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IMU library
LSM9DS1.h
- Committer:
- jmar7
- Date:
- 2015-10-26
- Revision:
- 1:87d535bf8c53
- Parent:
- 0:e8167f37725c
- Child:
- 2:0e123c149624
File content as of revision 1:87d535bf8c53:
/****************************************************************************** SFE_LSM9DS1.h SFE_LSM9DS1 Library Header File Jim Lindblom @ SparkFun Electronics Original Creation Date: February 27, 2015 https://github.com/sparkfun/LSM9DS1_Breakout This file prototypes the LSM9DS1 class, implemented in SFE_LSM9DS1.cpp. In addition, it defines every register in the LSM9DS1 (both the Gyro and Accel/ Magnetometer registers). Development environment specifics: IDE: Arduino 1.6.0 Hardware Platform: Arduino Uno LSM9DS1 Breakout Version: 1.0 This code is beerware; if you see me (or any other SparkFun employee) at the local, and you've found our code helpful, please buy us a round! Distributed as-is; no warranty is given. ******************************************************************************/ #ifndef __SparkFunLSM9DS1_H__ #define __SparkFunLSM9DS1_H__ //#if defined(ARDUINO) && ARDUINO >= 100 // #include "Arduino.h" //#else // #include "WProgram.h" // #include "pins_arduino.h" //#endif #include "mbed.h" #include <stdint.h> #include "LSM9DS1_Registers.h" #include "LSM9DS1_Types.h" #define LSM9DS1_AG_ADDR(sa0) ((sa0) == 0 ? 0x6A : 0x6B) #define LSM9DS1_M_ADDR(sa1) ((sa1) == 0 ? 0x1C : 0x1E) enum lsm9ds1_axis { X_AXIS, Y_AXIS, Z_AXIS, ALL_AXIS }; class LSM9DS1 { public: IMUSettings settings; // 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, gy, gz; // x, y, and z axis readings of the gyroscope int16_t ax, ay, az; // x, y, and z axis readings of the accelerometer int16_t mx, my, mz; // x, y, and z axis readings of the magnetometer int16_t temperature; // Chip temperature float gBias[3], aBias[3], mBias[3]; int16_t gBiasRaw[3], aBiasRaw[3], mBiasRaw[3]; // LSM9DS1 -- LSM9DS1 class constructor // The constructor will set up a handful of private variables, and set the // communication mode as well. /**Input: * - interface = Either IMU_MODE_SPI or IMU_MODE_I2C, whichever you're using * to talk to the IC. * - xgAddr = If IMU_MODE_I2C, this is the I2C address of the accel/gyroscope. * If IMU_MODE_SPI, this is the chip select pin of the gyro (CS_AG) * - mAddr = If IMU_MODE_I2C, this is the I2C address of the magnetometer. * If IMU_MODE_SPI, this is the cs pin of the magnetometer (CS_M) */ LSM9DS1(PinName sda, PinName scl, uint8_t xgAddr, uint8_t mAddr); //LSM9DS1(interface_mode interface, uint8_t xgAddr, uint8_t mAddr); //LSM9DS1(); /** begin() -- Initialize the gyro, accelerometer, and magnetometer. *This will set up the scale and output rate of each sensor. The values set * in the IMUSettings struct will take effect after calling this function. */ uint16_t begin(); void calibrate(bool autoCalc = true); void calibrateMag(bool loadIn = true); void magOffset(uint8_t axis, int16_t offset); /** accelAvailable() -- Polls the accelerometer status register to check * if new data is available. * Output: 1 - New data available * 0 - No new data available */ uint8_t accelAvailable(); /** gyroAvailable() -- Polls the gyroscope status register to check * if new data is available. * Output: 1 - New data available * 0 - No new data available */ uint8_t gyroAvailable(); /** gyroAvailable() -- Polls the temperature status register to check * if new data is available. * Output: 1 - New data available * 0 - No new data available */ uint8_t tempAvailable(); /** magAvailable() -- Polls the accelerometer status register to check * if new data is available. * Input: * - axis can be either X_AXIS, Y_AXIS, Z_AXIS, to check for new data * on one specific axis. Or ALL_AXIS (default) to check for new data * on all axes. * Output: 1 - New data available * 0 - No new data available */ uint8_t magAvailable(lsm9ds1_axis axis = ALL_AXIS); /** readGyro() -- Read the gyroscope output registers. * This function will read all six gyroscope output registers. * The readings are stored in the class' gx, gy, and gz variables. Read * those _after_ calling