LSM6DS33 Library
Dependents: teensyIMU LSM6DS33 ALTIMU_v6
Fork of LSM6DS3 by
LSM6DS33.cpp@3:b1d064895178, 2016-10-06 (annotated)
- Committer:
- bclaus
- Date:
- Thu Oct 06 16:08:42 2016 +0000
- Revision:
- 3:b1d064895178
- Parent:
- LSM6DS3.cpp@2:ed14e6196255
- Child:
- 4:4e7d663e26bd
branch from lsm6ds3
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
bclaus | 3:b1d064895178 | 1 | #include "LSM6DS33.h" |
5hel2l2y | 0:46630122dec9 | 2 | |
bclaus | 3:b1d064895178 | 3 | LSM6DS33::LSM6DS33(PinName sda, PinName scl, uint8_t xgAddr) : i2c(sda, scl) |
5hel2l2y | 0:46630122dec9 | 4 | { |
5hel2l2y | 0:46630122dec9 | 5 | // xgAddress will store the 7-bit I2C address, if using I2C. |
5hel2l2y | 0:46630122dec9 | 6 | xgAddress = xgAddr; |
5hel2l2y | 0:46630122dec9 | 7 | } |
5hel2l2y | 0:46630122dec9 | 8 | |
bclaus | 3:b1d064895178 | 9 | uint16_t LSM6DS33::begin(gyro_scale gScl, accel_scale aScl, |
5hel2l2y | 0:46630122dec9 | 10 | gyro_odr gODR, accel_odr aODR) |
5hel2l2y | 0:46630122dec9 | 11 | { |
5hel2l2y | 0:46630122dec9 | 12 | // Store the given scales in class variables. These scale variables |
5hel2l2y | 0:46630122dec9 | 13 | // are used throughout to calculate the actual g's, DPS,and Gs's. |
5hel2l2y | 0:46630122dec9 | 14 | gScale = gScl; |
5hel2l2y | 0:46630122dec9 | 15 | aScale = aScl; |
5hel2l2y | 0:46630122dec9 | 16 | |
5hel2l2y | 0:46630122dec9 | 17 | // Once we have the scale values, we can calculate the resolution |
5hel2l2y | 0:46630122dec9 | 18 | // of each sensor. That's what these functions are for. One for each sensor |
5hel2l2y | 0:46630122dec9 | 19 | calcgRes(); // Calculate DPS / ADC tick, stored in gRes variable |
5hel2l2y | 0:46630122dec9 | 20 | calcaRes(); // Calculate g / ADC tick, stored in aRes variable |
5hel2l2y | 0:46630122dec9 | 21 | |
5hel2l2y | 0:46630122dec9 | 22 | |
5hel2l2y | 0:46630122dec9 | 23 | // To verify communication, we can read from the WHO_AM_I register of |
5hel2l2y | 0:46630122dec9 | 24 | // each device. Store those in a variable so we can return them. |
5hel2l2y | 0:46630122dec9 | 25 | // The start of the addresses we want to read from |
5hel2l2y | 0:46630122dec9 | 26 | char cmd[2] = { |
5hel2l2y | 0:46630122dec9 | 27 | WHO_AM_I_REG, |
5hel2l2y | 0:46630122dec9 | 28 | 0 |
5hel2l2y | 0:46630122dec9 | 29 | }; |
5hel2l2y | 0:46630122dec9 | 30 | |
5hel2l2y | 0:46630122dec9 | 31 | // Write the address we are going to read from and don't end the transaction |
5hel2l2y | 0:46630122dec9 | 32 | i2c.write(xgAddress, cmd, 1, true); |
5hel2l2y | 0:46630122dec9 | 33 | // Read in all the 8 bits of data |
5hel2l2y | 0:46630122dec9 | 34 | i2c.read(xgAddress, cmd+1, 1); |
5hel2l2y | 0:46630122dec9 | 35 | uint8_t xgTest = cmd[1]; // Read the accel/gyro WHO_AM_I |
5hel2l2y | 0:46630122dec9 | 36 | |
5hel2l2y | 0:46630122dec9 | 37 | // Gyro initialization stuff: |
5hel2l2y | 0:46630122dec9 | 38 | initGyro(); // This will "turn on" the gyro. Setting up interrupts, etc. |
5hel2l2y | 0:46630122dec9 | 39 | setGyroODR(gODR); // Set the gyro output data rate and bandwidth. |
5hel2l2y | 0:46630122dec9 | 40 | setGyroScale(gScale); // Set the gyro range |
5hel2l2y | 0:46630122dec9 | 41 | |
5hel2l2y | 0:46630122dec9 | 42 | // Accelerometer initialization stuff: |
