e052 204 * 245, 500, or 200 degrees per second.
alevale32 5:8db82a61e052 205 * Input:
alevale32 5:8db82a61e052 206 * - gScl = The desired gyroscope scale. Must be one of three possible
alevale32 5:8db82a61e052 207 * values from the gyro_scale.
alevale32 5:8db82a61e052 208 */
alevale32 5:8db82a61e052 209 void setGyroScale(uint16_t gScl);
alevale32 5:8db82a61e052 210
alevale32 5:8db82a61e052 211 /** setAccelScale() -- Set the full-scale range of the accelerometer.
alevale32 5:8db82a61e052 212 * This function can be called to set the scale of the accelerometer to
alevale32 5:8db82a61e052 213 * 2, 4, 6, 8, or 16 g's.
alevale32 5:8db82a61e052 214 * Input:
alevale32 5:8db82a61e052 215 * - aScl = The desired accelerometer scale. Must be one of five possible
alevale32 5:8db82a61e052 216 * values from the accel_scale.
alevale32 5:8db82a61e052 217 */
alevale32 5:8db82a61e052 218 void setAccelScale(uint8_t aScl);
alevale32 5:8db82a61e052 219
alevale32 5:8db82a61e052 220 /** setMagScale() -- Set the full-scale range of the magnetometer.
alevale32 5:8db82a61e052 221 * This function can be called to set the scale of the magnetometer to
alevale32 5:8db82a61e052 222 * 2, 4, 8, or 12 Gs.
alevale32 5:8db82a61e052 223 * Input:
alevale32 5:8db82a61e052 224 * - mScl = The desired magnetometer scale. Must be one of four possible
alevale32 5:8db82a61e052 225 * values from the mag_scale.
alevale32 5:8db82a61e052 226 */
alevale32 5:8db82a61e052 227 void setMagScale(uint8_t mScl);
alevale32 5:8db82a61e052 228
alevale32 5:8db82a61e052 229 /** setGyroODR() -- Set the output data rate and bandwidth of the gyroscope
alevale32 5:8db82a61e052 230 * Input:
alevale32 5:8db82a61e052 231 * - gRate = The desired output rate and cutoff frequency of the gyro.
alevale32 5:8db82a61e052 232 */
alevale32 5:8db82a61e052 233 void setGyroODR(uint8_t gRate);
alevale32 5:8db82a61e052 234
alevale32 5:8db82a61e052 235 // setAccelODR() -- Set the output data rate of the accelerometer
alevale32 5:8db82a61e052 236 // Input:
alevale32 5:8db82a61e052 237 // - aRate = The desired output rate of the accel.
alevale32 5:8db82a61e052 238 void setAccelODR(uint8_t aRate);
alevale32 5:8db82a61e052 239
alevale32 5:8db82a61e052 240 // setMagODR() -- Set the output data rate of the magnetometer
alevale32 5:8db82a61e052 241 // Input:
alevale32 5:8db82a61e052 242 // - mRate = The desired output rate of the mag.
alevale32 5:8db82a61e052 243 void setMagODR(uint8_t mRate);
alevale32 5:8db82a61e052 244
alevale32 5:8db82a61e052 245 // configInactivity() -- Configure inactivity interrupt parameters
alevale32 5:8db82a61e052 246 // Input:
alevale32 5:8db82a61e052 247 // - duration = Inactivity duration - actual value depends on gyro ODR
alevale32 5:8db82a61e052 248 // - threshold = Activity Threshold
alevale32 5:8db82a61e052 249 // - sleepOn = Gyroscope operating mode during inactivity.
alevale32 5:8db82a61e052 250 // true: gyroscope in sleep mode
alevale32 5:8db82a61e052 251 // false: gyroscope in power-down
alevale32 5:8db82a61e052 252 void configInactivity(uint8_t duration, uint8_t threshold, bool sleepOn);
alevale32 5:8db82a61e052 253
alevale32 5:8db82a61e052 254 // configAccelInt() -- Configure Accelerometer Interrupt Generator
alevale32 5:8db82a61e052 255 // Input:
alevale32 5:8db82a61e052 256 // - generator = Interrupt axis/high-low events
alevale32 5:8db82a61e052 257 // Any OR'd combination of ZHIE_XL, ZLIE_XL, YHIE_XL, YLIE_XL, XHIE_XL, XLIE_XL
alevale32 5:8db82a61e052 258 // - andInterrupts = AND/OR combination of interrupt events
alevale32 5:8db82a61e052 259 // true: AND combination
alevale32 5:8db82a61e052 260 // false: OR combination
alevale32 5:8db82a61e052 261 void configAccelInt(uint8_t generator, bool andInterrupts = false);
alevale32 5:8db82a61e052 262
alevale32 5:8db82a61e052 263 // configAccelThs() -- Configure the threshold of an accelereomter axis
alevale32 5:8db82a61e052 264 // Input:
alevale32 5:8db82a61e052 265 // - threshold = Interrupt threshold. Possible values: 0-255.
