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LSM9DS1.cpp
00001 /****************************************************************************** 00002 SFE_LSM9DS1.cpp 00003 SFE_LSM9DS1 Library Source File 00004 Jim Lindblom @ SparkFun Electronics 00005 Original Creation Date: February 27, 2015 00006 https://github.com/sparkfun/LSM9DS1_Breakout 00007 00008 This file implements all functions of the LSM9DS1 class. Functions here range 00009 from higher level stuff, like reading/writing LSM9DS1 registers to low-level, 00010 hardware reads and writes. Both SPI and I2C handler functions can be found 00011 towards the bottom of this file. 00012 00013 Development environment specifics: 00014 IDE: Arduino 1.6 00015 Hardware Platform: Arduino Uno 00016 LSM9DS1 Breakout Version: 1.0 00017 00018 This code is beerware; if you see me (or any other SparkFun employee) at the 00019 local, and you've found our code helpful, please buy us a round! 00020 00021 Distributed as-is; no warranty is given. 00022 ******************************************************************************/ 00023 00024 #include "LSM9DS1.h" 00025 #include "LSM9DS1_Registers.h" 00026 #include "LSM9DS1_Types.h" 00027 00028 #define LSM9DS1_COMMUNICATION_TIMEOUT 1000 00029 00030 float magSensitivity[4] = {0.00014, 0.00029, 0.00043, 0.00058}; 00031 extern Serial pc; 00032 int16_t magn_ellipsoid_center[3] = {-425, 655, 204}; 00033 float RM[3][3] = {{0.980752, -0.0124288, 0.00453175}, {-0.0124288, 0.977401, 0.0483545}, {0.00453175, 0.0483545, 0.857327}}; 00034 00035 00036 00037 LSM9DS1::LSM9DS1(SPI* _spi, DigitalOut* csM_, DigitalOut* csAG_) : spi(_spi) 00038 { 00039 // spi = _spi; 00040 _mAddress = csM_; 00041 _xgAddress = csAG_; 00042 00043 init(IMU_MODE_SPI, 0, 0); // dont know about 0xD6 or 0x3B 00044 } 00045 00046 00047 /* 00048 LSM9DS1::LSM9DS1() 00049 { 00050 //init(IMU_MODE_I2C, LSM9DS1_AG_ADDR(1), LSM9DS1_M_ADDR(1)); 00051 }*/ 00052 00053 /* 00054 LSM9DS1::LSM9DS1(interface_mode interface, uint8_t xgAddr, uint8_t mAddr) 00055 { 00056 init(interface, xgAddr, mAddr); 00057 } 00058 */ 00059 00060 void LSM9DS1::init(interface_mode interface, uint8_t xgAddr, uint8_t mAddr) 00061 { 00062 settings.device.commInterface = interface; 00063 settings.device.agAddress = xgAddr; 00064 settings.device.mAddress = mAddr; 00065 00066 settings.gyro.enabled = true; 00067 settings.gyro.enableX = true; 00068 settings.gyro.enableY = true; 00069 settings.gyro.enableZ = true; 00070 // gyro scale can be 245, 500, or 2000 00071 settings.gyro.scale = 500; 00072 // gyro sample rate: value between 1-6 00073 // 1 = 14.9 4 = 238 00074 // 2 = 59.5 5 = 476 00075 // 3 = 119 6 = 952 00076 settings.gyro.sampleRate = 6; 00077 // gyro cutoff frequency: value between 0-3 00078 // Actual value of cutoff frequency depends 00079 // on sample rate. 00080 settings.gyro.bandwidth = 0; 00081 settings.gyro.lowPowerEnable = false; 00082 settings.gyro.HPFEnable = false; 00083 // Gyro HPF cutoff frequency: value between 0-9 00084 // Actual value depends on sample rate. Only applies 00085 // if gyroHPFEnable is true. 00086 settings.gyro.HPFCutoff = 0; 00087 settings.gyro.flipX = false; 00088 settings.gyro.flipY = false; 00089 settings.gyro.flipZ = false; 00090 settings.gyro.orientation = 0; 00091 settings.gyro.latchInterrupt = true; 00092 00093 settings.accel.enabled = true; 00094 settings.accel.enableX = true; 00095 settings.accel.enableY = true; 00096 settings.accel.enableZ = true; 00097 // accel scale can be 2, 4, 8, or 16 00098 settings.accel.scale = 2; 00099 // accel sample rate can be 1-6 00100 // 1 = 10 Hz 4 = 238 Hz 00101 // 2 = 50 Hz 5 = 476 Hz 00102 // 3 = 119 Hz 6 = 952 Hz 00103 settings.accel.sampleRate = 6; 00104 // Accel cutoff freqeuncy can be any value between -1 - 3. 00105 // -1 = bandwidth determined by sample rate 00106 // 0 = 408 Hz 2 = 105 Hz 00107 // 1 = 211 Hz 3 = 50 Hz 00108 settings.accel.bandwidth = -1; 00109 settings.accel.highResEnable = false; 00110 // accelHighResBandwidth can be any value between 0-3 00111 // LP cutoff is set to a factor of sample rate 00112 // 0 = ODR/50 2 = ODR/9 00113 // 1 = ODR/100 3 = ODR/400 00114 settings.accel.highResBandwidth = 0; 00115 00116 settings.mag.enabled = true; 00117 // mag scale can be 4, 8, 12, or 16 00118 settings.mag.scale = 4; 00119 // mag data rate can be 0-7 00120 // 0 = 0.625 Hz 4 = 10 Hz 00121 // 1 = 1.25 Hz 5 = 20 Hz 00122 // 2 = 2.5 Hz 6 = 40 Hz 00123 // 3 = 5 Hz 7 = 80 Hz 00124 settings.mag.sampleRate = 7; 00125 settings.mag.tempCompensationEnable = false; 00126 // magPerformance can be any value between 0-3 00127 // 0 = Low power mode 2 = high performance 00128 // 1 = medium performance 3 = ultra-high performance 00129 settings.mag.XYPerformance = 3; 00130 settings.mag.ZPerformance = 3; 00131 settings.mag.lowPowerEnable = false; 00132 // magOperatingMode can be 0-2 00133 // 0 = continuous conversion 00134 // 1 = single-conversion 00135 // 2 = power down 00136 settings.mag.operatingMode = 0; 00137 00138 settings.temp.enabled = true; 00139 for (int i=0; i<3; i++) { 00140 gBias[i] = 0; 00141 aBias[i] = 0; 00142 mBias[i] = 0; 00143 gBiasRaw[i] = 0; 00144 aBiasRaw[i] = 0; 00145 mBiasRaw[i] = 0; 00146 } 00147 _autoCalc = false; 00148 } 00149 00150 00151 uint16_t LSM9DS1::begin() 00152 { 00153 //! Todo: don't use _xgAddress or _mAddress, duplicating memory 00154 //_xgAddress = settings.device.agAddress; 00155 // _mAddress = settings.device.mAddress; 00156 00157 constrainScales(); 00158 // Once we have the scale values, we can calculate the resolution 00159 // of each sensor. That's what these functions are for. One for each sensor 00160 calcgRes(); // Calculate DPS / ADC tick, stored in gRes variable 00161 calcmRes(); // Calculate Gs / ADC tick, stored in mRes variable 00162 calcaRes(); // Calculate g / ADC tick, stored in aRes variable 00163 00164 // Now, initialize our hardware interface. 