5hel2l2y | 0:46630122dec9 | 43 | initAccel(); // "Turn on" all axes of the accel. Set up interrupts, etc. |
5hel2l2y | 0:46630122dec9 | 44 | setAccelODR(aODR); // Set the accel data rate. |
5hel2l2y | 0:46630122dec9 | 45 | setAccelScale(aScale); // Set the accel range. |
5hel2l2y | 0:46630122dec9 | 46 | |
bclaus | 3:b1d064895178 | 47 | //set high res timestamp where LSB is 25us |
bclaus | 3:b1d064895178 | 48 | cmd[0] = WAKE_UP_DUR; |
bclaus | 3:b1d064895178 | 49 | cmd[1] = 0x10; |
bclaus | 3:b1d064895178 | 50 | i2c.write(xgAddress, cmd, 2); |
5hel2l2y | 2:ed14e6196255 | 51 | |
5hel2l2y | 0:46630122dec9 | 52 | // Once everything is initialized, return the WHO_AM_I registers we read: |
5hel2l2y | 0:46630122dec9 | 53 | return xgTest; |
5hel2l2y | 0:46630122dec9 | 54 | } |
5hel2l2y | 0:46630122dec9 | 55 | |
bclaus | 3:b1d064895178 | 56 | void LSM6DS33::initGyro() |
5hel2l2y | 0:46630122dec9 | 57 | { |
5hel2l2y | 0:46630122dec9 | 58 | char cmd[4] = { |
5hel2l2y | 0:46630122dec9 | 59 | CTRL2_G, |
5hel2l2y | 1:924c7dea286e | 60 | gScale | G_ODR_104, |
5hel2l2y | 0:46630122dec9 | 61 | 0, // Default data out and int out |
5hel2l2y | 0:46630122dec9 | 62 | 0 // Default power mode and high pass settings |
5hel2l2y | 0:46630122dec9 | 63 | }; |
5hel2l2y | 0:46630122dec9 | 64 | |
5hel2l2y | 0:46630122dec9 | 65 | // Write the data to the gyro control registers |
5hel2l2y | 0:46630122dec9 | 66 | i2c.write(xgAddress, cmd, 4); |
5hel2l2y | 0:46630122dec9 | 67 | } |
5hel2l2y | 0:46630122dec9 | 68 | |
bclaus | 3:b1d064895178 | 69 | void LSM6DS33::initAccel() |
5hel2l2y | 0:46630122dec9 | 70 | { |
5hel2l2y | 0:46630122dec9 | 71 | char cmd[4] = { |
5hel2l2y | 0:46630122dec9 | 72 | CTRL1_XL, |
5hel2l2y | 0:46630122dec9 | 73 | 0x38, // Enable all axis and don't decimate data in out Registers |
bclaus | 3:b1d064895178 | 74 | (A_ODR_104 << 5) | (aScale << 3) | (A_BW_400), // 119 Hz ODR, set scale, and auto BW |
5hel2l2y | 0:46630122dec9 | 75 | 0 // Default resolution mode and filtering settings |
5hel2l2y | 0:46630122dec9 | 76 | }; |
5hel2l2y | 0:46630122dec9 | 77 | |
5hel2l2y | 0:46630122dec9 | 78 | // Write the data to the accel control registers |
5hel2l2y | 0:46630122dec9 | 79 | i2c.write(xgAddress, cmd, 4); |
5hel2l2y | 0:46630122dec9 | 80 | } |
5hel2l2y | 0:46630122dec9 | 81 | |
bclaus | 3:b1d064895178 | 82 | void LSM6DS33::initIntr() |
5hel2l2y | 2:ed14e6196255 | 83 | { |
5hel2l2y | 2:ed14e6196255 | 84 | char cmd[2]; |
bclaus | 3:b1d064895178 | 85 | |
5hel2l2y | 2:ed14e6196255 | 86 | } |
5hel2l2y | 2:ed14e6196255 | 87 | |
bclaus | 3:b1d064895178 | 88 | void LSM6DS33::readAll(){ |
bclaus | 3:b1d064895178 | 89 | // The data we are going to read from the temp/gyr/acc/timestamp |
bclaus | 3:b1d064895178 | 90 | char data[14];//from 0x20 to 0x42 |
bclaus | 3:b1d064895178 | 91 | char tsdata[3]; |
bclaus | 3:b1d064895178 | 92 | |
bclaus | 3:b1d064895178 | 93 | // Set addresses |
bclaus | 3:b1d064895178 | 94 | char subAddressLT = OUT_TEMP_L; |
bclaus | 3:b1d064895178 | 95 | char subAddressHT = OUT_TEMP_H; |
bclaus | 3:b1d064895178 | 96 | char subAddressXLG = OUTX_L_G; |
bclaus | 3:b1d064895178 | 97 | char subAddressXHG = OUTX_H_G; |
bclaus | 3:b1d064895178 | 98 | char subAddressYLG = OUTY_L_G; |
bclaus | 3:b1d064895178 | 99 | char subAddressYHG = OUTY_H_G; |
bclaus | 3:b1d064895178 | 100 | char subAddressZLG = OUTZ_L_G; |
