I2C Library for the LSM9DS0 IMU
Dependents: 4180_LSM9DS0_lab HW2_P2 HW2_P3 HW2_P4 ... more
LSM9DS0.h
- Committer:
- aswild
- Date:
- 2015-02-02
- Revision:
- 2:5556e6fb99f5
- Parent:
- 1:7c1e26d377ed
File content as of revision 2:5556e6fb99f5:
// Most of the Credit goes to jimblom // Modifications by Allen Wild #ifndef _LSM9DS0_H__ #define _LSM9DS0_H__ #include "mbed.h" //////////////////////////// // LSM9DS0 Gyro Registers // //////////////////////////// #define WHO_AM_I_G 0x0F #define CTRL_REG1_G 0x20 #define CTRL_REG2_G 0x21 #define CTRL_REG3_G 0x22 #define CTRL_REG4_G 0x23 #define CTRL_REG5_G 0x24 #define REFERENCE_G 0x25 #define STATUS_REG_G 0x27 #define OUT_X_L_G 0x28 #define OUT_X_H_G 0x29 #define OUT_Y_L_G 0x2A #define OUT_Y_H_G 0x2B #define OUT_Z_L_G 0x2C #define OUT_Z_H_G 0x2D #define FIFO_CTRL_REG_G 0x2E #define FIFO_SRC_REG_G 0x2F #define INT1_CFG_G 0x30 #define INT1_SRC_G 0x31 #define INT1_THS_XH_G 0x32 #define INT1_THS_XL_G 0x33 #define INT1_THS_YH_G 0x34 #define INT1_THS_YL_G 0x35 #define INT1_THS_ZH_G 0x36 #define INT1_THS_ZL_G 0x37 #define INT1_DURATION_G 0x38 ////////////////////////////////////////// // LSM9DS0 Accel/Magneto (XM) Registers // ////////////////////////////////////////// #define OUT_TEMP_L_XM 0x05 #define OUT_TEMP_H_XM 0x06 #define STATUS_REG_M 0x07 #define OUT_X_L_M 0x08 #define OUT_X_H_M 0x09 #define OUT_Y_L_M 0x0A #define OUT_Y_H_M 0x0B #define OUT_Z_L_M 0x0C #define OUT_Z_H_M 0x0D #define WHO_AM_I_XM 0x0F #define INT_CTRL_REG_M 0x12 #define INT_SRC_REG_M 0x13 #define INT_THS_L_M 0x14 #define INT_THS_H_M 0x15 #define OFFSET_X_L_M 0x16 #define OFFSET_X_H_M 0x17 #define OFFSET_Y_L_M 0x18 #define OFFSET_Y_H_M 0x19 #define OFFSET_Z_L_M 0x1A #define OFFSET_Z_H_M 0x1B #define REFERENCE_X 0x1C #define REFERENCE_Y 0x1D #define REFERENCE_Z 0x1E #define CTRL_REG0_XM 0x1F #define CTRL_REG1_XM 0x20 #define CTRL_REG2_XM 0x21 #define CTRL_REG3_XM 0x22 #define CTRL_REG4_XM 0x23 #define CTRL_REG5_XM 0x24 #define CTRL_REG6_XM 0x25 #define CTRL_REG7_XM 0x26 #define STATUS_REG_A 0x27 #define OUT_X_L_A 0x28 #define OUT_X_H_A 0x29 #define OUT_Y_L_A 0x2A #define OUT_Y_H_A 0x2B #define OUT_Z_L_A 0x2C #define OUT_Z_H_A 0x2D #define FIFO_CTRL_REG 0x2E #define FIFO_SRC_REG 0x2F #define INT_GEN_1_REG 0x30 #define INT_GEN_1_SRC 0x31 #define INT_GEN_1_THS 0x32 #define INT_GEN_1_DURATION 0x33 #define INT_GEN_2_REG 0x34 #define INT_GEN_2_SRC 0x35 #define INT_GEN_2_THS 0x36 #define INT_GEN_2_DURATION 0x37 #define CLICK_CFG 0x38 #define CLICK_SRC 0x39 #define CLICK_THS 0x3A #define TIME_LIMIT 0x3B #define TIME_LATENCY 0x3C #define TIME_WINDOW 0x3D #define ACT_THS 0x3E #define ACT_DUR 0x3F /** * LSM9DS0 Class - driver for the 9 DoF IMU */ class LSM9DS0 { public: /// gyro_scale defines the possible full-scale ranges of the gyroscope: enum gyro_scale { G_SCALE_245DPS, // 00: +/- 245 degrees per second G_SCALE_500DPS, // 01: +/- 500 dps G_SCALE_2000DPS, // 10: +/- 2000 dps }; /// accel_scale defines all possible FSR's of the accelerometer: enum accel_scale { A_SCALE_2G, // 000: +/- 2g A_SCALE_4G, // 001: +/- 4g A_SCALE_6G, // 010: +/- 6g A_SCALE_8G, // 011: +/- 8g A_SCALE_16G // 100: +/- 16g }; /// mag_scale defines all possible FSR's of the magnetometer: enum mag_scale { M_SCALE_2GS, // 00: +/- 2Gs M_SCALE_4GS, // 01: +/- 4Gs M_SCALE_8GS, // 10: +/- 8Gs M_SCALE_12GS, // 11: +/- 12Gs }; /// gyro_odr defines all possible data rate/bandwidth combos of the gyro: enum gyro_odr { // ODR (Hz) --- Cutoff G_ODR_95_BW_125 = 0x0, // 95 12.5 G_ODR_95_BW_25 = 0x1, // 95 25 // 0x2 and 0x3 define the same data rate and bandwidth G_ODR_190_BW_125 = 0x4, // 190 12.5 G_ODR_190_BW_25 = 0x5, // 190 25 G_ODR_190_BW_50 = 0x6, // 190 50 G_ODR_190_BW_70 = 0x7, // 190 70 G_ODR_380_BW_20 = 0x8, // 380 20 G_ODR_380_BW_25 = 0x9, // 380 25 G_ODR_380_BW_50 = 0xA, // 380 50 G_ODR_380_BW_100 = 0xB, // 380 100 G_ODR_760_BW_30 = 0xC, // 760 