alevale32 5:8db82a61e052 266 // Multiply by 128 to get the actual raw accel value.
alevale32 5:8db82a61e052 267 // - axis = Axis to be configured. Either X_AXIS, Y_AXIS, or Z_AXIS
alevale32 5:8db82a61e052 268 // - duration = Duration value must be above or below threshold to trigger interrupt
alevale32 5:8db82a61e052 269 // - wait = Wait function on duration counter
alevale32 5:8db82a61e052 270 // true: Wait for duration samples before exiting interrupt
alevale32 5:8db82a61e052 271 // false: Wait function off
alevale32 5:8db82a61e052 272 void configAccelThs(uint8_t threshold, lsm9ds1_axis axis, uint8_t duration = 0, bool wait = 0);
alevale32 5:8db82a61e052 273
alevale32 5:8db82a61e052 274 // configGyroInt() -- Configure Gyroscope Interrupt Generator
alevale32 5:8db82a61e052 275 // Input:
alevale32 5:8db82a61e052 276 // - generator = Interrupt axis/high-low events
alevale32 5:8db82a61e052 277 // Any OR'd combination of ZHIE_G, ZLIE_G, YHIE_G, YLIE_G, XHIE_G, XLIE_G
alevale32 5:8db82a61e052 278 // - aoi = AND/OR combination of interrupt events
alevale32 5:8db82a61e052 279 // true: AND combination
alevale32 5:8db82a61e052 280 // false: OR combination
alevale32 5:8db82a61e052 281 // - latch: latch gyroscope interrupt request.
alevale32 5:8db82a61e052 282 void configGyroInt(uint8_t generator, bool aoi, bool latch);
alevale32 5:8db82a61e052 283
alevale32 5:8db82a61e052 284 // configGyroThs() -- Configure the threshold of a gyroscope axis
alevale32 5:8db82a61e052 285 // Input:
alevale32 5:8db82a61e052 286 // - threshold = Interrupt threshold. Possible values: 0-0x7FF.
alevale32 5:8db82a61e052 287 // Value is equivalent to raw gyroscope value.
alevale32 5:8db82a61e052 288 // - axis = Axis to be configured. Either X_AXIS, Y_AXIS, or Z_AXIS
alevale32 5:8db82a61e052 289 // - duration = Duration value must be above or below threshold to trigger interrupt
alevale32 5:8db82a61e052 290 // - wait = Wait function on duration counter
alevale32 5:8db82a61e052 291 // true: Wait for duration samples before exiting interrupt
alevale32 5:8db82a61e052 292 // false: Wait function off
alevale32 5:8db82a61e052 293 void configGyroThs(int16_t threshold, lsm9ds1_axis axis, uint8_t duration, bool wait);
alevale32 5:8db82a61e052 294
alevale32 5:8db82a61e052 295 // configInt() -- Configure INT1 or INT2 (Gyro and Accel Interrupts only)
alevale32 5:8db82a61e052 296 // Input:
alevale32 5:8db82a61e052 297 // - interrupt = Select INT1 or INT2
alevale32 5:8db82a61e052 298 // Possible values: XG_INT1 or XG_INT2
alevale32 5:8db82a61e052 299 // - generator = Or'd combination of interrupt generators.