bclaus | 3:b1d064895178 | 101 | char subAddressZHG = OUTZ_H_G; |
bclaus | 3:b1d064895178 | 102 | char subAddressXL = OUTX_L_XL; |
bclaus | 3:b1d064895178 | 103 | char subAddressXH = OUTX_H_XL; |
bclaus | 3:b1d064895178 | 104 | char subAddressYL = OUTY_L_XL; |
bclaus | 3:b1d064895178 | 105 | char subAddressYH = OUTY_H_XL; |
bclaus | 3:b1d064895178 | 106 | char subAddressZL = OUTZ_L_XL; |
bclaus | 3:b1d064895178 | 107 | char subAddressZH = OUTZ_H_XL; |
bclaus | 3:b1d064895178 | 108 | char subAddressTS0 = TIMESTAMP0_REG; |
bclaus | 3:b1d064895178 | 109 | char subAddressTS1 = TIMESTAMP1_REG; |
bclaus | 3:b1d064895178 | 110 | char subAddressTS2 = TIMESTAMP2_REG; |
bclaus | 3:b1d064895178 | 111 | |
bclaus | 3:b1d064895178 | 112 | // Write the address we are going to read from and don't end the transaction |
bclaus | 3:b1d064895178 | 113 | i2c.write(xgAddress, &subAddressLT, 1, true); |
bclaus | 3:b1d064895178 | 114 | // Read in registers containing all the data and timestamp and don't end |
bclaus | 3:b1d064895178 | 115 | i2c.read(xgAddress, data, 14,true); |
bclaus | 3:b1d064895178 | 116 | i2c.write(xgAddress, &subAddressTS0, 1, true); |
bclaus | 3:b1d064895178 | 117 | i2c.read(xgAddress, tsdata, 3); |
bclaus | 3:b1d064895178 | 118 | |
bclaus | 3:b1d064895178 | 119 | // Temperature is a 12-bit signed integer |
bclaus | 3:b1d064895178 | 120 | temperature_raw = data[0] | (data[1] << 8); |
bclaus | 3:b1d064895178 | 121 | gx_raw = data[2] | (data[3] << 8); |
bclaus | 3:b1d064895178 | 122 | gy_raw = data[4] | (data[5] << 8); |
bclaus | 3:b1d064895178 | 123 | gz_raw = data[6] | (data[7] << 8); |
bclaus | 3:b1d064895178 | 124 | ax_raw = data[8] | (data[9] << 8); |
bclaus | 3:b1d064895178 | 125 | ay_raw = data[10] | (data[11] << 8); |
bclaus | 3:b1d064895178 | 126 | az_raw = data[12] | (data[13] << 8); |
bclaus | 3:b1d064895178 | 127 | time_raw = tsdata[0] | (tsdata[1] << 8) | (tsdata[2] << 16); |
bclaus | 3:b1d064895178 | 128 | |
bclaus | 3:b1d064895178 | 129 | |
bclaus | 3:b1d064895178 | 130 | temperature_c = (float)temperature_raw / 16.0 + 25.0; |
bclaus | 3:b1d064895178 | 131 | gx = gx_raw * gRes; |
bclaus | 3:b1d064895178 | 132 | gy = gy_raw * gRes; |
bclaus | 3:b1d064895178 | 133 | gz = gz_raw * gRes; |
bclaus | 3:b1d064895178 | 134 | ax = ax_raw * aRes; |
bclaus | 3:b1d064895178 | 135 | ay = ay_raw * aRes; |
bclaus | 3:b1d064895178 | 136 | az = az_raw * aRes; |
bclaus | 3:b1d064895178 | 137 | time = time_raw*(0.000025); |
bclaus | 3:b1d064895178 | 138 | |
bclaus | 3:b1d064895178 | 139 | |
bclaus | 3:b1d064895178 | 140 | } |
bclaus | 3:b1d064895178 | 141 | |
bclaus | 3:b1d064895178 | 142 | |
bclaus | 3:b1d064895178 | 143 | void LSM6DS33::readAccel() |
5hel2l2y | 0:46630122dec9 | 144 | { |
5hel2l2y | 0:46630122dec9 | 145 | // The data we are going to read from the accel |
5hel2l2y | 0:46630122dec9 | 146 | char data[6]; |
5hel2l2y | 0:46630122dec9 | 147 | |
5hel2l2y | 0:46630122dec9 | 148 | // Set addresses |
5hel2l2y | 0:46630122dec9 | 149 | char subAddressXL = OUTX_L_XL; |
5hel2l2y | 0:46630122dec9 | 150 | char subAddressXH = OUTX_H_XL; |
5hel2l2y | 0:46630122dec9 | 151 | char subAddressYL = OUTY_L_XL; |
5hel2l2y | 0:46630122dec9 | 152 | char subAddressYH = OUTY_H_XL; |
5hel2l2y | 0:46630122dec9 | 153 | char subAddressZL = OUTZ_L_XL; |