00165 if (settings.device.commInterface == IMU_MODE_I2C) // If we're using I2C 00166 initI2C(); // Initialize I2C 00167 else if (settings.device.commInterface == IMU_MODE_SPI) // else, if we're using SPI 00168 initSPI(); // Initialize SPI 00169 00170 // To verify communication, we can read from the WHO_AM_I register of 00171 // each device. Store those in a variable so we can return them. 00172 uint8_t mTest = mReadByte(WHO_AM_I_M); // Read the gyro WHO_AM_I 00173 uint8_t xgTest = xgReadByte(WHO_AM_I_XG); // Read the accel/mag WHO_AM_I 00174 pc.printf("%x, %x, %x, %x\n\r", mTest, xgTest, _xgAddress, _mAddress); 00175 uint16_t whoAmICombined = (xgTest << 8) | mTest; 00176 00177 if (whoAmICombined != ((WHO_AM_I_AG_RSP << 8) | WHO_AM_I_M_RSP)) 00178 return 0; 00179 00180 // Gyro initialization stuff: 00181 initGyro(); // This will "turn on" the gyro. Setting up interrupts, etc. 00182 00183 // Accelerometer initialization stuff: 00184 initAccel(); // "Turn on" all axes of the accel. Set up interrupts, etc. 00185 00186 // Magnetometer initialization stuff: 00187 initMag(); // "Turn on" all axes of the mag. Set up interrupts, etc. 00188 00189 // Once everything is initialized, return the WHO_AM_I registers we read: 00190 return whoAmICombined; 00191 } 00192 00193 void LSM9DS1::initGyro() 00194 { 00195 uint8_t tempRegValue = 0; 00196 00197 // CTRL_REG1_G (Default value: 0x00) 00198 // [ODR_G2][ODR_G1][ODR_G0][FS_G1][FS_G0][0][BW_G1][BW_G0] 00199 // ODR_G[2:0] - Output data rate selection 00200 // FS_G[1:0] - Gyroscope full-scale selection 00201 // BW_G[1:0] - Gyroscope bandwidth selection 00202 00203 // To disable gyro, set sample rate bits to 0. We'll only set sample 00204 // rate if the gyro is enabled. 00205 if (settings.gyro.enabled) { 00206 tempRegValue = (settings.gyro.sampleRate & 0x07) << 5; 00207 } 00208 switch (settings.gyro.scale) { 00209 case 500: 00210 tempRegValue |= (0x1 << 3); 00211 break; 00212 case 2000: 00213 tempRegValue |= (0x3 << 3); 00214 break; 00215 // Otherwise we'll set it to 245 dps (0x0 << 4) 00216 } 00217 tempRegValue |= (settings.gyro.bandwidth & 0x3); 00218 xgWriteByte(CTRL_REG1_G, tempRegValue); 00219 00220 // CTRL_REG2_G (Default value: 0x00) 00221 // [0][0][0][0][INT_SEL1][INT_SEL0][OUT_SEL1][OUT_SEL0] 00222 // INT_SEL[1:0] - INT selection configuration 00223 // OUT_SEL[1:0] - Out selection configuration 00224 xgWriteByte(CTRL_REG2_G, 0x00); 00225 00226 // CTRL_REG3_G (Default value: 0x00) 00227 // [LP_mode][HP_EN][0][0][HPCF3_G][HPCF2_G][HPCF1_G][HPCF0_G] 00228 // LP_mode - Low-power mode enable (0: disabled, 1: enabled) 00229 // HP_EN - HPF enable (0:disabled, 1: enabled) 00230 // HPCF_G[3:0] - HPF cutoff frequency 00231 tempRegValue = settings.gyro.lowPowerEnable ? (1<<7) : 0; 00232 if (settings.gyro.HPFEnable) { 00233 tempRegValue |= (1<<6) | (settings.gyro.HPFCutoff & 0x0F); 00234 } 00235 xgWriteByte(CTRL_REG3_G, tempRegValue); 00236 00237 // CTRL_REG4 (Default value: 0x38) 00238 // [0][0][Zen_G][Yen_G][Xen_G][0][LIR_XL1][4D_XL1] 00239 // Zen_G - Z-axis output enable (0:disable, 1:enable) 00240 // Yen_G - Y-axis output enable (0:disable, 1:enable) 00241 // Xen_G - X-axis output enable (0:disable, 1:enable) 00242 // LIR_XL1 - Latched interrupt (0:not latched, 1:latched) 00243 // 4D_XL1 - 4D option on interrupt (0:6D used, 1:4D used) 00244 tempRegValue = 0; 00245 if (settings.gyro.enableZ) tempRegValue |= (1<<5); 00246 if (settings.gyro.enableY) tempRegValue |= (1<<4); 00247 if (settings.gyro.enableX) tempRegValue |= (1<<3); 00248 if (settings.gyro.latchInterrupt) tempRegValue |= (1<<1); 00249 xgWriteByte(CTRL_REG4, tempRegValue); 00250 00251 // ORIENT_CFG_G (Default value: 0x00) 00252 // [0][0][SignX_G][SignY_G][SignZ_G][Orient_2][Orient_1][Orient_0] 00253 // SignX_G - Pitch axis (X) angular rate sign (0: positive, 1: negative) 00254 // Orient [2:0] - Directional user orientation selection 00255 tempRegValue = 0; 00256 if (settings.gyro.flipX) tempRegValue |= (1<<5); 00257 if (settings.gyro.flipY) tempRegValue |= (1<<4); 00258 if (settings.gyro.flipZ) tempRegValue |= (1<<3); 00259 xgWriteByte(ORIENT_CFG_G, tempRegValue); 00260 } 00261 00262 void LSM9DS1::initAccel() 00263 { 00264 uint8_t tempRegValue = 0; 00265 00266 // CTRL_REG5_XL (0x1F) (Default value: 0x38) 00267 // [DEC_1][DEC_0][Zen_XL][Yen_XL][Zen_XL][0][0][0] 00268 // DEC[0:1] - Decimation of accel data on OUT REG and FIFO. 00269 // 00: None, 01: 2 samples, 10: 4 