alevale32 5:8db82a61e052 300 // Possible values: INT_DRDY_XL, INT_DRDY_G, INT1_BOOT (INT1 only), INT2_DRDY_TEMP (INT2 only)
alevale32 5:8db82a61e052 301 // INT_FTH, INT_OVR, INT_FSS5, INT_IG_XL (INT1 only), INT1_IG_G (INT1 only), INT2_INACT (INT2 only)
alevale32 5:8db82a61e052 302 // - activeLow = Interrupt active configuration
alevale32 5:8db82a61e052 303 // Can be either INT_ACTIVE_HIGH or INT_ACTIVE_LOW
alevale32 5:8db82a61e052 304 // - pushPull = Push-pull or open drain interrupt configuration
alevale32 5:8db82a61e052 305 // Can be either INT_PUSH_PULL or INT_OPEN_DRAIN
alevale32 5:8db82a61e052 306 void configInt(interrupt_select interupt, uint8_t generator,
alevale32 5:8db82a61e052 307 h_lactive activeLow = INT_ACTIVE_LOW, pp_od pushPull = INT_PUSH_PULL);
alevale32 5:8db82a61e052 308
alevale32 5:8db82a61e052 309 /** configMagInt() -- Configure Magnetometer Interrupt Generator
alevale32 5:8db82a61e052 310 * Input:
alevale32 5:8db82a61e052 311 * - generator = Interrupt axis/high-low events
alevale32 5:8db82a61e052 312 * Any OR'd combination of ZIEN, YIEN, XIEN
alevale32 5:8db82a61e052 313 * - activeLow = Interrupt active configuration
alevale32 5:8db82a61e052 314 * Can be either INT_ACTIVE_HIGH or INT_ACTIVE_LOW
alevale32 5:8db82a61e052 315 * - latch: latch gyroscope interrupt request.
alevale32 5:8db82a61e052 316 */
alevale32 5:8db82a61e052 317 void configMagInt(uint8_t generator, h_lactive activeLow, bool latch = true);
alevale32 5:8db82a61e052 318
alevale32 5:8db82a61e052 319 /** configMagThs() -- Configure the threshold of a gyroscope axis
alevale32 5:8db82a61e052 320 * Input:
alevale32 5:8db82a61e052 321 * - threshold = Interrupt threshold. Possible values: 0-0x7FF.
alevale32 5:8db82a61e052 322 * Value is equivalent to raw magnetometer value.
alevale32 5:8db82a61e052 323 */
alevale32 5:8db82a61e052 324 void configMagThs(uint16_t threshold);
alevale32 5:8db82a61e052 325
alevale32 5:8db82a61e052 326 //! getGyroIntSrc() -- Get contents of Gyroscope interrupt source register
alevale32 5:8db82a61e052 327 uint8_t getGyroIntSrc();
alevale32 5:8db82a61e052 328
alevale32 5:8db82a61e052 329 //! getGyroIntSrc() -- Get contents of accelerometer interrupt source register
alevale32 5:8db82a61e052 330 uint8_t getAccelIntSrc();
alevale32 5:8db82a61e052 331
alevale32 5:8db82a61e052 332 //! getGyroIntSrc() -- Get contents of magnetometer interrupt source register
alevale32 5:8db82a61e052 333 uint8_t getMagIntSrc();
alevale32 5:8db82a61e052 334
alevale32 5:8db82a61e052 335 //! getGyroIntSrc() -- Get status of inactivity interrupt
alevale32 5:8db82a61e052 336 uint8_t getInactivity();
alevale32 5:8db82a61e052 337
alevale32 5:8db82a61e052 338 /** sleepGyro() -- Sleep or wake the gyroscope
alevale32 5:8db82a61e052 339 * Input:
alevale32 5:8db82a61e052 340 * - enable: True = sleep gyro. False = wake gyro.
alevale32 5:8db82a61e052 341 */
alevale32 5:8db82a61e052 342 void sleepGyro(bool enable = true);
alevale32 5:8db82a61e052 343
alevale32 5:8db82a61e052 344 /** enableFIFO() - Enable or disable the FIFO
alevale32 5:8db82a61e052 345 * Input:
alevale32 5:8db82a61e052 346 * - enable: true = enable, false = disable.
alevale32 5:8db82a61e052 347 */
alevale32 5:8db82a61e052 348 void enableFIFO(bool enable = true);
alevale32 5:8db82a61e052 349
alevale32 5:8db82a61e052 350 /** setFIFO() - Configure FIFO mode and Threshold
alevale32 5:8db82a61e052 351 * Input:
alevale32 5:8db82a61e052 352 * - fifoMode: Set FIFO mode to off, FIFO (stop when full), continuous, bypass
alevale32 5:8db82a61e052 353 * Possible inputs: FIFO_OFF, FIFO_THS, FIFO_CONT_TRIGGER, FIFO_OFF_TRIGGER, FIFO_CONT
alevale32 5:8db82a61e052 354 * - fifoThs: FIFO threshold level setting
alevale32 5:8db82a61e052 355 * Any value from 0-0x1F is acceptable.