5hel2l2y | 0:46630122dec9 | 154 | char subAddressZH = OUTZ_H_XL; |
5hel2l2y | 0:46630122dec9 | 155 | |
5hel2l2y | 0:46630122dec9 | 156 | // Write the address we are going to read from and don't end the transaction |
5hel2l2y | 0:46630122dec9 | 157 | i2c.write(xgAddress, &subAddressXL, 1, true); |
5hel2l2y | 0:46630122dec9 | 158 | // Read in register containing the axes data and alocated to the correct index |
5hel2l2y | 0:46630122dec9 | 159 | i2c.read(xgAddress, data, 1); |
5hel2l2y | 0:46630122dec9 | 160 | |
5hel2l2y | 0:46630122dec9 | 161 | i2c.write(xgAddress, &subAddressXH, 1, true); |
5hel2l2y | 0:46630122dec9 | 162 | i2c.read(xgAddress, (data + 1), 1); |
5hel2l2y | 0:46630122dec9 | 163 | i2c.write(xgAddress, &subAddressYL, 1, true); |
5hel2l2y | 0:46630122dec9 | 164 | i2c.read(xgAddress, (data + 2), 1); |
5hel2l2y | 0:46630122dec9 | 165 | i2c.write(xgAddress, &subAddressYH, 1, true); |
5hel2l2y | 0:46630122dec9 | 166 | i2c.read(xgAddress, (data + 3), 1); |
5hel2l2y | 0:46630122dec9 | 167 | i2c.write(xgAddress, &subAddressZL, 1, true); |
5hel2l2y | 0:46630122dec9 | 168 | i2c.read(xgAddress, (data + 4), 1); |
5hel2l2y | 0:46630122dec9 | 169 | i2c.write(xgAddress, &subAddressZH, 1, true); |
5hel2l2y | 0:46630122dec9 | 170 | i2c.read(xgAddress, (data + 5), 1); |
5hel2l2y | 0:46630122dec9 | 171 | |
5hel2l2y | 0:46630122dec9 | 172 | // Reassemble the data and convert to g |
5hel2l2y | 0:46630122dec9 | 173 | ax_raw = data[0] | (data[1] << 8); |
5hel2l2y | 0:46630122dec9 | 174 | ay_raw = data[2] | (data[3] << 8); |
5hel2l2y | 0:46630122dec9 | 175 | az_raw = data[4] | (data[5] << 8); |
5hel2l2y | 0:46630122dec9 | 176 | ax = ax_raw * aRes; |
5hel2l2y | 0:46630122dec9 | 177 | ay = ay_raw * aRes; |
5hel2l2y | 0:46630122dec9 | 178 | az = az_raw * aRes; |
5hel2l2y | 0:46630122dec9 | 179 | } |
5hel2l2y | 0:46630122dec9 | 180 | |
bclaus | 3:b1d064895178 | 181 | void LSM6DS33::readIntr() |
5hel2l2y | 2:ed14e6196255 | 182 | { |
5hel2l2y | 2:ed14e6196255 | 183 | char data[1]; |
5hel2l2y | 2:ed14e6196255 | 184 | char subAddress = TAP_SRC; |
5hel2l2y | 2:ed14e6196255 | 185 | |
5hel2l2y | 2:ed14e6196255 | 186 | i2c.write(xgAddress, &subAddress, 1, true); |
5hel2l2y | 2:ed14e6196255 | 187 | i2c.read(xgAddress, data, 1); |
5hel2l2y | 2:ed14e6196255 | 188 | |
5hel2l2y | 2:ed14e6196255 | 189 | intr = (float)data[0]; |
5hel2l2y | 2:ed14e6196255 | 190 | } |
5hel2l2y | 2:ed14e6196255 | 191 | |
bclaus | 3:b1d064895178 | 192 | void LSM6DS33::readTemp() |
5hel2l2y | 0:46630122dec9 | 193 | { |
5hel2l2y | 0:46630122dec9 | 194 | // The data we are going to read from the temp |
5hel2l2y | 0:46630122dec9 | 195 | char data[2]; |
5hel2l2y | 0:46630122dec9 | 196 | |
5hel2l2y | 0:46630122dec9 | 197 | // Set addresses |
5hel2l2y | 0:46630122dec9 | 198 | char subAddressL = OUT_TEMP_L; |
5hel2l2y | 0:46630122dec9 | 199 | char subAddressH = OUT_TEMP_H; |
5hel2l2y | 0:46630122dec9 | 200 | |
5hel2l2y | 0:46630122dec9 | 201 | // Write the address we are going to read from and don't end the transaction |
5hel2l2y | 0:46630122dec9 | 202 | i2c.write(xgAddress, &subAddressL, 1, true); |
5hel2l2y | 0:46630122dec9 | 203 | // Read in register containing the temperature data and alocated to the correct index |