30 G_ODR_760_BW_35 = 0xD, // 760 35 G_ODR_760_BW_50 = 0xE, // 760 50 G_ODR_760_BW_100 = 0xF, // 760 100 }; /// accel_oder defines all possible output data rates of the accelerometer: enum accel_odr { A_POWER_DOWN, // Power-down mode (0x0) A_ODR_3125, // 3.125 Hz (0x1) A_ODR_625, // 6.25 Hz (0x2) A_ODR_125, // 12.5 Hz (0x3) A_ODR_25, // 25 Hz (0x4) A_ODR_50, // 50 Hz (0x5) A_ODR_100, // 100 Hz (0x6) A_ODR_200, // 200 Hz (0x7) A_ODR_400, // 400 Hz (0x8) A_ODR_800, // 800 Hz (9) A_ODR_1600 // 1600 Hz (0xA) }; /// accel_oder defines all possible output data rates of the magnetometer: enum mag_odr { M_ODR_3125, // 3.125 Hz (0x00) M_ODR_625, // 6.25 Hz (0x01) M_ODR_125, // 12.5 Hz (0x02) M_ODR_25, // 25 Hz (0x03) M_ODR_50, // 50 (0x04) M_ODR_100, // 100 Hz (0x05) }; // We'll store the gyro, accel, and magnetometer readings in a series of // public class variables. Each sensor gets three variables -- one for each // axis. Call readGyro(), readAccel(), and readMag() first, before using // these variables! // These values are the RAW signed 16-bit readings from the sensors. int16_t gx_raw, gy_raw, gz_raw; // x, y, and z axis readings of the gyroscope int16_t ax_raw, ay_raw, az_raw; // x, y, and z axis readings of the accelerometer int16_t mx_raw, my_raw, mz_raw; // x, y, and z axis readings of the magnetometer int16_t temperature_raw; // floating-point values of scaled data in real-world units float gx, gy, gz; float ax, ay, az; float mx, my, mz; float temperature_c, temperature_f; // temperature in celcius and fahrenheit float abias[3]; float gbias[3]; /** LSM9DS0 -- LSM9DS0 class constructor * The constructor will set up a handful of private variables, and set the * communication mode as well. * Input: * - interface = Either MODE_SPI or MODE_I2C, whichever you're using * to talk to the IC. * - gAddr = If MODE_I2C, this is the I2C address of the gyroscope. * If MODE_SPI, this is the chip select pin of the gyro (CSG) * - xmAddr = If MODE_I2C, this is the I2C address of the accel/mag. * If MODE_SPI, this is the cs pin of the accel/mag (CSXM) */ LSM9DS0(PinName sda, PinName scl, uint8_t gAddr, uint8_t xmAddr); /** begin() -- Initialize the gyro, accelerometer, and magnetometer. * This will set up the scale and output rate of each sensor. It'll also * "turn on" every sensor and every axis of every sensor. * Input: * - gScl = The scale of the gyroscope. This should be a gyro_scale value. * - aScl = The scale of the accelerometer. Should be a accel_scale value. * - mScl = The scale of the magnetometer. Should be a mag_scale value. * - gODR = Output data rate of the gyroscope. gyro_odr value. * - aODR = Output data rate of the accelerometer. accel_odr value. * - mODR = Output data rate of the magnetometer. mag_odr value. * Output: The function will return an unsigned 16-bit value. The most-sig * bytes of the output are the WHO_AM_I reading of the accel. The * least significant two bytes are the WHO_AM_I reading of the gyro. * All parameters have a defaulted value, so you can call just "begin()". * Default values are FSR's of: +/- 245DPS, 2g, 2Gs; ODRs of 95 Hz for * gyro, 100 Hz for accelerometer, 100 Hz for magnetometer. * Use the return value of this function to verify communication. */ uint16_t begin(gyro_scale gScl = G_SCALE_245DPS, accel_scale aScl = A_SCALE_2G, mag_scale mScl = M_SCALE_2GS, gyro_odr gODR = G_ODR_95_BW_125, accel_odr aODR = A_ODR_50, mag_odr mODR = M_ODR_50); /** readGyro() -- Read the gyroscope output registers. * This function will read all six gyroscope output registers. * The readings are stored in the class' gx_raw, gy_raw, and gz_raw variables. Read * those _after_ calling readGyro(). */ void readGyro(); /** readAccel() -- Read the accelerometer output registers. * This function will read all six accelerometer output registers. * The readings are stored in the class' ax_raw, ay_raw, and az_raw