alevale32 5:8db82a61e052 356 */
alevale32 5:8db82a61e052 357 void setFIFO(fifoMode_type fifoMode, uint8_t fifoThs);
alevale32 5:8db82a61e052 358
alevale32 5:8db82a61e052 359 //! getFIFOSamples() - Get number of FIFO samples
alevale32 5:8db82a61e052 360 uint8_t getFIFOSamples();
alevale32 5:8db82a61e052 361
alevale32 5:8db82a61e052 362
alevale32 5:8db82a61e052 363 protected:
alevale32 5:8db82a61e052 364 // x_mAddress and gAddress store the I2C address or SPI chip select pin
alevale32 5:8db82a61e052 365 // for each sensor.
alevale32 5:8db82a61e052 366 uint8_t _mAddress, _xgAddress;
alevale32 5:8db82a61e052 367
alevale32 5:8db82a61e052 368 // gRes, aRes, and mRes store the current resolution for each sensor.
alevale32 5:8db82a61e052 369 // Units of these values would be DPS (or g's or Gs's) per ADC tick.
alevale32 5:8db82a61e052 370 // This value is calculated as (sensor scale) / (2^15).
alevale32 5:8db82a61e052 371 float gRes, aRes, mRes;
alevale32 5:8db82a61e052 372
alevale32 5:8db82a61e052 373 // _autoCalc keeps track of whether we're automatically subtracting off
alevale32 5:8db82a61e052 374 // accelerometer and gyroscope bias calculated in calibrate().
alevale32 5:8db82a61e052 375 bool _autoCalc;
alevale32 5:8db82a61e052 376
alevale32 5:8db82a61e052 377 // init() -- Sets up gyro, accel, and mag settings to default.
alevale32 5:8db82a61e052 378 // - interface - Sets the interface mode (IMU_MODE_I2C or IMU_MODE_SPI)
alevale32 5:8db82a61e052 379 // - xgAddr - Sets either the I2C address of the accel/gyro or SPI chip
alevale32 5:8db82a61e052 380 // select pin connected to the CS_XG pin.
alevale32 5:8db82a61e052 381 // - mAddr - Sets either the I2C address of the magnetometer or SPI chip
alevale32 5:8db82a61e052 382 // select pin connected to the CS_M pin.
alevale32 5:8db82a61e052 383 void init(interface_mode interface, uint8_t xgAddr, uint8_t mAddr);
alevale32 5:8db82a61e052 384
alevale32 5:8db82a61e052 385 // initGyro() -- Sets up the gyroscope to begin reading.
alevale32 5:8db82a61e052 386 // This function steps through all five gyroscope control registers.
alevale32 5:8db82a61e052 387 // Upon exit, the following parameters will be set:
alevale32 5:8db82a61e052 388 // - CTRL_REG1_G = 0x0F: Normal operation mode, all axes enabled.
alevale32 5:8db82a61e052 389 // 95 Hz ODR, 12.5 Hz cutoff frequency.
alevale32 5:8db82a61e052 390 // - CTRL_REG2_G = 0x00: HPF set to normal mode, cutoff frequency
alevale32 5:8db82a61e052 391 // set to 7.2 Hz (depends on ODR).
alevale32 5:8db82a61e052 392 // - CTRL_REG3_G = 0x88: Interrupt enabled on INT_G (set to push-pull and
alevale32 5:8db82a61e052 393 // active high). Data-ready output enabled on DRDY_G.
alevale32 5:8db82a61e052 394 // - CTRL_REG4_G = 0x00: Continuous update mode. Data LSB stored in lower
alevale32 5:8db82a61e052 395 // address. Scale set to 245 DPS. SPI mode set to 4-wire.
alevale32 5:8db82a61e052 396 // - CTRL_REG5_G = 0x00: FIFO disabled. HPF disabled.
alevale32 5:8db82a61e052 397 void initGyro();
alevale32 5:8db82a61e052 398
alevale32 5:8db82a61e052 399 // initAccel() -- Sets up the accelerometer to begin reading.
