Nicolas Borla
IMU library
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LSM9DS1.cpp
00001 /****************************************************************************** 00002 SFE_LSM9DS1.cpp 00003 SFE_LSM9DS1 Library Source File 00004 Jim Lindblom @ SparkFun Electronics 00005 Original Creation Date: February 27, 2015 00006 https://github.com/sparkfun/LSM9DS1_Breakout 00007 00008 This file implements all functions of the LSM9DS1 class. Functions here range 00009 from higher level stuff, like reading/writing LSM9DS1 registers to low-level, 00010 hardware reads and writes. Both SPI and I2C handler functions can be found 00011 towards the bottom of this file. 00012 00013 Development environment specifics: 00014 IDE: Arduino 1.6 00015 Hardware Platform: Arduino Uno 00016 LSM9DS1 Breakout Version: 1.0 00017 00018 This code is beerware; if you see me (or any other SparkFun employee) at the 00019 local, and you've found our code helpful, please buy us a round! 00020 00021 Distributed as-is; no warranty is given. 00022 00023 Modified: Nicolas Borla, 20.01.2019 00024 ******************************************************************************/ 00025 00026 #include "LSM9DS1.h" 00027 #include "LSM9DS1_Registers.h" 00028 #include "LSM9DS1_Types.h" 00029 //#include <Wire.h> // Wire library is used for I2C 00030 //#include <SPI.h> // SPI library is used for...SPI. 00031 00032 //#if defined(ARDUINO) && ARDUINO >= 100 00033 // #include "Arduino.h" 00034 //#else 00035 // #include "WProgram.h" 00036 //#endif 00037 00038 #define LSM9DS1_COMMUNICATION_TIMEOUT 1000 00039 00040 float magSensitivity[4] = {0.00014, 0.00029, 0.00043, 0.00058}; 00041 //extern Serial pc; 00042 00043 LSM9DS1::LSM9DS1(PinName sda, PinName scl, uint8_t xgAddr, uint8_t mAddr) 00044 :i2c(sda, scl) 00045 { 00046 init(IMU_MODE_I2C, xgAddr, mAddr); // dont know about 0xD6 or 0x3B 00047 } 00048 /* 00049 LSM9DS1::LSM9DS1() 00050 { 00051 init(IMU_MODE_I2C, LSM9DS1_AG_ADDR(1), LSM9DS1_M_ADDR(1)); 00052 } 00053 00054 LSM9DS1::LSM9DS1(interface_mode interface, uint8_t xgAddr, uint8_t mAddr) 00055 { 00056 init(interface, xgAddr, mAddr); 00057 } 00058 */ 00059 00060 void LSM9DS1::init(interface_mode interface, uint8_t xgAddr, uint8_t mAddr) 00061 { 00062 settings.device.commInterface = interface; 00063 settings.device.agAddress = xgAddr; 00064 settings.device.mAddress = mAddr; 00065 00066 settings.gyro.enabled = true; 00067 settings.gyro.enableX = true; 00068 settings.gyro.enableY = true; 00069 settings.gyro.enableZ = true; 00070 // gyro scale can be 245, 500, or 2000 00071 settings.gyro.scale = 245; 00072 // gyro sample rate: value between 1-6 00073 // 1 = 14.9 4 = 238 00074 // 2 = 59.5 5 = 476 00075 // 3 = 119 6 = 952 00076 settings.gyro.sampleRate = 6; 00077 // gyro cutoff frequency: value between 0-3 00078 // Actual value of cutoff frequency depends 00079 // on sample rate. 00080 settings.gyro.bandwidth = 0; 00081 settings.gyro.lowPowerEnable = false; 00082 settings.gyro.HPFEnable = false; 00083 // Gyro HPF cutoff frequency: value between 0-9 00084 // Actual value depends on sample rate. Only applies 00085 // if gyroHPFEnable is true. 00086 settings.gyro.HPFCutoff = 0; 00087 settings.gyro.flipX = false; 00088 settings.gyro.flipY = false; 00089 settings.gyro.flipZ = false; 00090 settings.gyro.orientation = 0; 00091 settings.gyro.latchInterrupt = true; 00092 00093 settings.accel.enabled = true; 00094 settings.accel.enableX = true; 00095 settings.accel.enableY = true; 00096 settings.accel.enableZ = true; 00097 // accel scale can be 2, 4, 8, or 16 00098 settings.accel.scale = 2; 00099 // accel sample rate can be 1-6 00100 // 1 = 10 Hz 4 = 238 Hz 00101 // 2 = 50 Hz 5 = 476 Hz 00102 // 3 = 119 Hz 6 = 952 Hz 00103 settings.accel.sampleRate = 6; 00104 // Accel cutoff freqeuncy can be any value between -1 - 3. 00105 // -1 = bandwidth determined by sample rate 00106 // 0 = 408 Hz 2 = 105 Hz 00107 // 1 = 211 Hz 3 = 50 Hz 00108 settings.accel.bandwidth = -1; 00109 settings.accel.highResEnable = false; 00110 // accelHighResBandwidth can be any value between 0-3 00111 // LP cutoff is set to a factor of sample rate 00112 // 0 = ODR/50 2 = ODR/9 00113 // 1 = ODR/100 3 = ODR/400 00114 settings.accel.highResBandwidth = 0; 00115 00116 settings.mag.enabled = true; 00117 // mag scale can be 4, 8, 12, or 16 00118 settings.mag.scale = 4; 00119 // mag data rate can be 0-7 00120 // 0 = 0.625 Hz 4 = 10 Hz 00121 // 1 = 1.25 Hz 5 = 20 Hz 00122 // 2 = 2.5 Hz 6 = 40 Hz 00123 // 3 = 5 Hz 7 = 80 Hz 00124 settings.mag.sampleRate = 7; 00125 settings.mag.tempCompensationEnable = false; 00126 // magPerformance can be any value between 0-3 00127 // 0 = Low power mode 2 = high performance 00128 // 1 = medium performance 3 = ultra-high performance 00129 settings.mag.XYPerformance = 3; 00130 settings.mag.ZPerformance = 3; 00131 settings.mag.lowPowerEnable = false; 00132 // magOperatingMode can be 0-2 00133 // 0 = continuous conversion 00134 // 1 = single-conversion 00135 // 2 = power down 00136 settings.mag.operatingMode = 0; 00137 00138 settings.temp.enabled = true; 00139 for (int i=0; i<3; i++) 00140 { 00141 gBias[i] = 0; 00142 aBias[i] = 0; 00143 mBias[i] = 0; 00144 gBiasRaw[i] = 0; 00145 aBiasRaw[i] = 0; 00146 mBiasRaw[i] = 0; 00147 } 00148 _autoCalc = false; 00149 } 00150 00151 00152 uint16_t LSM9DS1::begin() 00153 { 00154 //! Todo: don't use _xgAddress or _mAddress, duplicating memory 00155 _xgAddress = settings.device.agAddress; 00156 _mAddress = settings.device.mAddress; 00157 00158 constrainScales(); 00159 // Once we have the scale values, we can calculate the resolution 00160 // of each sensor. That's what these functions are for. One for each sensor 00161 calcgRes(); // Calculate DPS / ADC tick, stored in gRes variable 00162 calcmRes(); // Calculate Gs / ADC tick, stored in mRes variable 00163 calcaRes(); // Calculate g / ADC tick, stored in aRes variable 00164 00165 // Now, initialize our hardware interface. 