antimo angelino
LSM9DS1 i2c
Revision 3:8e50680d6b4e, committed 2018-07-08
- Comitter:
- antimo8@alice.it
- Date:
- Sun Jul 08 11:20:11 2018 +0200
- Parent:
- 2:bf33a982a078
- Commit message:
- add files
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/LSM9DS1.h Sun Jul 08 11:20:11 2018 +0200
@@ -0,0 +1,82 @@
+/*
+ * LSM9DS1.h
+ *
+ * Created: 05/01/2015 19:49:15
+ * Author: speirano
+ */
+
+
+#ifndef LSM9DS1_SENSOR_H_
+#define LSM9DS1_SENSOR_H_
+
+//#include <Arduino.h>
+#include <stdbool.h>
+#include <stdint-gcc.h>
+
+
+class LSM9DS1
+{
+
+private:
+ uint8_t _address;
+
+public:
+ LSM9DS1(unsigned int address);
+ ~LSM9DS1() {};
+ virtual bool begin(void)=0;
+
+protected:
+ uint8_t readRegister(uint8_t slaveAddress, uint8_t regToRead);
+ bool writeRegister(uint8_t slaveAddress, uint8_t regToWrite, uint8_t dataToWrite);
+ uint8_t addr(void) {return _address;};
+ int _x, _y, _z;
+ unsigned char _ready_reg;
+ unsigned char _status_reg;
+ bool readInternal(unsigned char high_reg, unsigned char low_reg, int *value);
+};
+
+
+class LSM9DS1_A : public LSM9DS1
+{
+public:
+ LSM9DS1_A(void);
+ bool activate(void);
+ bool deactivate(void);
+ bool begin(void);
+ int readX();
+ int readY();
+ int readZ();
+
+};
+
+class LSM9DS1_G : public LSM9DS1
+{
+public:
+ LSM9DS1_G(void);
+ bool activate(void);
+ bool begin(void);
+ bool deactivate(void);
+ int readX();
+ int readY();
+ int readZ();
+
+};
+class LSM9DS1_M : public LSM9DS1
+{
+public:
+ LSM9DS1_M(void);
+ bool begin(void);
+ bool activate(void);
+ bool deactivate(void);
+ int readX();
+ int readY();
+ int readZ();
+
+};
+
+
+extern LSM9DS1_A smeAccelerometer;
+extern LSM9DS1_M smeMagnetic;
+extern LSM9DS1_G smeGyroscope;
+
+#endif /* LSM9DS1_H_ */
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/LSM9DS1Reg.h Sun Jul 08 11:20:11 2018 +0200 @@ -0,0 +1,102 @@ +/* + * LSM9DS1Reg.h + * + * Created: 26/04/2015 14:17:29 + * Author: speirano + */ + + +#ifndef LSM9DS1_REG_H_ +#define LSM9DS1_REG_H_ + + + +/* Accelerometer / Gyroscope */ +#define LSM9DS1_AG_ADDRESS 0x6A + +#define AG_WHO_AM_I 0x0F +#define AG_WHO_AM_I_RETURN 0x68 + +#define AG_CTRL_REG1_G 0x10 +#define AG_ODR_SET 0x20 + +#define AG_STATUS_REG 0x27 +#define AG_ACCELEROMETER_READY 0x01 +#define AG_GYROSCOPE_READY 0x02 +#define AG_ACC_X_L 0x28 +#define AG_ACC_X_H 0x29 +#define AG_ACC_Y_L 0x2A +#define AG_ACC_Y_H 0x2B +#define AG_ACC_Z_L 0x2C +#define AG_ACC_Z_H 0x2D + +#define AG_GYR_X_L 0x18 +#define AG_GYR_X_H 0x19 +#define AG_GYR_Y_L 0x1A +#define AG_GYR_Y_H 0x1B +#define AG_GYR_Z_L 0x1C +#define AG_GYR_Z_H 0x1D +/* Magnetometer */ + +#define LSM9DS1_M_ADDRESS 0x1C + +#define M_WHO_AM_I 0x0F +#define M_WHO_AM_I_RETURN 0x3D + +#define M_CTRL_REG1_G 0x20 +#define M_ODR_SET 0x20 +#define M_CTRL_REG3_G 0x22 +#define M_OPER_MODE_CONT 0x00 +#define M_OPER_MODE_SINGLE 0x01 +#define M_OPER_MODE_DIS 0x03 + +#define M_STATUS_REG 0x27 +//#define M_ZYX_X_AXIS_READY 0x01 +//#define M_ZYX_Y_AXIS_READY 0x02 +//#define M_ZYX_Z_AXIS_READY 0x03 +#define M_ZYX_AXIS_READY 0x08 + +#define M_X_L 0x28 +#define M_X_H 0x29 +#define M_Y_L 0x2A +#define M_Y_H 0x2B +#define M_Z_L 0x2C +#define M_Z_H 0x2D + + +/*Sensors Sensitivity */ + +/* + * Linear acceleration : Reg6_XL FS[1:0] = 00g +-2, 10+-4g 11+-8g + * ranges: + * +-2 g mg/LSB = 0.061 + * +-4 g mg/LSB = 0.122 + * +-8 g mg/LSB = 0.244 + */ +#define A_LSB_SENSIT_2MG 0.061 +#define A_LSB_SENSIT_4MG 0.122 +#define A_LSB_SENSIT_8MG 0.244 + +/* + * Angular rate: CTRL_REG1 FS_G[1:0] 00 245, 01 500, 11 2000 + * +-245 mdps/LSB = 8.75 + * +-500 mdps/LSB = 17.50 + * +-2000 mdps/LSB = 70 + */ +#define G_LSB_SENSIT_245MDPS 8.75 +#define G_LSB_SENSIT_500DPS 17.5 +#define G_LSB_SENSIT_2KMDPS 70 +/* + * Magnetic : REG2_M FS[1:0] 00 +-4 01 +-8 10 +-12 11+-16 + * +-4 mgauss/LSB = 0.14 + * +-8 mgauss/LSB = 0.29 + * +-12 mgauss/LSB = 0.43 + * +-16 mgauss/LSB = 0.58 + */ +#define M_LSB_SENSIT_4MG 0.14 +#define M_LSB_SENSIT_8MG 0.29 +#define M_LSB_SENSIT_12MG 0.43 +#define M_LSB_SENSIT_16MG 0.58 + + +#endif /* INCFILE1_H_ */
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/make.sh Sun Jul 08 11:20:11 2018 +0200 @@ -0,0 +1,2 @@ +mbed compile -c +cp BUILD/NUCLEO_F302R8/GCC_ARM/Drone_F3.bin /media/kubant/NODE_F302R8/