variables. Read * those _after_ calling readAccel(). */ void readAccel(); /** readMag() -- Read the magnetometer output registers. * This function will read all six magnetometer output registers. * The readings are stored in the class' mx_raw, my_raw, and mz_raw variables. Read * those _after_ calling readMag(). */ void readMag(); /** readTemp() -- Read the temperature output register. * This function will read two temperature output registers. * The combined readings are stored in the class' temperature variables. Read * those _after_ calling readTemp(). */ void readTemp(); /** setGyroScale() -- Set the full-scale range of the gyroscope. * This function can be called to set the scale of the gyroscope to * 245, 500, or 200 degrees per second. * Input: * - gScl = The desired gyroscope scale. Must be one of three possible * values from the gyro_scale enum. */ void setGyroScale(gyro_scale gScl); /** setAccelScale() -- Set the full-scale range of the accelerometer. * This function can be called to set the scale of the accelerometer to * 2, 4, 6, 8, or 16 g's. * Input: * - aScl = The desired accelerometer scale. Must be one of five possible * values from the accel_scale enum. */ void setAccelScale(accel_scale aScl); /** setMagScale() -- Set the full-scale range of the magnetometer. * This function can be called to set the scale of the magnetometer to * 2, 4, 8, or 12 Gs. * Input: * - mScl = The desired magnetometer scale. Must be one of four possible * values from the mag_scale enum. */ void setMagScale(mag_scale mScl); /** setGyroODR() -- Set the output data rate and bandwidth of the gyroscope * Input: * - gRate = The desired output rate and cutoff frequency of the gyro. * Must be a value from the gyro_odr enum (check above, there're 14). */ void setGyroODR(gyro_odr gRate); /** setAccelODR() -- Set the output data rate of the accelerometer * Input: * - aRate = The desired output rate of the accel. * Must be a value from the accel_odr enum (check above, there're 11). */ void setAccelODR(accel_odr aRate); /** setMagODR() -- Set the output data rate of the magnetometer * Input: * - mRate = The desired output rate of the mag. * Must be a value from the mag_odr enum (check above, there're 6). */ void setMagODR(mag_odr mRate); /** configGyroInt() -- Configure the gyro interrupt output. * Triggers can be set to either rising above or falling below a specified * threshold. This function helps setup the interrupt configuration and * threshold values for all axes. * Input: * - int1Cfg = A 8-bit value that is sent directly to the INT1_CFG_G * register. This sets AND/OR and high/low interrupt gen for each axis * - int1ThsX = 16-bit interrupt threshold value for x-axis * - int1ThsY = 16-bit interrupt threshold value for y-axis * - int1ThsZ = 16-bit interrupt threshold value for z-axis * - duration = Duration an interrupt holds after triggered. This value * is copied directly into the INT1_DURATION_G register. * Before using this function, read about the INT1_CFG_G register and * the related INT1* registers in the LMS9DS0 datasheet. */ void configGyroInt(uint8_t int1Cfg, uint16_t int1ThsX = 0, uint16_t int1ThsY = 0, uint16_t int1ThsZ = 0, uint8_t duration = 0); void calcBias(); /** return a comass heading (in degrees) using X/Y magnetometer data */ float calcHeading(); private: /** xmAddress and gAddress store the I2C address * for each sensor. */ uint8_t xmAddress, gAddress; /** gScale, aScale, and mScale store the current scale range for each * sensor. Should be updated whenever that value changes. */ gyro_scale gScale; accel_scale aScale; mag_scale mScale; /** gRes, aRes, and mRes store the current resolution for each sensor. * Units of these values would be DPS (or g's or Gs's) per ADC tick. * This value is calculated as (sensor scale) / (2^15). */ float gRes, aRes, mRes; /** initGyro() -- Sets up the gyroscope to begin