samples 11: 8 samples 00270 // Zen_XL - Z-axis output enabled 00271 // Yen_XL - Y-axis output enabled 00272 // Xen_XL - X-axis output enabled 00273 if (settings.accel.enableZ) tempRegValue |= (1<<5); 00274 if (settings.accel.enableY) tempRegValue |= (1<<4); 00275 if (settings.accel.enableX) tempRegValue |= (1<<3); 00276 00277 xgWriteByte(CTRL_REG5_XL, tempRegValue); 00278 00279 // CTRL_REG6_XL (0x20) (Default value: 0x00) 00280 // [ODR_XL2][ODR_XL1][ODR_XL0][FS1_XL][FS0_XL][BW_SCAL_ODR][BW_XL1][BW_XL0] 00281 // ODR_XL[2:0] - Output data rate & power mode selection 00282 // FS_XL[1:0] - Full-scale selection 00283 // BW_SCAL_ODR - Bandwidth selection 00284 // BW_XL[1:0] - Anti-aliasing filter bandwidth selection 00285 tempRegValue = 0; 00286 // To disable the accel, set the sampleRate bits to 0. 00287 if (settings.accel.enabled) { 00288 tempRegValue |= (settings.accel.sampleRate & 0x07) << 5; 00289 } 00290 switch (settings.accel.scale) { 00291 case 4: 00292 tempRegValue |= (0x2 << 3); 00293 break; 00294 case 8: 00295 tempRegValue |= (0x3 << 3); 00296 break; 00297 case 16: 00298 tempRegValue |= (0x1 << 3); 00299 break; 00300 // Otherwise it'll be set to 2g (0x0 << 3) 00301 } 00302 if (settings.accel.bandwidth >= 0) { 00303 tempRegValue |= (1<<2); // Set BW_SCAL_ODR 00304 tempRegValue |= (settings.accel.bandwidth & 0x03); 00305 } 00306 xgWriteByte(CTRL_REG6_XL, tempRegValue); 00307 00308 // CTRL_REG7_XL (0x21) (Default value: 0x00) 00309 // [HR][DCF1][DCF0][0][0][FDS][0][HPIS1] 00310 // HR - High resolution mode (0: disable, 1: enable) 00311 // DCF[1:0] - Digital filter cutoff frequency 00312 // FDS - Filtered data selection 00313 // HPIS1 - HPF enabled for interrupt function 00314 tempRegValue = 0; 00315 if (settings.accel.highResEnable) { 00316 tempRegValue |= (1<<7); // Set HR bit 00317 tempRegValue |= (settings.accel.highResBandwidth & 0x3) << 5; 00318 } 00319 xgWriteByte(CTRL_REG7_XL, tempRegValue); 00320 } 00321 00322 // This is a function that uses the FIFO to accumulate sample of accelerometer and gyro data, average 00323 // them, scales them to gs and deg/s, respectively, and then passes the biases to the main sketch 00324 // for subtraction from all subsequent data. There are no gyro and accelerometer bias registers to store 00325 // the data as there are in the ADXL345, a precursor to the LSM9DS0, or the MPU-9150, so we have to 00326 // subtract the biases ourselves. This results in a more accurate measurement in general and can 00327 // remove errors due to imprecise or varying initial placement. Calibration of sensor data in this manner 00328 // is good practice. 00329 void LSM9DS1::calibrate(bool autoCalc) 00330 { 00331 uint8_t data[6] = {0, 0, 0, 0, 0, 0}; 00332 uint8_t samples = 0; 00333 int ii; 00334 int32_t aBiasRawTemp[3] = {0, 0, 0}; 00335 int32_t gBiasRawTemp[3] = {0, 0, 0}; 00336 00337 // Turn on FIFO and set threshold to 32 samples 00338 enableFIFO(true); 00339 setFIFO(FIFO_THS, 0x1F); 00340 while (samples < 0x1F) { 00341 samples = (xgReadByte(FIFO_SRC) & 0x3F); // Read number of stored samples 00342 } 00343 for(ii = 0; ii < samples ; ii++) { 00344 // Read the gyro data stored in the FIFO 00345 readGyro(); 00346 gBiasRawTemp[0] += gx; 00347 gBiasRawTemp[1] += gy; 00348 gBiasRawTemp[2] += gz; 00349 readAccel(); 00350 aBiasRawTemp[0] += ax; 00351 aBiasRawTemp[1] += ay; 00352 aBiasRawTemp[2] += az - (int16_t)(1./aRes); // Assumes sensor facing up! 00353 } 00354 for (ii = 0; ii < 3; ii++) { 00355 gBiasRaw[ii] = gBiasRawTemp[ii] / samples; 00356 gBias[ii] = calcGyro(gBiasRaw[ii]); 00357 aBiasRaw[ii] = aBiasRawTemp[ii] / samples; 00358 aBias[ii] = calcAccel(aBiasRaw[ii]); 00359 } 00360 00361 enableFIFO(false); 00362 setFIFO(FIFO_OFF, 0x00); 00363 00364 if (autoCalc) _autoCalc = true; 00365 } 00366 00367 void LSM9DS1::calibrateMag(bool loadIn) 00368 { 00369 int i, j; 00370 int16_t magMin[3] = {0, 0, 0}; 00371 int16_t magMax[3] = {0, 0, 0}; // The road warrior 00372 00373 for (i=0; i<128; i++) { 00374 while (!magAvailable()) 00375 ; 00376 readMag(); 00377 int16_t magTemp[3] = {0, 0, 0}; 00378 magTemp[0] = mx; 00379 magTemp[1] = my; 00380 magTemp[2] = mz; 00381 for (j = 0; j < 3; j++) { 00382 if (magTemp[j] > magMax[j]) magMax[j] = magTemp[j]; 00383 if (magTemp[j] < magMin[j]) magMin[j] = magTemp[j]; 00384 } 00385 } 00386 for (j = 0; j < 3; j++) { 00387 mBiasRaw[j] = (magMax[j] + magMin[j]) / 2; 00388 mBias[j] = calcMag(mBiasRaw[j]); 00389 if (loadIn) 00390 magOffset(j, mBiasRaw[j]); 00391 } 00392 00393 } 00394 void LSM9DS1::magOffset(uint8_t axis, int16_t offset) 00395 { 00396 if (axis > 2) 00397 return; 00398 uint8_t msb, lsb; 00399 msb = (offset & 0xFF00) >> 8; 00400 lsb = offset & 0x00FF; 00401 mWriteByte(OFFSET_X_REG_L_M + (2 * axis), lsb); 00402 mWriteByte(OFFSET_X_REG_H_M + (2 * axis), msb); 00403 } 00404 00405 void LSM9DS1::initMag() 00406 { 00407 uint8_t tempRegValue = 0; 00408 00409 // CTRL_REG1_M (Default value: 0x10) 00410 // [TEMP_COMP][OM1][OM0][DO2][DO1][DO0][0][ST] 00411 // TEMP_COMP - Temperature compensation 00412 // OM[1:0] - X & Y axes op mode selection 00413 // 00:low-power, 01:medium performance 00414 // 10: high performance, 11:ultra-high