readGyro(). */ void readGyro(); /** int16_t readGyro(axis) -- Read a specific axis of the gyroscope. * [axis] can be any of X_AXIS, Y_AXIS, or Z_AXIS. * Input: * - axis: can be either X_AXIS, Y_AXIS, or Z_AXIS. * Output: * A 16-bit signed integer with sensor data on requested axis. */ int16_t readGyro(lsm9ds1_axis axis); /** readAccel() -- Read the accelerometer output registers. * This function will read all six accelerometer output registers. * The readings are stored in the class' ax, ay, and az variables. Read * those _after_ calling readAccel(). */ void readAccel(); /** int16_t readAccel(axis) -- Read a specific axis of the accelerometer. * [axis] can be any of X_AXIS, Y_AXIS, or Z_AXIS. * Input: * - axis: can be either X_AXIS, Y_AXIS, or Z_AXIS. * Output: * A 16-bit signed integer with sensor data on requested axis. */ int16_t readAccel(lsm9ds1_axis axis); /** readMag() -- Read the magnetometer output registers. * This function will read all six magnetometer output registers. * The readings are stored in the class' mx, my, and mz variables. Read * those _after_ calling readMag(). */ void readMag(); /** int16_t readMag(axis) -- Read a specific axis of the magnetometer. * [axis] can be any of X_AXIS, Y_AXIS, or Z_AXIS. * Input: * - axis: can be either X_AXIS, Y_AXIS, or Z_AXIS. * Output: * A 16-bit signed integer with sensor data on requested axis. */ int16_t readMag(lsm9ds1_axis axis); /** 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(); /** calcGyro() -- Convert from RAW signed 16-bit value to degrees per second * This function reads in a signed 16-bit value and returns the scaled * DPS. This function relies on gScale and gRes being correct. * Input: * - gyro = A signed 16-bit raw reading from the gyroscope. */ float calcGyro(int16_t gyro); /** calcAccel() -- Convert from RAW signed 16-bit value to gravity (g's). * This function reads in a signed 16-bit value and returns the scaled * g's. This function relies on aScale and aRes being correct. * Input: * - accel = A signed 16-bit raw reading from the accelerometer. */ float calcAccel(int16_t accel); /** calcMag() -- Convert from RAW signed 16-bit value to Gauss (Gs) * This function reads in a signed 16-bit value and returns the scaled * Gs. This function relies on mScale and mRes being correct. * Input: * - mag = A signed 16-bit raw reading from the magnetometer. */ float calcMag(int16_t mag); /** 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. */ void setGyroScale(uint16_t 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. */ void setAccelScale(uint8_t 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. */ void setMagScale(uint8_t mScl); /** setGyroODR() -- Set the output data rate and bandwidth of the gyroscope * Input: * - gRate = The desired output rate and cutoff frequency of the gyro. */ void setGyroODR(uint8_t gRate); // setAccelODR() -- Set the output data rate of the accelerometer // Input: // - aRate = The desired output rate of the accel. void setAccelODR(uint8_t aRate); // setMagODR() -- Set the output data rate of the magnetometer // Input: // - mRate = The desired output rate of the mag. void setMagODR(uint8_t mRate); // configInactivity() -- Configure inactivity interrupt parameters // Input: // - duration = Inactivity duration - actual value depends on gyro ODR // - threshold = Activity Threshold // - sleepOn = Gyroscope operating mode during inactivity. // true: gyroscope in sleep mode // false: gyroscope in power-down void configInactivity(uint8_t duration, uint8_t threshold, bool sleepOn); // configAccelInt() -- Configure Accelerometer Interrupt Generator // Input: // - generator = Interrupt axis/high-low events // Any OR'd combination of ZHIE_XL, ZLIE_XL, YHIE_XL, YLIE_XL, XHIE_XL, XLIE_XL // - andInterrupts = AND/OR combination of interrupt events // true: AND combination // false: OR combination void configAccelInt(uint8_t generator, bool andInterrupts = false); // configAccelThs() -- Configure the threshold of an accelereomter axis // Input: // - threshold = Interrupt threshold. Possible values: 0-255. // Multiply by 128 to get the actual raw accel value. // - axis = Axis to be configured. Either X_AXIS, Y_AXIS, or Z_AXIS // - duration = Duration value must be above or below threshold to trigger interrupt // - wait = Wait function on duration counter // true: Wait for duration samples before exiting interrupt // false: Wait function off void configAccelThs(uint8_t threshold, lsm9ds1_axis axis, uint8_t duration = 0, bool wait = 0); // configGyroInt() -- Configure Gyroscope Interrupt Generator // Input: // - generator = Interrupt axis/high-low events // Any OR'd combination of ZHIE_G, ZLIE_G, YHIE_G, YLIE_G, XHIE_G, XLIE_G // - aoi = AND/OR combination of interrupt events // true: AND combination // false: OR combination // - latch: latch gyroscope interrupt request. void configGyroInt(uint8_t generator, bool aoi, bool latch); // configGyroThs() -- Configure the threshold of a gyroscope axis // Input: // - threshold = Interrupt threshold. Possible values: 0-0x7FF. // Value is equivalent to raw gyroscope value. // - axis = Axis to be configured. Either X_AXIS, Y_AXIS, or Z_AXIS // - duration = Duration value must be above or below threshold to trigger interrupt // - wait = Wait function on duration counter // true: Wait for duration samples before exiting interrupt // false: Wait function off void configGyroThs(int16_t threshold, lsm9ds1_axis axis, uint8_t duration, bool wait); // configInt() -- Configure INT1 or INT2 (Gyro and Accel Interrupts only) // Input: // - interrupt = Select INT1 or INT2 // Possible values: XG_INT1 or XG_INT2 // - generator = Or'd combination of interrupt generators. // Possible values: INT_DRDY_XL, INT_DRDY_G, INT1_BOOT (INT1 only), INT2_DRDY_TEMP (INT2 only) // INT_FTH, INT_OVR, INT_FSS5, INT_IG_XL (INT1 only), INT1_IG_G (INT1 only), INT2_INACT (INT2 only) // - activeLow = Interrupt active configuration // Can be either INT_ACTIVE_HIGH or INT_ACTIVE_LOW // - pushPull = Push-pull or open drain interrupt configuration // Can be either INT_PUSH_PULL or INT_OPEN_DRAIN void configInt(interrupt_select interupt, uint8_t generator, h_lactive activeLow = INT_ACTIVE_LOW, pp_od pushPull = INT_PUSH_PULL); /** configMagInt() -- Configure Magnetometer Interrupt Generator * Input: * - generator = Interrupt axis/high-low events * Any OR'd combination of ZIEN, YIEN, XIEN * - activeLow = Interrupt active configuration * Can be either INT_ACTIVE_HIGH or INT_ACTIVE_LOW */ - latch: latch gyroscope interrupt request. void configMagInt(uint8_t generator, h_lactive activeLow, bool latch = true); /** configMagThs() -- Configure the threshold of a gyroscope axis * Input: * - threshold = Interrupt threshold. Possible values: 0-0x7FF. * Value is equivalent to raw magnetometer value. */ void configMagThs(uint16_t threshold); //! getGyroIntSrc() -- Get contents of Gyroscope interrupt source register uint8_t getGyroIntSrc(); //! getGyroIntSrc() -- Get contents of accelerometer interrupt source register uint8_t getAccelIntSrc(); //! getGyroIntSrc() -- Get contents of magnetometer interrupt source register uint8_t getMagIntSrc(); //! getGyroIntSrc() -- Get status of inactivity interrupt uint8_t getInactivity(); /** sleepGyro() -- Sleep or wake the gyroscope * Input: * - enable: True = sleep gyro. False = wake gyro. */ void sleepGyro(bool enable = true); /** enableFIFO() - Enable or disable the FIFO * Input: * - enable: true = enable, false = disable. */ void enableFIFO(bool enable = true); /** setFIFO() - Configure FIFO mode and Threshold * Input: * - fifoMode: Set FIFO mode to off, FIFO (stop when full), continuous, bypass * Possible inputs: FIFO_OFF, FIFO_THS, FIFO_CONT_TRIGGER, FIFO_OFF_TRIGGER, FIFO_CONT * - fifoThs: FIFO threshold level setting * Any value from 0-0x1F is acceptable. */ void setFIFO(fifoMode_type fifoMode, uint8_t fifoThs); //! getFIFOSamples() - Get number of FIFO samples uint8_t getFIFOSamples(); protected: // x_mAddress and gAddress store the I2C address or SPI chip select pin // for each sensor. uint8_t _mAddress, _xgAddress; // 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; // _autoCalc keeps track of whether we're automatically subtracting off // accelerometer and gyroscope bias