00166 if (settings.device.commInterface == IMU_MODE_I2C) // If we're using I2C 00167 initI2C(); // Initialize I2C 00168 else if (settings.device.commInterface == IMU_MODE_SPI) // else, if we're using SPI 00169 initSPI(); // Initialize SPI 00170 00171 // To verify communication, we can read from the WHO_AM_I register of 00172 // each device. Store those in a variable so we can return them. 00173 uint8_t mTest = mReadByte(WHO_AM_I_M); // Read the gyro WHO_AM_I 00174 uint8_t xgTest = xgReadByte(WHO_AM_I_XG); // Read the accel/mag WHO_AM_I 00175 printf("%x, %x, %x, %x\n\r", mTest, xgTest, _xgAddress, _mAddress); 00176 uint16_t whoAmICombined = (xgTest << 8) | mTest; 00177 00178 if (whoAmICombined != ((WHO_AM_I_AG_RSP << 8) | WHO_AM_I_M_RSP)) 00179 return 0; 00180 00181 // Gyro initialization stuff: 00182 initGyro(); // This will "turn on" the gyro. Setting up interrupts, etc. 00183 00184 // Accelerometer initialization stuff: 00185 initAccel(); // "Turn on" all axes of the accel. Set up interrupts, etc. 00186 00187 // Magnetometer initialization stuff: 00188 initMag(); // "Turn on" all axes of the mag. Set up interrupts, etc. 00189 00190 // Once everything is initialized, return the WHO_AM_I registers we read: 00191 return whoAmICombined; 00192 } 00193 00194 void LSM9DS1::initGyro() 00195 { 00196 uint8_t tempRegValue = 0; 00197 00198 // CTRL_REG1_G (Default value: 0x00) 00199 // [ODR_G2][ODR_G1][ODR_G0][FS_G1][FS_G0][0][BW_G1][BW_G0] 00200 // ODR_G[2:0] - Output data rate selection 00201 // FS_G[1:0] - Gyroscope full-scale selection 00202 // BW_G[1:0] - Gyroscope bandwidth selection 00203 00204 // To disable gyro, set sample rate bits to 0. We'll only set sample 00205 // rate if the gyro is enabled. 00206 if (settings.gyro.enabled) 00207 { 00208 tempRegValue = (settings.gyro.sampleRate & 0x07) << 5; 00209 } 00210 switch (settings.gyro.scale) 00211 { 00212 case 500: 00213 tempRegValue |= (0x1 << 3); 00214 break; 00215 case 2000: 00216 tempRegValue |= (0x3 << 3); 00217 break; 00218 // Otherwise we'll set it to 245 dps (0x0 << 4) 00219 } 00220 tempRegValue |= (settings.gyro.bandwidth & 0x3); 00221 xgWriteByte(CTRL_REG1_G, tempRegValue); 00222 00223 // CTRL_REG2_G (Default value: 0x00) 00224 // [0][0][0][0][INT_SEL1][INT_SEL0][OUT_SEL1][OUT_SEL0] 00225 // INT_SEL[1:0] - INT selection configuration 00226 // OUT_SEL[1:0] - Out selection configuration 00227 xgWriteByte(CTRL_REG2_G, 0x00); 00228 00229 // CTRL_REG3_G (Default value: 0x00) 00230 // [LP_mode][HP_EN][0][0][HPCF3_G][HPCF2_G][HPCF1_G][HPCF0_G] 00231 // LP_mode - Low-power mode enable (0: disabled, 1: enabled) 00232 // HP_EN - HPF enable (0:disabled, 1: enabled) 00233 // HPCF_G[3:0] - HPF cutoff frequency 00234 tempRegValue = settings.gyro.lowPowerEnable ? (1<<7) : 0; 00235 if (settings.gyro.HPFEnable) 00236 { 00237 tempRegValue |= (1<<6) | (settings.gyro.HPFCutoff & 0x0F); 00238 } 00239 xgWriteByte(CTRL_REG3_G, tempRegValue); 00240 00241 // CTRL_REG4 (Default value: 0x38) 00242 // [0][0][Zen_G][Yen_G][Xen_G][0][LIR_XL1][4D_XL1] 00243 // Zen_G - Z-axis output enable (0:disable, 1:enable) 00244 // Yen_G - Y-axis output enable (0:disable, 1:enable) 00245 // Xen_G - X-axis output enable (0:disable, 1:enable) 00246 // LIR_XL1 - Latched interrupt (0:not latched, 1:latched) 00247 // 4D_XL1 - 4D option on interrupt (0:6D used, 1:4D used) 00248 tempRegValue = 0; 00249 if (settings.gyro.enableZ) tempRegValue |= (1<<5); 00250 if (settings.gyro.enableY) tempRegValue |= (1<<4); 00251 if (settings.gyro.enableX) tempRegValue |= (1<<3); 00252 if (settings.gyro.latchInterrupt) tempRegValue |= (1<<1); 00253 xgWriteByte(CTRL_REG4, tempRegValue); 00254 00255 // ORIENT_CFG_G (Default value: 0x00) 00256 // [0][0][SignX_G][SignY_G][SignZ_G][Orient_2][Orient_1][Orient_0] 00257 // SignX_G - Pitch axis (X) angular rate sign (0: positive, 1: negative) 00258 // Orient [2:0] - Directional user orientation selection 00259 tempRegValue = 0; 00260 if (settings.gyro.flipX) tempRegValue |= (1<<5); 00261 if (settings.gyro.flipY) tempRegValue |= (1<<4); 00262 if (settings.gyro.flipZ) tempRegValue |= (1<<3); 00263 xgWriteByte(ORIENT_CFG_G, tempRegValue); 00264 } 00265 00266 void LSM9DS1::initAccel() 00267 { 00268 uint8_t tempRegValue = 0; 00269 00270 // CTRL_REG5_XL (0x1F) (Default value: 0x38) 00271 // [DEC_1][DEC_0][Zen_XL][Yen_XL][Zen_XL][0][0][0] 00272 // DEC[0:1] - Decimation of accel data on OUT REG and FIFO. 00273 // 00: None, 01: 2 samples, 10: 4 samples 11: 8 samples 00274 // Zen_XL - Z-axis output enabled 00275 // Yen_XL - Y-axis output enabled 00276 // Xen_XL - X-axis output enabled 00277 if (settings.accel.enableZ) tempRegValue |= (1<<5); 00278 if (settings.accel.enableY) tempRegValue |= (1<<4); 00279 if (settings.accel.enableX) tempRegValue |= (1<<3); 00280 00281 xgWriteByte(CTRL_REG5_XL, tempRegValue); 00282 00283 // CTRL_REG6_XL (0x20) (Default value: 0x00) 00284 // [ODR_XL2][ODR_XL1][ODR_XL0][FS1_XL][FS0_XL][BW_SCAL_ODR][BW_XL1][BW_XL0] 00285 // ODR_XL[2:0] - Output data rate & power mode selection 00286 // FS_XL[1:0] - Full-scale selection 00287 // BW_SCAL_ODR - Bandwidth selection 00288 // BW_XL[1:0] - Anti-aliasing filter bandwidth selection 00289 tempRegValue = 0; 00290 // To disable the accel, set the sampleRate bits to 0. 