performance 00415 // DO[2:0] - Output data rate selection 00416 // ST - Self-test enable 00417 if (settings.mag.tempCompensationEnable) tempRegValue |= (1<<7); 00418 tempRegValue |= (settings.mag.XYPerformance & 0x3) << 5; 00419 tempRegValue |= (settings.mag.sampleRate & 0x7) << 2; 00420 mWriteByte(CTRL_REG1_M, tempRegValue); 00421 00422 // CTRL_REG2_M (Default value 0x00) 00423 // [0][FS1][FS0][0][REBOOT][SOFT_RST][0][0] 00424 // FS[1:0] - Full-scale configuration 00425 // REBOOT - Reboot memory content (0:normal, 1:reboot) 00426 // SOFT_RST - Reset config and user registers (0:default, 1:reset) 00427 tempRegValue = 0; 00428 switch (settings.mag.scale) { 00429 case 8: 00430 tempRegValue |= (0x1 << 5); 00431 break; 00432 case 12: 00433 tempRegValue |= (0x2 << 5); 00434 break; 00435 case 16: 00436 tempRegValue |= (0x3 << 5); 00437 break; 00438 // Otherwise we'll default to 4 gauss (00) 00439 } 00440 mWriteByte(CTRL_REG2_M, tempRegValue); // +/-4Gauss 00441 00442 // CTRL_REG3_M (Default value: 0x03) 00443 // [I2C_DISABLE][0][LP][0][0][SIM][MD1][MD0] 00444 // I2C_DISABLE - Disable I2C interace (0:enable, 1:disable) 00445 // LP - Low-power mode cofiguration (1:enable) 00446 // SIM - SPI mode selection (0:write-only, 1:read/write enable) 00447 // MD[1:0] - Operating mode 00448 // 00:continuous conversion, 01:single-conversion, 00449 // 10,11: Power-down 00450 tempRegValue = 0; 00451 if (settings.mag.lowPowerEnable) tempRegValue |= (1<<5); 00452 tempRegValue |= (settings.mag.operatingMode & 0x3); 00453 mWriteByte(CTRL_REG3_M, tempRegValue); // Continuous conversion mode 00454 00455 // CTRL_REG4_M (Default value: 0x00) 00456 // [0][0][0][0][OMZ1][OMZ0][BLE][0] 00457 // OMZ[1:0] - Z-axis operative mode selection 00458 // 00:low-power mode, 01:medium performance 00459 // 10:high performance, 10:ultra-high performance 00460 // BLE - Big/little endian data 00461 tempRegValue = 0; 00462 tempRegValue = (settings.mag.ZPerformance & 0x3) << 2; 00463 mWriteByte(CTRL_REG4_M, tempRegValue); 00464 00465 // CTRL_REG5_M (Default value: 0x00) 00466 // [0][BDU][0][0][0][0][0][0] 00467 // BDU - Block data update for magnetic data 00468 // 0:continuous, 1:not updated until MSB/LSB are read 00469 tempRegValue = 0; 00470 mWriteByte(CTRL_REG5_M, tempRegValue); 00471 } 00472 00473 uint8_t LSM9DS1::accelAvailable() 00474 { 00475 uint8_t status = xgReadByte(STATUS_REG_1); 00476 00477 return (status & (1<<0)); 00478 } 00479 00480 uint8_t LSM9DS1::gyroAvailable() 00481 { 00482 uint8_t status = xgReadByte(STATUS_REG_1); 00483 00484 return ((status & (1<<1)) >> 1); 00485 } 00486 00487 uint8_t LSM9DS1::tempAvailable() 00488 { 00489 uint8_t status = xgReadByte(STATUS_REG_1); 00490 00491 return ((status & (1<<2)) >> 2); 00492 } 00493 00494 uint8_t LSM9DS1::magAvailable(lsm9ds1_axis axis) 00495 { 00496 uint8_t status; 00497 status = mReadByte(STATUS_REG_M); 00498 00499 return ((status & (1<<axis)) >> axis); 00500 } 00501 00502 void LSM9DS1::readAccel() 00503 { 00504 uint8_t temp[6]; // We'll read six bytes from the accelerometer into temp 00505 xgReadBytes(OUT_X_L_XL, temp, 6); // Read 6 bytes, beginning at OUT_X_L_XL 00506 ax = (temp[1] << 8) | temp[0]; // Store x-axis values into ax 00507 ay = (temp[3] << 8) | temp[2]; // Store y-axis values into ay 00508 az = (temp[5] << 8) | temp[4]; // Store z-axis values into az 00509 if (_autoCalc) { 00510 ax -= aBiasRaw[X_AXIS]; 00511 ay -= aBiasRaw[Y_AXIS]; 00512 az -= aBiasRaw[Z_AXIS]; 00513 } 00514 } 00515 00516 int16_t LSM9DS1::readAccel(lsm9ds1_axis axis) 00517 { 00518 uint8_t temp[2]; 00519 int16_t value; 00520 xgReadBytes(OUT_X_L_XL + (2 * axis), temp, 2); 00521 value = (temp[1] << 8) | temp[0]; 00522 00523 if (_autoCalc) 00524 value -= aBiasRaw[axis]; 00525 00526 return value; 00527 } 00528 00529 void LSM9DS1::readMag() 00530 { 00531 uint8_t temp[6]; // We'll read six bytes from the mag into temp 00532 mReadBytes(OUT_X_L_M, temp, 6); // Read 6 bytes, beginning at OUT_X_L_M 00533 mx = (temp[1] << 8) | temp[0]; // Store x-axis values into mx 00534 my = (temp[3] << 8) | temp[2]; // Store y-axis values into my 00535 mz = (temp[5] << 8) | temp[4]; // Store z-axis values into mz 00536 } 00537 void LSM9DS1::readMag_calibrated() 00538 { 00539 uint8_t temp[6]; // We'll read six bytes from the mag into temp 00540 mReadBytes(OUT_X_L_M, temp, 6); // Read 6 bytes, beginning at OUT_X_L_M 00541 mx = (temp[1] << 8) | temp[0]; // Store x-axis values into mx 00542 my = (temp[3] << 8) | temp[2]; // Store y-axis values into my 00543 mz = (temp[5] << 8) | temp[4]; // Store z-axis values into mz 00544 mx -=magn_ellipsoid_center[0]; 00545 my -=magn_ellipsoid_center[1]; 00546 mz -=magn_ellipsoid_center[2]; 00547 float dum[3]; 00548 for(int i=0;i<3;i++) 00549 dum[i] = RM[i][0] * (float)mx + RM[i][1] * (float)my + RM[i][2] * (float)mz; 00550 mx=(int16_t)dum[0]; 00551 my=(int16_t)dum[1]; 00552 mz=(int16_t)dum[2]; 00553 00554 } 00555 00556 int16_t LSM9DS1::readMag(lsm9ds1_axis axis) 00557 { 00558 uint8_t temp[2]; 00559 mReadBytes(OUT_X_L_M + (2 * axis), temp, 2); 00560 return (temp[1] << 8) | temp[0]; 00561 } 00562 00563 void LSM9DS1::readTemp() 00564 { 00565 uint8_t