Allen Wild
I2C Library for the LSM9DS0 IMU
Dependents: 4180_LSM9DS0_lab HW2_P2 HW2_P3 HW2_P4 ... more
Diff: LSM9DS0.h
- Revision:
- 0:3a1dce39106c
- Child:
- 1:7c1e26d377ed
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/LSM9DS0.h Mon Jan 26 06:34:53 2015 +0000
@@ -0,0 +1,462 @@
+// 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
+
+
+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 //