Diff: LSM6DS33.h

Revision:

3:b1d064895178

Parent:

2:ed14e6196255

Child:

4:4e7d663e26bd

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/LSM6DS33.h	Thu Oct 06 16:08:42 2016 +0000
@@ -0,0 +1,295 @@
+// Based on Eugene Gonzalez's version of LSM9DS1_Demo
+// Modified by Sherry Yang for LSM6DS3 sensor
+// Modified by Brian Claus for LSM6DS33 sensor
+#ifndef _LSM6DS33_H__
+#define _LSM6DS33_H__
+
+#include "mbed.h"
+
+/////////////////////////////////////////
+// LSM6DS33 Accel/Gyro (XL/G) Registers //
+/////////////////////////////////////////
+#define RAM_ACCESS            0x01
+#define FIFO_CTRL1            0x06
+#define FIFO_CTRL2            0x07
+#define FIFO_CTRL3            0x08
+#define FIFO_CTRL4            0x09
+#define FIFO_CTRL5            0x0A
+#define ORIENT_CFG_G          0x0B
+#define INT1_CTRL             0x0D
+#define INT2_CTRL             0x0E
+#define WHO_AM_I_REG          0X0F
+#define CTRL1_XL              0x10
+#define CTRL2_G               0x11
+#define CTRL3_C               0x12
+#define CTRL4_C               0x13
+#define CTRL5_C               0x14
+#define CTRL6_C               0x15
+#define CTRL7_G               0x16
+#define CTRL8_XL              0x17
+#define CTRL9_XL              0x18
+#define CTRL10_C              0x19
+#define WAKE_UP_SRC           0x1B
+#define TAP_SRC               0x1C
+#define D6D_SRC               0x1D
+#define STATUS_REG            0x1E
+#define OUT_TEMP_L            0x20
+#define OUT_TEMP_H            0x21
+#define OUTX_L_G              0x22
+#define OUTX_H_G              0x23
+#define OUTY_L_G              0x24
+#define OUTY_H_G              0x25
+#define OUTZ_L_G              0x26
+#define OUTZ_H_G              0x27
+#define OUTX_L_XL             0x28
+#define OUTX_H_XL             0x29
+#define OUTY_L_XL             0x2A
+#define OUTY_H_XL             0x2B
+#define OUTZ_L_XL             0x2C
+#define OUTZ_H_XL             0x2D
+#define FIFO_STATUS1          0x3A
+#define FIFO_STATUS2          0x3B
+#define FIFO_STATUS3          0x3C
+#define FIFO_STATUS4          0x3D
+#define FIFO_DATA_OUT_L       0x3E
+#define FIFO_DATA_OUT_H       0x3F
+#define TIMESTAMP0_REG        0x40
+#define TIMESTAMP1_REG        0x41
+#define TIMESTAMP2_REG        0x42
+#define STEP_TIMESTAMP_L      0x49
+#define STEP_TIMESTAMP_H      0x4A
+#define STEP_COUNTER_L        0x4B
+#define STEP_COUNTER_H        0x4C
+#define FUNC_SR               0x53
+#define TAP_CFG               0x58
+#define TAP_THS_6D            0x59
+#define INT_DUR2              0x5A
+#define WAKE_UP_THS           0x5B
+#define WAKE_UP_DUR           0x5C
+#define FREE_FALL             0x5D
+#define MD1_CFG               0x5E
+#define MD2_CFG               0x5F
+
+// Possible I2C addresses for the accel/gyro
+#define LSM6DS33_AG_I2C_ADDR(sa0) ((sa0) ? 0xD6 : 0xD4)
+
+/**
+ * LSM6DS33 Class - driver for the 6 DoF IMU
+ */
+class LSM6DS33
+{
+public:
+
+    /// gyro_scale defines the possible full-scale ranges of the gyroscope:
+    enum gyro_scale
+    {
+        G_SCALE_245DPS = 0x0 << 3,     // 00 << 3: +/- 245 degrees per second
+        G_SCALE_500DPS = 0x1 << 3,     // 01 << 3: +/- 500 dps
+        G_SCALE_1000DPS = 0x2 << 3,    // 10 << 3: +/- 1000 dps
+        G_SCALE_2000DPS = 0x3 << 3     // 11 << 3: +/- 2000 dps
+    };
+
+    /// gyro_odr defines all possible data rate/bandwidth combos of the gyro:
+    enum gyro_odr
+    {                               // ODR (Hz) --- Cutoff
+        G_POWER_DOWN     = 0x00,    //  0           0
+        G_ODR_13_BW_0    = 0x10,    //  12.5        0.0081      low power
+        G_ODR_26_BW_2    = 0x20,    //  26          2.07        low power
+        G_ODR_52_BW_16   = 0x30,    //  52          16.32       low power
+        G_ODR_104        = 0x40,    //  104         
+        G_ODR_208        = 0x50,    //  208         
+        G_ODR_416        = 0x60,    //  416         
+        G_ODR_833        = 0x70,    //  833         
+        G_ODR_1660       = 0x80     //  1660
+    };
+
+    /// accel_scale defines all possible FSR's of the accelerometer:
+    enum accel_scale
+    {
+        A_SCALE_2G, // 00: +/- 2g
+        A_SCALE_16G,// 01: +/- 16g
+        A_SCALE_4G, // 10: +/- 4g
+        A_SCALE_8G  // 11: +/- 8g