temp[2]; // We'll read two bytes from the temperature sensor into temp 00566 xgReadBytes(OUT_TEMP_L, temp, 2); // Read 2 bytes, beginning at OUT_TEMP_L 00567 temperature = ((int16_t)temp[1] << 8) | temp[0]; 00568 } 00569 00570 void LSM9DS1::readGyro() 00571 { 00572 uint8_t temp[6]; // We'll read six bytes from the gyro into temp 00573 xgReadBytes(OUT_X_L_G, temp, 6); // Read 6 bytes, beginning at OUT_X_L_G 00574 gx = (temp[1] << 8) | temp[0]; // Store x-axis values into gx 00575 gy = (temp[3] << 8) | temp[2]; // Store y-axis values into gy 00576 gz = (temp[5] << 8) | temp[4]; // Store z-axis values into gz 00577 if (_autoCalc) { 00578 gx -= gBiasRaw[X_AXIS]; 00579 gy -= gBiasRaw[Y_AXIS]; 00580 gz -= gBiasRaw[Z_AXIS]; 00581 } 00582 } 00583 00584 int16_t LSM9DS1::readGyro(lsm9ds1_axis axis) 00585 { 00586 uint8_t temp[2]; 00587 int16_t value; 00588 00589 xgReadBytes(OUT_X_L_G + (2 * axis), temp, 2); 00590 00591 value = (temp[1] << 8) | temp[0]; 00592 00593 if (_autoCalc) 00594 value -= gBiasRaw[axis]; 00595 00596 return value; 00597 } 00598 00599 float LSM9DS1::calcGyro(int16_t gyro) 00600 { 00601 // Return the gyro raw reading times our pre-calculated DPS / (ADC tick): 00602 return gRes * gyro; 00603 } 00604 00605 float LSM9DS1::calcAccel(int16_t accel) 00606 { 00607 // Return the accel raw reading times our pre-calculated g's / (ADC tick): 00608 return aRes * accel; 00609 } 00610 00611 float LSM9DS1::calcMag(int16_t mag) 00612 { 00613 // Return the mag raw reading times our pre-calculated Gs / (ADC tick): 00614 return mRes * mag; 00615 } 00616 00617 void LSM9DS1::setGyroScale(uint16_t gScl) 00618 { 00619 // Read current value of CTRL_REG1_G: 00620 uint8_t ctrl1RegValue = xgReadByte(CTRL_REG1_G); 00621 // Mask out scale bits (3 & 4): 00622 ctrl1RegValue &= 0xE7; 00623 switch (gScl) { 00624 case 500: 00625 ctrl1RegValue |= (0x1 << 3); 00626 settings.gyro.scale = 500; 00627 break; 00628 case 2000: 00629 ctrl1RegValue |= (0x3 << 3); 00630 settings.gyro.scale = 2000; 00631 break; 00632 default: // Otherwise we'll set it to 245 dps (0x0 << 4) 00633 settings.gyro.scale = 245; 00634 break; 00635 } 00636 xgWriteByte(CTRL_REG1_G, ctrl1RegValue); 00637 00638 calcgRes(); 00639 } 00640 00641 void LSM9DS1::setAccelScale(uint8_t aScl) 00642 { 00643 // We need to preserve the other bytes in CTRL_REG6_XL. So, first read it: 00644 uint8_t tempRegValue = xgReadByte(CTRL_REG6_XL); 00645 // Mask out accel scale bits: 00646 tempRegValue &= 0xE7; 00647 00648 switch (aScl) { 00649 case 4: 00650 tempRegValue |= (0x2 << 3); 00651 settings.accel.scale = 4; 00652 break; 00653 case 8: 00654 tempRegValue |= (0x3 << 3); 00655 settings.accel.scale = 8; 00656 break; 00657 case 16: 00658 tempRegValue |= (0x1 << 3); 00659 settings.accel.scale = 16; 00660 break; 00661 default: // Otherwise it'll be set to 2g (0x0 << 3) 00662 settings.accel.scale = 2; 00663 break; 00664 } 00665 xgWriteByte(CTRL_REG6_XL, tempRegValue); 00666 00667 // Then calculate a new aRes, which relies on aScale being set correctly: 00668 calcaRes(); 00669 } 00670 00671 void LSM9DS1::setMagScale(uint8_t mScl) 00672 { 00673 // We need to preserve the other bytes in CTRL_REG6_XM. So, first read it: 00674 uint8_t temp = mReadByte(CTRL_REG2_M); 00675 // Then mask out the mag scale bits: 00676 temp &= 0xFF^(0x3 << 5); 00677 00678 switch (mScl) { 00679 case 8: 00680 temp |= (0x1 << 5); 00681 settings.mag.scale = 8; 00682 break; 00683 case 12: 00684 temp |= (0x2 << 5); 00685 settings.mag.scale = 12; 00686 break; 00687 case 16: 00688 temp |= (0x3 << 5); 00689 settings.mag.scale = 16; 00690 break; 00691 default: // Otherwise we'll default to 4 gauss (00) 00692 settings.mag.scale = 4; 00693 break; 00694 } 00695 00696 // And write the new register value back into CTRL_REG6_XM: 00697 mWriteByte(CTRL_REG2_M, temp); 00698 00699 // We've updated the sensor, but we also need to update our class variables 00700 // First update mScale: 00701 //mScale = mScl; 00702 // Then calculate a new mRes, which relies on mScale being set correctly: 00703 calcmRes(); 00704 } 00705 00706 void LSM9DS1::setGyroODR(uint8_t gRate) 00707 { 00708 // Only do this if gRate is not 0 (which would disable the gyro) 00709 if ((gRate & 0x07) != 0) { 00710 // We need to preserve the other bytes in CTRL_REG1_G. So, first read it: 00711 uint8_t temp = xgReadByte(CTRL_REG1_G); 00712 // Then mask out the gyro ODR bits: 00713 temp &= 0xFF^(0x7 << 5); 00714 temp |= (gRate & 0x07) << 5; 00715 // Update our settings struct 00716 settings.gyro.sampleRate = gRate & 0x07; 00717 // And write the new register value back into CTRL_REG1_G: 00718 xgWriteByte(CTRL_REG1_G, temp); 00719 } 00720 } 00721 00722 void LSM9DS1::setAccelODR(uint8_t aRate) 00723 { 00724 // Only do this if aRate is not 0 (which would disable the accel) 00725 if ((aRate & 0x07) != 0) { 00726 // We need to preserve the other bytes in CTRL_REG1_XM. So, first read it: 00727 uint8_t temp = xgReadByte(CTRL_REG6_XL); 00728 // Then mask out the accel ODR bits: 00729 temp &= 0x1F; 00730 // Then shift in our new ODR bits: 00731 temp |= ((aRate & 0x07) << 5); 00732 settings.accel.sampleRate = aRate & 0x07; 00733 // And write the new register