alevale32 5:8db82a61e052 400 // This function steps through all accelerometer related control registers.
alevale32 5:8db82a61e052 401 // Upon exit these registers will be set as:
alevale32 5:8db82a61e052 402 // - CTRL_REG0_XM = 0x00: FIFO disabled. HPF bypassed. Normal mode.
alevale32 5:8db82a61e052 403 // - CTRL_REG1_XM = 0x57: 100 Hz data rate. Continuous update.
alevale32 5:8db82a61e052 404 // all axes enabled.
alevale32 5:8db82a61e052 405 // - CTRL_REG2_XM = 0x00: 2g scale. 773 Hz anti-alias filter BW.
alevale32 5:8db82a61e052 406 // - CTRL_REG3_XM = 0x04: Accel data ready signal on INT1_XM pin.
alevale32 5:8db82a61e052 407 void initAccel();
alevale32 5:8db82a61e052 408
alevale32 5:8db82a61e052 409 // initMag() -- Sets up the magnetometer to begin reading.
alevale32 5:8db82a61e052 410 // This function steps through all magnetometer-related control registers.
alevale32 5:8db82a61e052 411 // Upon exit these registers will be set as:
alevale32 5:8db82a61e052 412 // - CTRL_REG4_XM = 0x04: Mag data ready signal on INT2_XM pin.
alevale32 5:8db82a61e052 413 // - CTRL_REG5_XM = 0x14: 100 Hz update rate. Low resolution. Interrupt
alevale32 5:8db82a61e052 414 // requests don't latch. Temperature sensor disabled.
alevale32 5:8db82a61e052 415 // - CTRL_REG6_XM = 0x00: 2 Gs scale.
alevale32 5:8db82a61e052 416 // - CTRL_REG7_XM = 0x00: Continuous conversion mode. Normal HPF mode.
alevale32 5:8db82a61e052 417 // - INT_CTRL_REG_M = 0x09: Interrupt active-high. Enable interrupts.
alevale32 5:8db82a61e052 418 void initMag();
alevale32 5:8db82a61e052 419
alevale32 5:8db82a61e052 420 // gReadByte() -- Reads a byte from a specified gyroscope register.
alevale32 5:8db82a61e052 421 // Input:
alevale32 5:8db82a61e052 422 // - subAddress = Register to be read from.
alevale32 5:8db82a61e052 423 // Output:
alevale32 5:8db82a61e052 424 // - An 8-bit value read from the requested address.
alevale32 5:8db82a61e052 425 uint8_t mReadByte(uint8_t subAddress);
alevale32 5:8db82a61e052 426
alevale32 5:8db82a61e052 427 // gReadBytes() -- Reads a number of bytes -- beginning at an address
alevale32 5:8db82a61e052 428 // and incrementing from there -- from the gyroscope.
alevale32 5:8db82a61e052 429 // Input:
alevale32 5:8db82a61e052 430 // - subAddress = Register to be read from.
alevale32 5:8db82a61e052 431 // - * dest = A pointer to an array of uint8_t's. Values read will be
alevale32 5:8db82a61e052 432 // stored in here on return.
alevale32 5:8db82a61e052 433 // - count = The number of bytes to be read.
alevale32 5:8db82a61e052 434 // Output: No value is returned, but the `dest` array will store
alevale32 5:8db82a61e052 435 // the data read upon exit.
alevale32 5:8db82a61e052 436 void mReadBytes(uint8_t subAddress, uint8_t * dest, uint8_t count);
alevale32 5:8db82a61e052 437
alevale32 5:8db82a61e052 438 // gWriteByte() -- Write a byte to a register in the gyroscope.
alevale32 5:8db82a61e052 439 // Input:
alevale32 5:8db82a61e052 440 // - subAddress = Register to be written to.
alevale32 5:8db82a61e052 441 // - data = data to be written to the register.
alevale32 5:8db82a61e052 442 void mWriteByte(uint8_t subAddress, uint8_t data);
alevale32 5:8db82a61e052 443
alevale32 5:8db82a61e052 444 // xmReadByte() -- Read a byte from a register in the accel/mag sensor
alevale32 5:8db82a61e052 445 // Input:
alevale32 5:8db82a61e052 446 // - subAddress = Register to be read from.