reading. * This function steps through all five gyroscope control registers. * Upon exit, the following parameters will be set: * - CTRL_REG1_G = 0x0F: Normal operation mode, all axes enabled. * 95 Hz ODR, 12.5 Hz cutoff frequency. * - CTRL_REG2_G = 0x00: HPF set to normal mode, cutoff frequency * set to 7.2 Hz (depends on ODR). * - CTRL_REG3_G = 0x88: Interrupt enabled on INT_G (set to push-pull and * active high). Data-ready output enabled on DRDY_G. * - CTRL_REG4_G = 0x00: Continuous update mode. Data LSB stored in lower * address. Scale set to 245 DPS. SPI mode set to 4-wire. * - CTRL_REG5_G = 0x00: FIFO disabled. HPF disabled. */ void initGyro(); /** initAccel() -- Sets up the accelerometer to begin reading. * This function steps through all accelerometer related control registers. * Upon exit these registers will be set as: * - CTRL_REG0_XM = 0x00: FIFO disabled. HPF bypassed. Normal mode. * - CTRL_REG1_XM = 0x57: 100 Hz data rate. Continuous update. * all axes enabled. * - CTRL_REG2_XM = 0x00: +/- 2g scale. 773 Hz anti-alias filter BW. * - CTRL_REG3_XM = 0x04: Accel data ready signal on INT1_XM pin. */ void initAccel(); /** initMag() -- Sets up the magnetometer to begin reading. * This function steps through all magnetometer-related control registers. * Upon exit these registers will be set as: * - CTRL_REG4_XM = 0x04: Mag data ready signal on INT2_XM pin. * - CTRL_REG5_XM = 0x14: 100 Hz update rate. Low resolution. Interrupt * requests don't latch. Temperature sensor disabled. * - CTRL_REG6_XM = 0x00: +/- 2 Gs scale. * - CTRL_REG7_XM = 0x00: Continuous conversion mode. Normal HPF mode. * - INT_CTRL_REG_M = 0x09: Interrupt active-high. Enable interrupts. */ void initMag(); /** gReadByte() -- Reads a byte from a specified gyroscope register. * Input: * - subAddress = Register to be read from. * Output: * - An 8-bit value read from the requested address. */ uint8_t gReadByte(uint8_t subAddress); /** gWriteByte() -- Write a byte to a register in the gyroscope. * Input: * - subAddress = Register to be written to. * - data = data to be written to the register. */ void gWriteByte(uint8_t subAddress, uint8_t data); /** xmReadByte() -- Read a byte from a register in the accel/mag sensor * Input: * - subAddress = Register to be read from. * Output: * - An 8-bit value read from the requested register. */ uint8_t xmReadByte(uint8_t subAddress); /** xmWriteByte() -- Write a byte to a register in the accel/mag sensor. * Input: * - subAddress = Register to be written to. * - data = data to be written to the register. */ void xmWriteByte(uint8_t subAddress, uint8_t data); /** calcgRes() -- Calculate the resolution of the gyroscope. * This function will set the value of the gRes variable. gScale must * be set prior to calling this function. */ void calcgRes(); /** calcmRes() -- Calculate the resolution of the magnetometer. * This function will set the value of the mRes variable. mScale must * be set prior to calling this function. */ void calcmRes(); /** calcaRes() -- Calculate the resolution of the accelerometer. * This function will set the value of the aRes variable. aScale must * be set prior to calling this function. */ void calcaRes(); /////////////////// // I2C Functions // /////////////////// I2C i2c; /** I2CwriteByte() -- Write a byte out of I2C to a register in the device * Input: * - address = The 7-bit I2C address of the slave device. * - subAddress = The register to be written to. * - data = Byte to be written to the register. */ void I2CwriteByte(char address, char subAddress, char data); /** I2CreadByte() -- Read a single byte from a register over I2C. * Input: * - address = The 7-bit I2C address of the slave device. * - subAddress = The register to be read from. * Output: * - The byte read from the requested address. */ uint8_t I2CreadByte(char address, char subAddress); }; #endif // _LSM9DS0_H //