value back into CTRL_REG1_XM: 00734 xgWriteByte(CTRL_REG6_XL, temp); 00735 } 00736 } 00737 00738 void LSM9DS1::setMagODR(uint8_t mRate) 00739 { 00740 // We need to preserve the other bytes in CTRL_REG5_XM. So, first read it: 00741 uint8_t temp = mReadByte(CTRL_REG1_M); 00742 // Then mask out the mag ODR bits: 00743 temp &= 0xFF^(0x7 << 2); 00744 // Then shift in our new ODR bits: 00745 temp |= ((mRate & 0x07) << 2); 00746 settings.mag.sampleRate = mRate & 0x07; 00747 // And write the new register value back into CTRL_REG5_XM: 00748 mWriteByte(CTRL_REG1_M, temp); 00749 } 00750 00751 void LSM9DS1::calcgRes() 00752 { 00753 gRes = ((float) settings.gyro.scale) / 32768.0; 00754 } 00755 00756 void LSM9DS1::calcaRes() 00757 { 00758 aRes = ((float) settings.accel.scale) / 32768.0; 00759 } 00760 00761 void LSM9DS1::calcmRes() 00762 { 00763 //mRes = ((float) settings.mag.scale) / 32768.0; 00764 switch (settings.mag.scale) { 00765 case 4: 00766 mRes = magSensitivity[0]; 00767 break; 00768 case 8: 00769 mRes = magSensitivity[1]; 00770 break; 00771 case 12: 00772 mRes = magSensitivity[2]; 00773 break; 00774 case 16: 00775 mRes = magSensitivity[3]; 00776 break; 00777 } 00778 00779 } 00780 /* 00781 void LSM9DS1::configInt(interrupt_select interrupt, uint8_t generator, 00782 h_lactive activeLow, pp_od pushPull) 00783 { 00784 // Write to INT1_CTRL or INT2_CTRL. [interupt] should already be one of 00785 // those two values. 00786 // [generator] should be an OR'd list of values from the interrupt_generators enum 00787 xgWriteByte(interrupt, generator); 00788 00789 // Configure CTRL_REG8 00790 uint8_t temp; 00791 temp = xgReadByte(CTRL_REG8); 00792 00793 if (activeLow) temp |= (1<<5); 00794 else temp &= ~(1<<5); 00795 00796 if (pushPull) temp &= ~(1<<4); 00797 else temp |= (1<<4); 00798 00799 xgWriteByte(CTRL_REG8, temp); 00800 }*/ 00801 00802 void LSM9DS1::configInactivity(uint8_t duration, uint8_t threshold, bool sleepOn) 00803 { 00804 uint8_t temp = 0; 00805 00806 temp = threshold & 0x7F; 00807 if (sleepOn) temp |= (1<<7); 00808 xgWriteByte(ACT_THS, temp); 00809 00810 xgWriteByte(ACT_DUR, duration); 00811 } 00812 00813 /* 00814 uint8_t LSM9DS1::getInactivity() 00815 { 00816 uint8_t temp = xgReadByte(STATUS_REG_0); 00817 temp &= (0x10); 00818 return temp; 00819 } 00820 00821 void LSM9DS1::configAccelInt(uint8_t generator, bool andInterrupts) 00822 { 00823 // Use variables from accel_interrupt_generator, OR'd together to create 00824 // the [generator]value. 00825 uint8_t temp = generator; 00826 if (andInterrupts) temp |= 0x80; 00827 xgWriteByte(INT_GEN_CFG_XL, temp); 00828 } 00829 00830 void LSM9DS1::configAccelThs(uint8_t threshold, lsm9ds1_axis axis, uint8_t duration, bool wait) 00831 { 00832 // Write threshold value to INT_GEN_THS_?_XL. 00833 // axis will be 0, 1, or 2 (x, y, z respectively) 00834 xgWriteByte(INT_GEN_THS_X_XL + axis, threshold); 00835 00836 // Write duration and wait to INT_GEN_DUR_XL 00837 uint8_t temp; 00838 temp = (duration & 0x7F); 00839 if (wait) temp |= 0x80; 00840 xgWriteByte(INT_GEN_DUR_XL, temp); 00841 } 00842 00843 uint8_t LSM9DS1::getAccelIntSrc() 00844 { 00845 uint8_t intSrc = xgReadByte(INT_GEN_SRC_XL); 00846 00847 // Check if the IA_XL (interrupt active) bit is set 00848 if (intSrc & (1<<6)) { 00849 return (intSrc & 0x3F); 00850 } 00851 00852 return 0; 00853 } 00854 00855 void LSM9DS1::configGyroInt(uint8_t generator, bool aoi, bool latch) 00856 { 00857 // Use variables from accel_interrupt_generator, OR'd together to create 00858 // the [generator]value. 00859 uint8_t temp = generator; 00860 if (aoi) temp |= 0x80; 00861 if (latch) temp |= 0x40; 00862 xgWriteByte(INT_GEN_CFG_G, temp); 00863 } 00864 00865 void LSM9DS1::configGyroThs(int16_t threshold, lsm9ds1_axis axis, uint8_t duration, bool wait) 00866 { 00867 uint8_t buffer[2]; 00868 buffer[0] = (threshold & 0x7F00) >> 8; 00869 buffer[1] = (threshold & 0x00FF); 00870 // Write threshold value to INT_GEN_THS_?H_G and INT_GEN_THS_?L_G. 00871 // axis will be 0, 1, or 2 (x, y, z respectively) 00872 xgWriteByte(INT_GEN_THS_XH_G + (axis * 2), buffer[0]); 00873 xgWriteByte(INT_GEN_THS_XH_G + 1 + (axis * 2), buffer[1]); 00874 00875 // Write duration and wait to INT_GEN_DUR_XL 00876 uint8_t temp; 00877 temp = (duration & 0x7F); 00878 if (wait) temp |= 0x80; 00879 xgWriteByte(INT_GEN_DUR_G, temp); 00880 } 00881 00882 uint8_t LSM9DS1::getGyroIntSrc() 00883 { 00884 uint8_t intSrc = xgReadByte(INT_GEN_SRC_G); 00885 00886 // Check if the IA_G (interrupt active) bit is set 00887 if (intSrc & (1<<6)) { 00888 return (intSrc & 0x3F); 00889 } 00890 00891 return 0; 00892 } 00893 00894 00895 void LSM9DS1::configMagInt(uint8_t generator, h_lactive activeLow, bool latch) 00896 { 00897 // Mask out non-generator bits (0-4) 00898 uint8_t config = (generator & 0xE0); 00899 // IEA bit is 0 for active-low, 1 for active-high. 00900 if (activeLow == INT_ACTIVE_HIGH) config |= (1<<2); 00901 // IEL bit is 0 for latched, 1 for not-latched 00902 if (!latch) config |= (1<<1); 00903 // As long as we have at least 1 generator, enable the interrupt 00904 if (generator != 0) config |= (1<<0); 00905 00906 mWriteByte(INT_CFG_M, config); 