alevale32 5:8db82a61e052 447 // Output:
alevale32 5:8db82a61e052 448 // - An 8-bit value read from the requested register.
alevale32 5:8db82a61e052 449 uint8_t xgReadByte(uint8_t subAddress);
alevale32 5:8db82a61e052 450
alevale32 5:8db82a61e052 451 // xmReadBytes() -- Reads a number of bytes -- beginning at an address
alevale32 5:8db82a61e052 452 // and incrementing from there -- from the accelerometer/magnetometer.
alevale32 5:8db82a61e052 453 // Input:
alevale32 5:8db82a61e052 454 // - subAddress = Register to be read from.
alevale32 5:8db82a61e052 455 // - * dest = A pointer to an array of uint8_t's. Values read will be
alevale32 5:8db82a61e052 456 // stored in here on return.
alevale32 5:8db82a61e052 457 // - count = The number of bytes to be read.
alevale32 5:8db82a61e052 458 // Output: No value is returned, but the `dest` array will store
alevale32 5:8db82a61e052 459 // the data read upon exit.
alevale32 5:8db82a61e052 460 void xgReadBytes(uint8_t subAddress, uint8_t * dest, uint8_t count);
alevale32 5:8db82a61e052 461
alevale32 5:8db82a61e052 462 // xmWriteByte() -- Write a byte to a register in the accel/mag sensor.
alevale32 5:8db82a61e052 463 // Input:
alevale32 5:8db82a61e052 464 // - subAddress = Register to be written to.
alevale32 5:8db82a61e052 465 // - data = data to be written to the register.
alevale32 5:8db82a61e052 466 void xgWriteByte(uint8_t subAddress, uint8_t data);
alevale32 5:8db82a61e052 467
alevale32 5:8db82a61e052 468 // calcgRes() -- Calculate the resolution of the gyroscope.
alevale32 5:8db82a61e052 469 // This function will set the value of the gRes variable. gScale must
alevale32 5:8db82a61e052 470 // be set prior to calling this function.
alevale32 5:8db82a61e052 471 void calcgRes();
alevale32 5:8db82a61e052 472
alevale32 5:8db82a61e052 473 // calcmRes() -- Calculate the resolution of the magnetometer.
alevale32 5:8db82a61e052 474 // This function will set the value of the mRes variable. mScale must
alevale32 5:8db82a61e052 475 // be set prior to calling this function.
alevale32 5:8db82a61e052 476 void calcmRes();
alevale32 5:8db82a61e052 477
alevale32 5:8db82a61e052 478 // calcaRes() -- Calculate the resolution of the accelerometer.
alevale32 5:8db82a61e052 479 // This function will set the value of the aRes variable. aScale must
alevale32 5:8db82a61e052 480 // be set prior to calling this function.
alevale32 5:8db82a61e052 481 void calcaRes();
alevale32 5:8db82a61e052 482
alevale32 5:8db82a61e052 483 //////////////////////
alevale32 5:8db82a61e052 484 // Helper Functions //
alevale32 5:8db82a61e052 485 //////////////////////
alevale32 5:8db82a61e052 486 void constrainScales();
alevale32 5:8db82a61e052 487
alevale32 5:8db82a61e052 488 ///////////////////
alevale32 5:8db82a61e052 489 // SPI Functions //
alevale32 5:8db82a61e052 490 ///////////////////
alevale32 5:8db82a61e052 491 // initSPI() -- Initialize the SPI hardware.
alevale32 5:8db82a61e052 492 // This function will setup all SPI pins and related hardware.
alevale32 5:8db82a61e052 493 void initSPI();
alevale32 5:8db82a61e052 494
alevale32 5:8db82a61e052 495 // SPIwriteByte() -- Write a byte out of SPI to a register in the device
alevale32 5:8db82a61e052 496 // Input:
alevale32 5:8db82a61e052 497 // - csPin = The chip select pin of the slave device.
alevale32 5:8db82a61e052 498 // - subAddress = The register to be written to.
alevale32 5:8db82a61e052 499 // - data = Byte to be written to the register.
alevale32 5:8db82a61e052 500 void SPIwriteByte(uint8_t csPin, uint8_t subAddress, uint8_t data);
alevale32 5:8db82a61e052 501
alevale32 5:8db82a61e052 502 // SPIreadByte() -- Read a single byte from a register over SPI.