5hel2l2y | 0:46630122dec9 | 204 | i2c.read(xgAddress, data, 1); |
5hel2l2y | 0:46630122dec9 | 205 | |
5hel2l2y | 0:46630122dec9 | 206 | i2c.write(xgAddress, &subAddressH, 1, true); |
5hel2l2y | 0:46630122dec9 | 207 | i2c.read(xgAddress, (data + 1), 1); |
5hel2l2y | 0:46630122dec9 | 208 | |
5hel2l2y | 0:46630122dec9 | 209 | // Temperature is a 12-bit signed integer |
5hel2l2y | 0:46630122dec9 | 210 | temperature_raw = data[0] | (data[1] << 8); |
5hel2l2y | 0:46630122dec9 | 211 | |
5hel2l2y | 0:46630122dec9 | 212 | temperature_c = (float)temperature_raw / 16.0 + 25.0; |
5hel2l2y | 0:46630122dec9 | 213 | temperature_f = temperature_c * 1.8 + 32.0; |
5hel2l2y | 0:46630122dec9 | 214 | } |
5hel2l2y | 0:46630122dec9 | 215 | |
5hel2l2y | 0:46630122dec9 | 216 | |
bclaus | 3:b1d064895178 | 217 | void LSM6DS33::readGyro() |
5hel2l2y | 0:46630122dec9 | 218 | { |
5hel2l2y | 0:46630122dec9 | 219 | // The data we are going to read from the gyro |
5hel2l2y | 0:46630122dec9 | 220 | char data[6]; |
5hel2l2y | 0:46630122dec9 | 221 | |
5hel2l2y | 0:46630122dec9 | 222 | // Set addresses |
5hel2l2y | 0:46630122dec9 | 223 | char subAddressXL = OUTX_L_G; |
5hel2l2y | 0:46630122dec9 | 224 | char subAddressXH = OUTX_H_G; |
5hel2l2y | 0:46630122dec9 | 225 | char subAddressYL = OUTY_L_G; |
5hel2l2y | 0:46630122dec9 | 226 | char subAddressYH = OUTY_H_G; |
5hel2l2y | 0:46630122dec9 | 227 | char subAddressZL = OUTZ_L_G; |
5hel2l2y | 0:46630122dec9 | 228 | char subAddressZH = OUTZ_H_G; |
5hel2l2y | 0:46630122dec9 | 229 | |
5hel2l2y | 0:46630122dec9 | 230 | // Write the address we are going to read from and don't end the transaction |
5hel2l2y | 0:46630122dec9 | 231 | i2c.write(xgAddress, &subAddressXL, 1, true); |
5hel2l2y | 0:46630122dec9 | 232 | // Read in register containing the axes data and alocated to the correct index |
5hel2l2y | 0:46630122dec9 | 233 | i2c.read(xgAddress, data, 1); |
5hel2l2y | 0:46630122dec9 | 234 | |
5hel2l2y | 0:46630122dec9 | 235 | i2c.write(xgAddress, &subAddressXH, 1, true); |
5hel2l2y | 0:46630122dec9 | 236 | i2c.read(xgAddress, (data + 1), 1); |
5hel2l2y | 0:46630122dec9 | 237 | i2c.write(xgAddress, &subAddressYL, 1, true); |
5hel2l2y | 0:46630122dec9 | 238 | i2c.read(xgAddress, (data + 2), 1); |
5hel2l2y | 0:46630122dec9 | 239 | i2c.write(xgAddress, &subAddressYH, 1, true); |
5hel2l2y | 0:46630122dec9 | 240 | i2c.read(xgAddress, (data + 3), 1); |
5hel2l2y | 0:46630122dec9 | 241 | i2c.write(xgAddress, &subAddressZL, 1, true); |
5hel2l2y | 0:46630122dec9 | 242 | i2c.read(xgAddress, (data + 4), 1); |
5hel2l2y | 0:46630122dec9 | 243 | i2c.write(xgAddress, &subAddressZH, 1, true); |
5hel2l2y | 0:46630122dec9 | 244 | i2c.read(xgAddress, (data + 5), 1); |
5hel2l2y | 0:46630122dec9 | 245 | |
5hel2l2y | 0:46630122dec9 | 246 | // Reassemble the data and convert to degrees/sec |
5hel2l2y | 0:46630122dec9 | 247 | gx_raw = data[0] | (data[1] << 8); |
5hel2l2y | 0:46630122dec9 | 248 | gy_raw = data[2] | (data[3] << 8); |
5hel2l2y | 0:46630122dec9 | 249 | gz_raw = data[4] | (data[5] << 8); |
5hel2l2y | 0:46630122dec9 | 250 | gx = gx_raw * gRes; |
5hel2l2y | 0:46630122dec9 | 251 | gy = gy_raw * gRes; |
5hel2l2y | 0:46630122dec9 | 252 | gz = gz_raw * gRes; |
5hel2l2y | 0:46630122dec9 | 253 | } |
5hel2l2y | 0:46630122dec9 | 254 | |