00907 } 00908 00909 00910 uint8_t LSM9DS1::getMagIntSrc() 00911 { 00912 uint8_t intSrc = mReadByte(INT_SRC_M); 00913 00914 // Check if the INT (interrupt active) bit is set 00915 if (intSrc & (1<<0)) { 00916 return (intSrc & 0xFE); 00917 } 00918 00919 return 0; 00920 }*/ 00921 00922 void LSM9DS1::configMagThs(uint16_t threshold) 00923 { 00924 // Write high eight bits of [threshold] to INT_THS_H_M 00925 mWriteByte(INT_THS_H_M, uint8_t((threshold & 0x7F00) >> 8)); 00926 // Write low eight bits of [threshold] to INT_THS_L_M 00927 mWriteByte(INT_THS_L_M, uint8_t(threshold & 0x00FF)); 00928 } 00929 00930 void LSM9DS1::sleepGyro(bool enable) 00931 { 00932 uint8_t temp = xgReadByte(CTRL_REG9); 00933 if (enable) temp |= (1<<6); 00934 else temp &= ~(1<<6); 00935 xgWriteByte(CTRL_REG9, temp); 00936 } 00937 00938 void LSM9DS1::enableFIFO(bool enable) 00939 { 00940 uint8_t temp = xgReadByte(CTRL_REG9); 00941 if (enable) temp |= (1<<1); 00942 else temp &= ~(1<<1); 00943 xgWriteByte(CTRL_REG9, temp); 00944 } 00945 00946 void LSM9DS1::setFIFO(fifoMode_type fifoMode, uint8_t fifoThs) 00947 { 00948 // Limit threshold - 0x1F (31) is the maximum. If more than that was asked 00949 // limit it to the maximum. 00950 uint8_t threshold = fifoThs <= 0x1F ? fifoThs : 0x1F; 00951 xgWriteByte(FIFO_CTRL, ((fifoMode & 0x7) << 5) | (threshold & 0x1F)); 00952 } 00953 00954 uint8_t LSM9DS1::getFIFOSamples() 00955 { 00956 return (xgReadByte(FIFO_SRC) & 0x3F); 00957 } 00958 00959 void LSM9DS1::constrainScales() 00960 { 00961 if ((settings.gyro.scale != 245) && (settings.gyro.scale != 500) && 00962 (settings.gyro.scale != 2000)) { 00963 settings.gyro.scale = 245; 00964 } 00965 00966 if ((settings.accel.scale != 2) && (settings.accel.scale != 4) && 00967 (settings.accel.scale != 8) && (settings.accel.scale != 16)) { 00968 settings.accel.scale = 2; 00969 } 00970 00971 if ((settings.mag.scale != 4) && (settings.mag.scale != 8) && 00972 (settings.mag.scale != 12) && (settings.mag.scale != 16)) { 00973 settings.mag.scale = 4; 00974 } 00975 } 00976 00977 void LSM9DS1::xgWriteByte(uint8_t subAddress, uint8_t data) 00978 { 00979 // Whether we're using I2C or SPI, write a byte using the 00980 // gyro-specific I2C address or SPI CS pin. 00981 if (settings.device.commInterface == IMU_MODE_I2C) { 00982 printf("yo"); 00983 // I2CwriteByte(_xgAddress, subAddress, data); 00984 } else if (settings.device.commInterface == IMU_MODE_SPI) { 00985 SPIwriteByte(_xgAddress, subAddress, data); 00986 } 00987 } 00988 00989 00990 00991 void LSM9DS1::mWriteByte(uint8_t subAddress, uint8_t data) 00992 { 00993 // Whether we're using I2C or SPI, write a byte using the 00994 // accelerometer-specific I2C address or SPI CS pin. 00995 // if (settings.device.commInterface == IMU_MODE_I2C) 00996 // return I2CwriteByte(_mAddress, subAddress, data); 00997 if (settings.device.commInterface == IMU_MODE_SPI) 00998 return SPIwriteByte(_mAddress, subAddress, data); 00999 } 01000 01001 uint8_t LSM9DS1::xgReadByte(uint8_t subAddress) 01002 { 01003 // Whether we're using I2C or SPI, read a byte using the 01004 // gyro-specific I2C address or SPI CS pin. 01005 //if (settings.device.commInterface == IMU_MODE_I2C) 01006 // return I2CreadByte(_xgAddress, subAddress); 01007 if (settings.device.commInterface == IMU_MODE_SPI) 01008 return SPIreadByte(_xgAddress, subAddress); 01009 } 01010 01011 void LSM9DS1::xgReadBytes(uint8_t subAddress, uint8_t * dest, uint8_t count) 01012 { 01013 // Whether we're using I2C or SPI, read multiple bytes using the 01014 // gyro-specific I2C address or SPI CS pin. 01015 if (settings.device.commInterface == IMU_MODE_I2C) { 01016 // I2CreadBytes(_xgAddress, subAddress, dest, count); 01017 } else if (settings.device.commInterface == IMU_MODE_SPI) { 01018 SPIreadBytes(_xgAddress, subAddress, dest, count); 01019 } 01020 } 01021 01022 uint8_t LSM9DS1::mReadByte(uint8_t subAddress) 01023 { 01024 // Whether we're using I2C or SPI, read a byte using the 01025 // accelerometer-specific I2C address or SPI CS pin. 01026 //if (settings.device.commInterface == IMU_MODE_I2C) 01027 // return I2CreadByte(_mAddress, subAddress); 01028 if (settings.device.commInterface == IMU_MODE_SPI) 01029 return SPIreadByte(_mAddress, subAddress); 01030 } 01031 01032 void LSM9DS1::mReadBytes(uint8_t subAddress, uint8_t * dest, uint8_t count) 01033 { 01034 // Whether we're using I2C or SPI, read multiple bytes using the 01035 // accelerometer-specific I2C address or SPI CS pin. 01036 // if (settings.device.commInterface == IMU_MODE_I2C) 01037 // I2CreadBytes(_mAddress, subAddress, dest, count); 01038 if (settings.device.commInterface == IMU_MODE_SPI) 01039 SPIreadBytes(_mAddress, subAddress, dest, count); 01040 } 01041 01042 void LSM9DS1::initSPI() 01043 { 01044 spi->format(8, 0); //8, 3 01045 spi->frequency(1000000); 01046 01047 *_xgAddress = 1; 01048 *_mAddress = 1; 01049 01050 /* 01051 pinMode(_xgAddress, OUTPUT); 01052 digitalWrite(_xgAddress, HIGH); 01053 pinMode(_mAddress, OUTPUT); 01054 digitalWrite(_mAddress, HIGH); 01055 01056 spi->begin(); 01057 // Maximum SPI frequency is 10MHz, could divide by 2 here: 01058 spi->setClockDivider(SPI_CLOCK_DIV2); 01059 // Data is read and written MSb first. 