calculated in calibrate(). bool _autoCalc; // init() -- Sets up gyro, accel, and mag settings to default. // - interface - Sets the interface mode (IMU_MODE_I2C or IMU_MODE_SPI) // - xgAddr - Sets either the I2C address of the accel/gyro or SPI chip // select pin connected to the CS_XG pin. // - mAddr - Sets either the I2C address of the magnetometer or SPI chip // select pin connected to the CS_M pin. void init(interface_mode interface, uint8_t xgAddr, uint8_t mAddr); // 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 mReadByte(uint8_t subAddress); // gReadBytes() -- Reads a number of bytes -- beginning at an address // and incrementing from there -- from the gyroscope. // Input: // - subAddress = Register to be read from. // - * dest = A pointer to an array of uint8_t's. Values read will be // stored in here on return. // - count = The number of bytes to be read. // Output: No value is returned, but the `dest` array will store // the data read upon exit. void mReadBytes(uint8_t subAddress, uint8_t * dest, uint8_t count); // 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 mWriteByte(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 xgReadByte(uint8_t subAddress); // xmReadBytes() -- Reads a number of bytes -- beginning at an address // and incrementing from there -- from the accelerometer/magnetometer. // Input: // - subAddress = Register to be read from. // - * dest = A pointer to an array of uint8_t's. Values read will be // stored in here on return. // - count = The number of bytes to be read. // Output: No value is returned, but the `dest` array will store // the data read upon exit. void xgReadBytes(uint8_t subAddress, uint8_t * dest, uint8_t count); // 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 xgWriteByte(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(); ////////////////////// // Helper Functions // ////////////////////// void constrainScales(); /////////////////// // SPI Functions // /////////////////// // initSPI() -- Initialize the SPI hardware. // This function will setup all SPI pins and related hardware. void initSPI(); // SPIwriteByte() -- Write a byte out of SPI to a register in the device // Input: // - csPin = The chip select pin of the slave device. // - subAddress = The register to be written to. // - data = Byte to be written to the register. void SPIwriteByte(uint8_t csPin, uint8_t subAddress, uint8_t data); // SPIreadByte() -- Read a single byte from a register over SPI. // Input: // - csPin = The chip select pin of the slave device. // - subAddress = The register to be read from. // Output: // - The byte read from the requested address. uint8_t SPIreadByte(uint8_t csPin, uint8_t subAddress); // SPIreadBytes() -- Read a series of bytes, starting at a register via SPI // Input: // - csPin = The chip select pin of a slave device. // - subAddress = The register to begin reading. // - * dest = Pointer to an array where we'll store the readings. // - count = Number of registers to be read. // Output: No value is returned by the function, but the registers read are // all stored in the *dest array given. void SPIreadBytes(uint8_t csPin, uint8_t subAddress, uint8_t * dest, uint8_t count); /////////////////// // I2C Functions // /////////////////// // initI2C() -- Initialize the I2C hardware. // This function will setup all I2C pins and related hardware. void initI2C(); // 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(uint8_t address, uint8_t subAddress, uint8_t 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(uint8_t address, uint8_t subAddress); // I2CreadBytes() -- Read a series of bytes, starting at a register via SPI // Input: // - address = The 7-bit I2C address of the slave device. // - subAddress = The register to begin reading. // - * dest = Pointer to an array where we'll store the readings. // - count = Number of registers to be read. // Output: No value is returned by the function, but the registers read are // all stored in the *dest array given. uint8_t I2CreadBytes(uint8_t address, uint8_t subAddress, uint8_t * dest, uint8_t count); private: I2C i2c; }; #endif // SFE_LSM9DS1_H //