bclaus | 3:b1d064895178 | 255 | void LSM6DS33::setGyroScale(gyro_scale gScl) |
5hel2l2y | 0:46630122dec9 | 256 | { |
5hel2l2y | 0:46630122dec9 | 257 | // The start of the addresses we want to read from |
5hel2l2y | 0:46630122dec9 | 258 | char cmd[2] = { |
5hel2l2y | 0:46630122dec9 | 259 | CTRL2_G, |
5hel2l2y | 0:46630122dec9 | 260 | 0 |
5hel2l2y | 0:46630122dec9 | 261 | }; |
5hel2l2y | 0:46630122dec9 | 262 | |
5hel2l2y | 0:46630122dec9 | 263 | // Write the address we are going to read from and don't end the transaction |
5hel2l2y | 0:46630122dec9 | 264 | i2c.write(xgAddress, cmd, 1, true); |
5hel2l2y | 0:46630122dec9 | 265 | // Read in all the 8 bits of data |
5hel2l2y | 0:46630122dec9 | 266 | i2c.read(xgAddress, cmd+1, 1); |
5hel2l2y | 0:46630122dec9 | 267 | |
5hel2l2y | 0:46630122dec9 | 268 | // Then mask out the gyro scale bits: |
5hel2l2y | 0:46630122dec9 | 269 | cmd[1] &= 0xFF^(0x3 << 3); |
5hel2l2y | 0:46630122dec9 | 270 | // Then shift in our new scale bits: |
5hel2l2y | 0:46630122dec9 | 271 | cmd[1] |= gScl << 3; |
5hel2l2y | 0:46630122dec9 | 272 | |
5hel2l2y | 0:46630122dec9 | 273 | // Write the gyroscale out to the gyro |
5hel2l2y | 0:46630122dec9 | 274 | i2c.write(xgAddress, cmd, 2); |
5hel2l2y | 0:46630122dec9 | 275 | |
5hel2l2y | 0:46630122dec9 | 276 | // We've updated the sensor, but we also need to update our class variables |
5hel2l2y | 0:46630122dec9 | 277 | // First update gScale: |
5hel2l2y | 0:46630122dec9 | 278 | gScale = gScl; |
5hel2l2y | 0:46630122dec9 | 279 | // Then calculate a new gRes, which relies on gScale being set correctly: |
5hel2l2y | 0:46630122dec9 | 280 | calcgRes(); |
5hel2l2y | 0:46630122dec9 | 281 | } |
5hel2l2y | 0:46630122dec9 | 282 | |
bclaus | 3:b1d064895178 | 283 | void LSM6DS33::setAccelScale(accel_scale aScl) |
5hel2l2y | 0:46630122dec9 | 284 | { |
5hel2l2y | 0:46630122dec9 | 285 | // The start of the addresses we want to read from |
5hel2l2y | 0:46630122dec9 | 286 | char cmd[2] = { |
5hel2l2y | 0:46630122dec9 | 287 | CTRL1_XL, |
5hel2l2y | 0:46630122dec9 | 288 | 0 |
5hel2l2y | 0:46630122dec9 | 289 | }; |
5hel2l2y | 0:46630122dec9 | 290 | |
5hel2l2y | 0:46630122dec9 | 291 | // Write the address we are going to read from and don't end the transaction |
5hel2l2y | 0:46630122dec9 | 292 | i2c.write(xgAddress, cmd, 1, true); |
5hel2l2y | 0:46630122dec9 | 293 | // Read in all the 8 bits of data |
5hel2l2y | 0:46630122dec9 | 294 | i2c.read(xgAddress, cmd+1, 1); |
5hel2l2y | 0:46630122dec9 | 295 | |
5hel2l2y | 0:46630122dec9 | 296 | // Then mask out the accel scale bits: |
5hel2l2y | 0:46630122dec9 | 297 | cmd[1] &= 0xFF^(0x3 << 3); |
5hel2l2y | 0:46630122dec9 | 298 | // Then shift in our new scale bits: |
5hel2l2y | 0:46630122dec9 | 299 | cmd[1] |= aScl << 3; |
5hel2l2y | 0:46630122dec9 | 300 | |
5hel2l2y | 0:46630122dec9 | 301 | // Write the accelscale out to the accel |
5hel2l2y | 0:46630122dec9 | 302 | i2c.write(xgAddress, cmd, 2); |
5hel2l2y | 0:46630122dec9 | 303 | |
5hel2l2y | 0:46630122dec9 | 304 | // We've updated the sensor, but we also need to update our class variables |
5hel2l2y | 0:46630122dec9 | 305 | // First update aScale: |
5hel2l2y | 0:46630122dec9 | 306 | aScale = aScl; |
5hel2l2y | 0:46630122dec9 | 307 | // Then calculate a new aRes, which relies on aScale being set correctly: |