alevale32 5:8db82a61e052 503 // Input:
alevale32 5:8db82a61e052 504 // - csPin = The chip select pin of the slave device.
alevale32 5:8db82a61e052 505 // - subAddress = The register to be read from.
alevale32 5:8db82a61e052 506 // Output:
alevale32 5:8db82a61e052 507 // - The byte read from the requested address.
alevale32 5:8db82a61e052 508 uint8_t SPIreadByte(uint8_t csPin, uint8_t subAddress);
alevale32 5:8db82a61e052 509
alevale32 5:8db82a61e052 510 // SPIreadBytes() -- Read a series of bytes, starting at a register via SPI
alevale32 5:8db82a61e052 511 // Input:
alevale32 5:8db82a61e052 512 // - csPin = The chip select pin of a slave device.
alevale32 5:8db82a61e052 513 // - subAddress = The register to begin reading.
alevale32 5:8db82a61e052 514 // - * dest = Pointer to an array where we'll store the readings.
alevale32 5:8db82a61e052 515 // - count = Number of registers to be read.
alevale32 5:8db82a61e052 516 // Output: No value is returned by the function, but the registers read are
alevale32 5:8db82a61e052 517 // all stored in the *dest array given.
alevale32 5:8db82a61e052 518 void SPIreadBytes(uint8_t csPin, uint8_t subAddress,
alevale32 5:8db82a61e052 519 uint8_t * dest, uint8_t count);
alevale32 5:8db82a61e052 520
alevale32 5:8db82a61e052 521 ///////////////////
alevale32 5:8db82a61e052 522 // I2C Functions //
alevale32 5:8db82a61e052 523 ///////////////////
alevale32 5:8db82a61e052 524 // initI2C() -- Initialize the I2C hardware.
alevale32 5:8db82a61e052 525 // This function will setup all I2C pins and related hardware.
alevale32 5:8db82a61e052 526 void initI2C();
alevale32 5:8db82a61e052 527
alevale32 5:8db82a61e052 528 // I2CwriteByte() -- Write a byte out of I2C to a register in the device
alevale32 5:8db82a61e052 529 // Input:
alevale32 5:8db82a61e052 530 // - address = The 7-bit I2C address of the slave device.
alevale32 5:8db82a61e052 531 // - subAddress = The register to be written to.
alevale32 5:8db82a61e052 532 // - data = Byte to be written to the register.
alevale32 5:8db82a61e052 533 void I2CwriteByte(uint8_t address, uint8_t subAddress, uint8_t data);
alevale32 5:8db82a61e052 534
alevale32 5:8db82a61e052 535 // I2CreadByte() -- Read a single byte from a register over I2C.
alevale32 5:8db82a61e052 536 // Input:
alevale32 5:8db82a61e052 537 // - address = The 7-bit I2C address of the slave device.
alevale32 5:8db82a61e052 538 // - subAddress = The register to be read from.
alevale32 5:8db82a61e052 539 // Output:
alevale32 5:8db82a61e052 540 // - The byte read from the requested address.
alevale32 5:8db82a61e052 541 uint8_t I2CreadByte(uint8_t address, uint8_t subAddress);
alevale32 5:8db82a61e052 542
alevale32 5:8db82a61e052 543 // I2CreadBytes() -- Read a series of bytes, starting at a register via SPI
alevale32 5:8db82a61e052 544 // Input:
alevale32 5:8db82a61e052 545 // - address = The 7-bit I2C address of the slave device.
alevale32 5:8db82a61e052 546 // - subAddress = The register to begin reading.
alevale32 5:8db82a61e052 547 // - * dest = Pointer to an array where we'll store the readings.
alevale32 5:8db82a61e052 548 // - count = Number of registers to be read.
alevale32 5:8db82a61e052 549 // Output: No value is returned by the function, but the registers read are
alevale32 5:8db82a61e052 550 // all stored in the *dest array given.
alevale32 5:8db82a61e052 551 uint8_t I2CreadBytes(uint8_t address, uint8_t subAddress, uint8_t * dest, uint8_t count);
alevale32 5:8db82a61e052 552
alevale32 5:8db82a61e052 553 private:
alevale32 5:8db82a61e052 554 I2C i2c;
alevale32 5:8db82a61e052 555 };
alevale32 5:8db82a61e052 556
alevale32 5:8db82a61e052 557 #endif // SFE_LSM9DS1_H //