+    };
+
+    /// accel_oder defines all possible output data rates of the accelerometer:
+    enum accel_odr
+    {
+        A_POWER_DOWN,   // Power-down mode (0x0)
+        A_ODR_13,       // 12.5 Hz (0x1)        low power
+        A_ODR_26,       // 26 Hz (0x2)          low power
+        A_ODR_52,       // 52 Hz (0x3)          low power
+        A_ODR_104,      // 104 Hz (0x4)         normal mode
+        A_ODR_208,      // 208 Hz (0x5)         normal mode
+        A_ODR_416,      // 416 Hz (0x6)         high performance
+        A_ODR_833,      // 833 Hz (0x7)         high performance
+        A_ODR_1660,     // 1.66 kHz (0x8)       high performance
+        A_ODR_3330,     // 3.33 kHz (0x9)       high performance
+        A_ODR_6660,     // 6.66 kHz (0xA)       high performance
+    };
+
+    // accel_bw defines all possible bandwiths for low-pass filter of the accelerometer:
+    enum accel_bw
+    {
+        
+        A_BW_400 = 0x0,         // 400 Hz 
+        A_BW_200 = 0x1,         // 200 Hz 
+        A_BW_100 = 0x2,         // 100 Hz 
+        A_BW_50 = 0x3           // 50 Hz 
+    };
+    
+    
+
+    // We'll store the gyro, and accel, readings in a series of
+    // public class variables. Each sensor gets three variables -- one for each
+    // axis. Call readGyro(), and readAccel() 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 temperature_raw;
+    int32_t time_raw;
+
+    // floating-point values of scaled data in real-world units
+    float gx, gy, gz;
+    float ax, ay, az;
+    float temperature_c, temperature_f; // temperature in celcius and fahrenheit
+    float intr;
+    float time;
+
+    
+    /**  LSM6DS33 -- LSM6DS33 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.
+    *   - xgAddr = If MODE_I2C, this is the I2C address of the accel/gyro.
+    *               If MODE_SPI, this is the chip select pin of the accel/gyro (CS_A/G)
+    */
+    LSM6DS33(PinName sda, PinName scl, uint8_t xgAddr = LSM6DS33_AG_I2C_ADDR(1));
+    
+    /**  begin() -- Initialize the gyro, and accelerometer.
+    *  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.
+    *   - gODR = Output data rate of the gyroscope. gyro_odr value.
+    *   - aODR = Output data rate of the accelerometer. accel_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/gyro.
+    *  All parameters have a defaulted value, so you can call just "begin()".
+    *  Default values are FSR's of: +/- 245DPS, 4g, 2Gs; ODRs of 119 Hz for 
+    *  gyro, 119 Hz for accelerometer.
+    *  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, gyro_odr gODR = G_ODR_104, 
+                accel_odr aODR = A_ODR_104);
+    
+    /**  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();
+    
+    /**  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();
+    
+    /** Read Interrupt **/
+    void readIntr();
+    
+    /**  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 2000 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, 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);
+    
+    /**  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).
+    */
+    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).
+    */
+    void setAccelODR(accel_odr aRate);
+
+
+private:    
+    /**  xgAddress store the I2C address
+    *  for each sensor.
+    */
+    uint8_t xgAddress;
+    
+    // I2C bus
+    I2C i2c;
+
+    /**  gScale, and aScale store the current scale range for each 
+    *  sensor. Should be updated whenever that value changes.
+    */
+    gyro_scale gScale;
+    accel_scale aScale;
+    
+    /**  gRes, and aRes 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;
+    
+    /**  initGyro() -- Sets up the gyroscope to begin reading.
+    *  This function steps through all three gyroscope control registers.
+    */
+    void initGyro();
+    
+    /**  initAccel() -- Sets up the accelerometer to begin reading.
+    *  This function steps through all accelerometer related control registers.
+    */
+    void initAccel();
+    
+    /** Setup Interrupt **/
+    void initIntr();
+    
+    /**  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();
+    
+    /**  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();
+};
+
+#endif // _LSM6DS33_H //