5hel2l2y | 0:46630122dec9 | 308 | calcaRes(); |
5hel2l2y | 0:46630122dec9 | 309 | } |
5hel2l2y | 0:46630122dec9 | 310 | |
bclaus | 3:b1d064895178 | 311 | void LSM6DS33::setGyroODR(gyro_odr gRate) |
5hel2l2y | 0:46630122dec9 | 312 | { |
5hel2l2y | 0:46630122dec9 | 313 | // The start of the addresses we want to read from |
5hel2l2y | 0:46630122dec9 | 314 | char cmd[2] = { |
5hel2l2y | 0:46630122dec9 | 315 | CTRL2_G, |
5hel2l2y | 0:46630122dec9 | 316 | 0 |
5hel2l2y | 0:46630122dec9 | 317 | }; |
5hel2l2y | 1:924c7dea286e | 318 | |
5hel2l2y | 1:924c7dea286e | 319 | // Set low power based on ODR, else keep sensor on high performance |
5hel2l2y | 1:924c7dea286e | 320 | if(gRate == G_ODR_13_BW_0 | gRate == G_ODR_26_BW_2 | gRate == G_ODR_52_BW_16) { |
5hel2l2y | 1:924c7dea286e | 321 | char cmdLow[2] ={ |
5hel2l2y | 1:924c7dea286e | 322 | CTRL7_G, |
5hel2l2y | 1:924c7dea286e | 323 | 1 |
5hel2l2y | 1:924c7dea286e | 324 | }; |
5hel2l2y | 1:924c7dea286e | 325 | |
5hel2l2y | 1:924c7dea286e | 326 | i2c.write(xgAddress, cmdLow, 2); |
5hel2l2y | 1:924c7dea286e | 327 | } |
5hel2l2y | 1:924c7dea286e | 328 | else { |
5hel2l2y | 1:924c7dea286e | 329 | char cmdLow[2] ={ |
5hel2l2y | 1:924c7dea286e | 330 | CTRL7_G, |
5hel2l2y | 1:924c7dea286e | 331 | 0 |
5hel2l2y | 1:924c7dea286e | 332 | }; |
5hel2l2y | 1:924c7dea286e | 333 | |
5hel2l2y | 1:924c7dea286e | 334 | i2c.write(xgAddress, cmdLow, 2); |
5hel2l2y | 1:924c7dea286e | 335 | } |
5hel2l2y | 0:46630122dec9 | 336 | |
5hel2l2y | 0:46630122dec9 | 337 | // Write the address we are going to read from and don't end the transaction |
5hel2l2y | 0:46630122dec9 | 338 | i2c.write(xgAddress, cmd, 1, true); |
5hel2l2y | 0:46630122dec9 | 339 | // Read in all the 8 bits of data |
5hel2l2y | 0:46630122dec9 | 340 | i2c.read(xgAddress, cmd+1, 1); |
5hel2l2y | 0:46630122dec9 | 341 | |
5hel2l2y | 0:46630122dec9 | 342 | // Then mask out the gyro odr bits: |
5hel2l2y | 0:46630122dec9 | 343 | cmd[1] &= (0x3 << 3); |
5hel2l2y | 0:46630122dec9 | 344 | // Then shift in our new odr bits: |
5hel2l2y | 0:46630122dec9 | 345 | cmd[1] |= gRate; |
5hel2l2y | 0:46630122dec9 | 346 | |
5hel2l2y | 0:46630122dec9 | 347 | // Write the gyroodr out to the gyro |
5hel2l2y | 0:46630122dec9 | 348 | i2c.write(xgAddress, cmd, 2); |
5hel2l2y | 0:46630122dec9 | 349 | } |
5hel2l2y | 0:46630122dec9 | 350 | |
bclaus | 3:b1d064895178 | 351 | void LSM6DS33::setAccelODR(accel_odr aRate) |
5hel2l2y | 0:46630122dec9 | 352 | { |
5hel2l2y | 0:46630122dec9 | 353 | // The start of the addresses we want to read from |
5hel2l2y | 0:46630122dec9 | 354 | char cmd[2] = { |
5hel2l2y | 0:46630122dec9 | 355 | CTRL1_XL, |
5hel2l2y | 0:46630122dec9 | 356 | 0 |
5hel2l2y | 0:46630122dec9 | 357 | }; |
5hel2l2y | 1:924c7dea286e | 358 | |
5hel2l2y | 1:924c7dea286e | 359 | // Set low power based on ODR, else keep sensor on high performance |
5hel2l2y | 1:924c7dea286e | 360 | if(aRate == A_ODR_13 | aRate == A_ODR_26 | aRate == A_ODR_52) { |
5hel2l2y | 1:924c7dea286e | 361 | char cmdLow[2] ={ |
5hel2l2y | 1:924c7dea286e | 362 | CTRL6_C, |
5hel2l2y | 1:924c7dea286e | 363 | 1 |
5hel2l2y | 1:924c7dea286e | 364 | }; |
5hel2l2y | 1:924c7dea286e | 365 | |
5hel2l2y | 1:924c7dea286e | 366 | i2c.write(xgAddress, cmdLow, 2); |
5hel2l2y | 1:924c7dea286e | 367 | } |
5hel2l2y | 1:924c7dea286e | 368 | else { |