00291 if (settings.accel.enabled) 00292 { 00293 tempRegValue |= (settings.accel.sampleRate & 0x07) << 5; 00294 } 00295 switch (settings.accel.scale) 00296 { 00297 case 4: 00298 tempRegValue |= (0x2 << 3); 00299 break; 00300 case 8: 00301 tempRegValue |= (0x3 << 3); 00302 break; 00303 case 16: 00304 tempRegValue |= (0x1 << 3); 00305 break; 00306 // Otherwise it'll be set to 2g (0x0 << 3) 00307 } 00308 if (settings.accel.bandwidth >= 0) 00309 { 00310 tempRegValue |= (1<<2); // Set BW_SCAL_ODR 00311 tempRegValue |= (settings.accel.bandwidth & 0x03); 00312 } 00313 xgWriteByte(CTRL_REG6_XL, tempRegValue); 00314 00315 // CTRL_REG7_XL (0x21) (Default value: 0x00) 00316 // [HR][DCF1][DCF0][0][0][FDS][0][HPIS1] 00317 // HR - High resolution mode (0: disable, 1: enable) 00318 // DCF[1:0] - Digital filter cutoff frequency 00319 // FDS - Filtered data selection 00320 // HPIS1 - HPF enabled for interrupt function 00321 tempRegValue = 0; 00322 if (settings.accel.highResEnable) 00323 { 00324 tempRegValue |= (1<<7); // Set HR bit 00325 tempRegValue |= (settings.accel.highResBandwidth & 0x3) << 5; 00326 } 00327 xgWriteByte(CTRL_REG7_XL, tempRegValue); 00328 } 00329 00330 // This is a function that uses the FIFO to accumulate sample of accelerometer and gyro data, average 00331 // them, scales them to gs and deg/s, respectively, and then passes the biases to the main sketch 00332 // for subtraction from all subsequent data. There are no gyro and accelerometer bias registers to store 00333 // the data as there are in the ADXL345, a precursor to the LSM9DS0, or the MPU-9150, so we have to 00334 // subtract the biases ourselves. This results in a more accurate measurement in general and can 00335 // remove errors due to imprecise or varying initial placement. Calibration of sensor data in this manner 00336 // is good practice. 00337 void LSM9DS1::calibrate(bool autoCalc) 00338 { 00339 uint8_t data[6] = {0, 0, 0, 0, 0, 0}; 00340 uint8_t samples = 0; 00341 int ii; 00342 int32_t aBiasRawTemp[3] = {0, 0, 0}; 00343 int32_t gBiasRawTemp[3] = {0, 0, 0}; 00344 00345 // Turn on FIFO and set threshold to 32 samples 00346 enableFIFO(true); 00347 setFIFO(FIFO_THS, 0x1F); 00348 while (samples < 0x1F) 00349 { 00350 samples = (xgReadByte(FIFO_SRC) & 0x3F); // Read number of stored samples 00351 } 00352 for(ii = 0; ii < samples ; ii++) 00353 { // Read the gyro data stored in the FIFO 00354 readGyro(); 00355 gBiasRawTemp[0] += gx; 00356 gBiasRawTemp[1] += gy; 00357 gBiasRawTemp[2] += gz; 00358 readAccel(); 00359 aBiasRawTemp[0] += ax; 00360 aBiasRawTemp[1] += ay; 00361 aBiasRawTemp[2] += az - (int16_t)(1./aRes); // Assumes sensor facing up! 00362 } 00363 for (ii = 0; ii < 3; ii++) 00364 { 00365 gBiasRaw[ii] = gBiasRawTemp[ii] / samples; 00366 gBias[ii] = calcGyro(gBiasRaw[ii]); 00367 aBiasRaw[ii] = aBiasRawTemp[ii] / samples; 00368 aBias[ii] = calcAccel(aBiasRaw[ii]); 00369 } 00370 00371 enableFIFO(false); 00372 setFIFO(FIFO_OFF, 0x00); 00373 00374 if (autoCalc) _autoCalc = true; 00375 } 00376 00377 void LSM9DS1::calibrateMag(bool loadIn) 00378 { 00379 int i, j; 00380 int16_t magMin[3] = {0, 0, 0}; 00381 int16_t magMax[3] = {0, 0, 0}; // The road warrior 00382 00383 for (i=0; i<128; i++) 00384 { 00385 while (!magAvailable()) 00386 ; 00387 readMag(); 00388 int16_t magTemp[3] = {0, 0, 0}; 00389 magTemp[0] = mx; 