01060 spi->setBitOrder(MSBFIRST); 01061 // Data is captured on rising edge of clock (CPHA = 0) 01062 // Base value of the clock is HIGH (CPOL = 1) 01063 spi->setDataMode(SPI_MODE0); 01064 */ 01065 } 01066 01067 void LSM9DS1::SPIwriteByte(DigitalOut* csPin, uint8_t subAddress, uint8_t data) 01068 { 01069 *csPin = 0; 01070 wait_us(1); 01071 01072 spi->write(subAddress & 0x3F); 01073 spi->write(data & 0xFF); 01074 01075 wait_us(1); 01076 *csPin = 1; 01077 01078 /* 01079 digitalWrite(csPin, LOW); // Initiate communication 01080 01081 // If write, bit 0 (MSB) should be 0 01082 // If single write, bit 1 should be 0 01083 spi->transfer(subAddress & 0x3F); // Send Address 01084 spi->transfer(data); // Send data 01085 01086 digitalWrite(csPin, HIGH); // Close communication 01087 */ 01088 } 01089 01090 uint8_t LSM9DS1::SPIreadByte(DigitalOut* csPin, uint8_t subAddress) 01091 { 01092 uint8_t temp; 01093 // Use the multiple read function to read 1 byte. 01094 // Value is returned to `temp`. 01095 SPIreadBytes(csPin, subAddress, &temp, 1); 01096 return temp; 01097 } 01098 01099 void LSM9DS1::SPIreadBytes(DigitalOut* csPin, uint8_t subAddress, 01100 uint8_t * dest, uint8_t count) 01101 { 01102 // To indicate a read, set bit 0 (msb) of first byte to 1 01103 uint8_t rAddress = 0x80 | (subAddress & 0x3F); 01104 // Mag SPI port is different. If we're reading multiple bytes, 01105 // set bit 1 to 1. The remaining six bytes are the address to be read 01106 if ((csPin == _mAddress) && count > 1) 01107 rAddress |= 0x40; 01108 01109 *csPin = 0; 01110 01111 wait_us(1); 01112 01113 spi->write(rAddress); 01114 for (int i=0; i<count; i++) 01115 dest[i] = spi->write(0xFF); 01116 01117 wait_us(1); 01118 *csPin = 1; 01119 01120 /* 01121 digitalWrite(csPin, LOW); // Initiate communication 01122 spi->transfer(rAddress); 01123 for (int i=0; i<count; i++) 01124 { 01125 dest[i] = spi->transfer(0x00); // Read into destination array 01126 } 01127 digitalWrite(csPin, HIGH); // Close communication 01128 */ 01129 } 01130 01131 void LSM9DS1::initI2C() 01132 { 01133 /* 01134 Wire.begin(); // Initialize I2C library 01135 */ 01136 01137 //already initialized in constructor! 01138 } 01139 01140 // Wire.h read and write protocols 01141 void LSM9DS1::I2CwriteByte(uint8_t address, uint8_t subAddress, uint8_t data) 01142 { 01143 /* 01144 Wire.beginTransmission(address); // Initialize the Tx buffer 01145 Wire.write(subAddress); // Put slave register address in Tx buffer 01146 Wire.write(data); // Put data in Tx buffer 01147 Wire.endTransmission(); // Send the Tx buffer 01148 */ 01149 // char temp_data[2] = {subAddress, data}; 01150 // i2c.write(address, temp_data, 2); 01151 } 01152 01153 uint8_t LSM9DS1::I2CreadByte(uint8_t address, uint8_t subAddress) 01154 { 01155 /* 01156 int timeout = LSM9DS1_COMMUNICATION_TIMEOUT; 01157 uint8_t data; // `data` will store the register data 01158 01159 Wire.beginTransmission(address); // Initialize the Tx buffer 01160 Wire.write(subAddress); // Put slave register address in Tx buffer 01161 Wire.endTransmission(true); // Send the Tx buffer, but send a restart to keep connection alive 01162 Wire.requestFrom(address, (uint8_t) 1); // Read one byte from slave register address 01163 while ((Wire.available() < 1) && (timeout-- > 0)) 01164 delay(1); 01165 01166 if (timeout <= 0) 01167 return 255; //! Bad! 255 will be misinterpreted as a good value. 01168 01169 data = Wire.read(); // Fill Rx buffer with result 01170 return data; // Return data read from slave register 01171 */ 01172 char data; 01173 char temp[1] = {subAddress}; 01174 /* 01175 i2c.write(address, temp, 1); 01176 //i2c.write(address & 0xFE); 01177 temp[1] = 0x00; 01178 i2c.write(address, temp, 1); 01179 //i2c.write( address | 0x01); 01180 int a = i2c.read(address, &data, 1);*/ 01181 return data; 01182 } 01183 01184 uint8_t LSM9DS1::I2CreadBytes(uint8_t address, uint8_t subAddress, uint8_t * dest, uint8_t count) 01185 { 01186 /* 01187 int timeout = LSM9DS1_COMMUNICATION_TIMEOUT; 01188 Wire.beginTransmission(address); // Initialize the Tx buffer 01189 // Next send the register to be read. OR with 0x80 to indicate multi-read. 01190 Wire.write(subAddress | 0x80); // Put slave register address in Tx buffer 01191 01192 Wire.endTransmission(true); // Send the Tx buffer, but send a restart to keep connection alive 01193 uint8_t i = 0; 01194 Wire.requestFrom(address, count); // Read bytes from slave register address 01195 while ((Wire.available() < count) && (timeout-- > 0)) 01196 delay(1); 01197 if (timeout <= 0) 01198 return -1; 01199 01200 for (int i=0; i<count;) 01201 { 01202 if (Wire.available()) 01203 { 01204 dest[i++] = Wire.read(); 01205 } 01206 } 01207 return count; 01208 */ 01209 int i; 01210 char temp_dest[count]; 01211 char temp[1] = {subAddress}; 01212 //i2c.write(address, temp, 1); 01213 //i2c.read(address, temp_dest, count); 01214 01215 //i2c doesn't take uint8_ts, but rather chars so do this nasty af conversion 01216 for (i=0; i < count; i++) { 01217 dest[i] = temp_dest[i]; 01218 } 01219 return count; 01220 } 01221
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