5hel2l2y | 1:924c7dea286e | 369 | char cmdLow[2] ={ |
5hel2l2y | 1:924c7dea286e | 370 | CTRL6_C, |
5hel2l2y | 1:924c7dea286e | 371 | 0 |
5hel2l2y | 1:924c7dea286e | 372 | }; |
5hel2l2y | 1:924c7dea286e | 373 | |
5hel2l2y | 1:924c7dea286e | 374 | i2c.write(xgAddress, cmdLow, 2); |
5hel2l2y | 1:924c7dea286e | 375 | } |
5hel2l2y | 0:46630122dec9 | 376 | |
5hel2l2y | 0:46630122dec9 | 377 | // Write the address we are going to read from and don't end the transaction |
5hel2l2y | 0:46630122dec9 | 378 | i2c.write(xgAddress, cmd, 1, true); |
5hel2l2y | 0:46630122dec9 | 379 | // Read in all the 8 bits of data |
5hel2l2y | 0:46630122dec9 | 380 | i2c.read(xgAddress, cmd+1, 1); |
5hel2l2y | 0:46630122dec9 | 381 | |
5hel2l2y | 0:46630122dec9 | 382 | // Then mask out the accel odr bits: |
5hel2l2y | 0:46630122dec9 | 383 | cmd[1] &= 0xFF^(0x7 << 5); |
5hel2l2y | 0:46630122dec9 | 384 | // Then shift in our new odr bits: |
5hel2l2y | 0:46630122dec9 | 385 | cmd[1] |= aRate << 5; |
5hel2l2y | 0:46630122dec9 | 386 | |
5hel2l2y | 0:46630122dec9 | 387 | // Write the accelodr out to the accel |
5hel2l2y | 0:46630122dec9 | 388 | i2c.write(xgAddress, cmd, 2); |
5hel2l2y | 0:46630122dec9 | 389 | } |
5hel2l2y | 0:46630122dec9 | 390 | |
bclaus | 3:b1d064895178 | 391 | void LSM6DS33::calcgRes() |
5hel2l2y | 0:46630122dec9 | 392 | { |
5hel2l2y | 0:46630122dec9 | 393 | // Possible gyro scales (and their register bit settings) are: |
5hel2l2y | 0:46630122dec9 | 394 | // 245 DPS (00), 500 DPS (01), 2000 DPS (10). |
5hel2l2y | 0:46630122dec9 | 395 | switch (gScale) |
5hel2l2y | 0:46630122dec9 | 396 | { |
5hel2l2y | 0:46630122dec9 | 397 | case G_SCALE_245DPS: |
5hel2l2y | 0:46630122dec9 | 398 | gRes = 245.0 / 32768.0; |
5hel2l2y | 0:46630122dec9 | 399 | break; |
5hel2l2y | 0:46630122dec9 | 400 | case G_SCALE_500DPS: |
5hel2l2y | 0:46630122dec9 | 401 | gRes = 500.0 / 32768.0; |
5hel2l2y | 0:46630122dec9 | 402 | break; |
5hel2l2y | 0:46630122dec9 | 403 | case G_SCALE_2000DPS: |
5hel2l2y | 0:46630122dec9 | 404 | gRes = 2000.0 / 32768.0; |
5hel2l2y | 0:46630122dec9 | 405 | break; |
5hel2l2y | 0:46630122dec9 | 406 | } |
5hel2l2y | 0:46630122dec9 | 407 | } |
5hel2l2y | 0:46630122dec9 | 408 | |
bclaus | 3:b1d064895178 | 409 | void LSM6DS33::calcaRes() |
5hel2l2y | 0:46630122dec9 | 410 | { |
5hel2l2y | 0:46630122dec9 | 411 | // Possible accelerometer scales (and their register bit settings) are: |
5hel2l2y | 0:46630122dec9 | 412 | // 2 g (000), 4g (001), 6g (010) 8g (011), 16g (100). |
5hel2l2y | 0:46630122dec9 | 413 | switch (aScale) |
5hel2l2y | 0:46630122dec9 | 414 | { |
5hel2l2y | 0:46630122dec9 | 415 | case A_SCALE_2G: |
5hel2l2y | 0:46630122dec9 | 416 | aRes = 2.0 / 32768.0; |
5hel2l2y | 0:46630122dec9 | 417 | break; |
5hel2l2y | 0:46630122dec9 | 418 | case A_SCALE_4G: |
5hel2l2y | 0:46630122dec9 | 419 | aRes = 4.0 / 32768.0; |
5hel2l2y | 0:46630122dec9 | 420 | break; |
5hel2l2y | 0:46630122dec9 | 421 | case A_SCALE_8G: |
5hel2l2y | 0:46630122dec9 | 422 | aRes = 8.0 / 32768.0; |
5hel2l2y | 0:46630122dec9 | 423 | break; |
5hel2l2y | 0:46630122dec9 | 424 | case A_SCALE_16G: |
5hel2l2y | 0:46630122dec9 | 425 | aRes = 16.0 / 32768.0; |
5hel2l2y | 0:46630122dec9 | 426 | break; |
5hel2l2y | 0:46630122dec9 | 427 | } |
5hel2l2y | 0:46630122dec9 | 428 | } |