00390 magTemp[1] = my; 00391 magTemp[2] = mz; 00392 for (j = 0; j < 3; j++) 00393 { 00394 if (magTemp[j] > magMax[j]) magMax[j] = magTemp[j]; 00395 if (magTemp[j] < magMin[j]) magMin[j] = magTemp[j]; 00396 } 00397 } 00398 for (j = 0; j < 3; j++) 00399 { 00400 mBiasRaw[j] = (magMax[j] + magMin[j]) / 2; 00401 mBias[j] = calcMag(mBiasRaw[j]); 00402 if (loadIn) 00403 magOffset(j, mBiasRaw[j]); 00404 } 00405 00406 } 00407 void LSM9DS1::magOffset(uint8_t axis, int16_t offset) 00408 { 00409 if (axis > 2) 00410 return; 00411 uint8_t msb, lsb; 00412 msb = (offset & 0xFF00) >> 8; 00413 lsb = offset & 0x00FF; 00414 mWriteByte(OFFSET_X_REG_L_M + (2 * axis), lsb); 00415 mWriteByte(OFFSET_X_REG_H_M + (2 * axis), msb); 00416 } 00417 00418 void LSM9DS1::initMag() 00419 { 00420 uint8_t tempRegValue = 0; 00421 00422 // CTRL_REG1_M (Default value: 0x10) 00423 // [TEMP_COMP][OM1][OM0][DO2][DO1][DO0][0][ST] 00424 // TEMP_COMP - Temperature compensation 00425 // OM[1:0] - X & Y axes op mode selection 00426 // 00:low-power, 01:medium performance 00427 // 10: high performance, 11:ultra-high performance 00428 // DO[2:0] - Output data rate selection 00429 // ST - Self-test enable 00430 if (settings.mag.tempCompensationEnable) tempRegValue |= (1<<7); 00431 tempRegValue |= (settings.mag.XYPerformance & 0x3) << 5; 00432 tempRegValue |= (settings.mag.sampleRate & 0x7) << 2; 00433 mWriteByte(CTRL_REG1_M, tempRegValue); 00434 00435 // CTRL_REG2_M (Default value 0x00) 00436 // [0][FS1][FS0][0][REBOOT][SOFT_RST][0][0] 00437 // FS[1:0] - Full-scale configuration 00438 // REBOOT - Reboot memory content (0:normal, 1:reboot) 00439 // SOFT_RST - Reset config and user registers (0:default, 1:reset) 00440 tempRegValue = 0; 00441 switch (settings.mag.scale) 00442 { 00443 case 8: 00444 tempRegValue |= (0x1 << 5); 00445 break; 00446 case 12: 00447 tempRegValue |= (0x2 << 5); 00448 break; 00449 case 16: 00450 tempRegValue |= (0x3 << 5); 00451 break; 00452 // Otherwise we'll default to 4 gauss (00) 00453 } 00454 mWriteByte(CTRL_REG2_M, tempRegValue); // +/-4Gauss 00455 00456 // CTRL_REG3_M (Default value: 0x03) 00457 // [I2C_DISABLE][0][LP][0][0][SIM][MD1][MD0] 00458 // I2C_DISABLE - Disable I2C interace (0:enable, 1:disable) 00459 // LP - Low-power mode cofiguration (1:enable) 00460 // SIM - SPI mode selection (0:write-only, 1:read/write enable) 00461 // MD[1:0] - Operating mode 00462 // 00:continuous conversion, 01:single-conversion, 00463 // 10,11: Power-down 00464 tempRegValue = 0; 00465 if (settings.mag.lowPowerEnable) tempRegValue |= (1<<5); 00466 tempRegValue |= (settings.mag.operatingMode & 0x3); 00467 mWriteByte(CTRL_REG3_M, tempRegValue); // Continuous conversion mode 00468 00469 // CTRL_REG4_M (Default value: 0x00) 00470 // [0][0][0][0][OMZ1][OMZ0][BLE][0] 00471 // OMZ[1:0] - Z-axis operative mode selection 00472 // 00:low-power mode, 01:medium performance 00473 // 10:high performance, 10:ultra-high performance 00474 // BLE - Big/little endian data 00475 tempRegValue = 0; 00476 tempRegValue = (settings.mag.ZPerformance & 0x3) << 2; 00477 mWriteByte(CTRL_REG4_M, tempRegValue); 00478 00479 // CTRL_REG5_M (Default value: 0x00) 00480 // [0][BDU][0][0][0][0][0][0] 00481 // BDU - Block data update for magnetic data 00482 // 0:continuous, 1:not updated until MSB/LSB are read 00483 tempRegValue = 0; 00484 mWriteByte(CTRL_REG5_M, tempRegValue); 00485 } 00486 00487 uint8_t LSM9DS1::accelAvailable() 00488 { 00489 uint8_t status = xgReadByte(STATUS_REG_1); 00490 00491 return (status & (1<<0)); 00492 } 00493 00494 uint8_t LSM9DS1::gyroAvailable() 00495 { 00496 uint8_t status = xgReadByte(STATUS_REG_1); 00497 00498 return ((status & (1<<1)) >> 1); 00499 } 00500 00501 uint8_t LSM9DS1::tempAvailable() 00502 { 00503 uint8_t status = xgReadByte(STATUS_REG_1); 00504 00505 return ((status & (1<<2)) >> 2); 00506 } 00507 00508 uint8_t LSM9DS1::magAvailable(lsm9ds1_axis axis) 00509 { 00510 uint8_t status; 00511 status = mReadByte(STATUS_REG_M); 00512 00513 return ((status & (1<<axis)) >> axis); 00514 } 00515 00516 void LSM9DS1::readAccel() 00517 { 00518 uint8_t temp[6]; // We'll read six bytes from the accelerometer into temp 00519 xgReadBytes(OUT_X_L_XL, temp, 6); // Read 6 bytes, beginning at OUT_X_L_XL 00520 ax = (temp[1] << 8) | temp[0]; // Store x-axis values into ax 00521 ay = (temp[3] << 8) | temp[2]; // Store y-axis values into ay 00522 az = (temp[5] << 8) | temp[4]; // Store z-axis values into az 00523 if (_autoCalc) 00524 { 00525 ax -= aBiasRaw[X_AXIS]; 00526 ay -= aBiasRaw[Y_AXIS]; 00527 az -= aBiasRaw[Z_AXIS]; 00528 } 00529 accX = static_cast<float>(ax)/32768.0f*2.0f*9.81f; 00530 accY = static_cast<float>(ay)/32768.0f*2.0f*9.81f; 00531 accZ = static_cast<float>(az)/32768.0f*2.0f*9.81f; 00532 } 00533 00534 int16_t LSM9DS1::readAccel(lsm9ds1_axis axis) 00535 { 00536 uint8_t temp[2]; 00537 int16_t value; 00538 xgReadBytes(OUT_X_L_XL + (2 * axis), temp, 2); 00539 value = (temp[1] << 8) | temp[0]; 00540 00541 if (_autoCalc) 00542 value -= aBiasRaw[axis]; 00543 00544 return value; 00545 } 00546 00547 void LSM9DS1::readMag() 00548 { 00549 uint8_t temp[6]; // We'll read six bytes from the mag into temp 00550 mReadBytes(OUT_X_L_M, temp, 6); // Read 6 bytes, beginning at OUT_X_L_M 00551 mx = (temp[1] << 8) | temp[0]; // Store x-axis values into mx 00552 my = (temp[3] << 8) | temp[2]; // Store y-axis values into my 00553 mz = (temp[5] << 8) | temp[4]; // Store z-axis values into mz 00554 00555 magX = static_cast<float>(mx)/32768.0f*4.0f; 00556 magY = static_cast<float>(my)/32768.0f*4.0f; 00557 magZ = static_cast<float>(mz)/32768.0f*4.0f; 00558 } 00559 00560 int16_t LSM9DS1::readMag(lsm9ds1_axis axis) 00561 { 00562 uint8_t temp[2]; 00563 mReadBytes(OUT_X_L_M + (2 * axis), temp, 2); 00564 return (temp[1] << 8) | temp[0]; 00565 } 00566 00567 void LSM9DS1::readTemp() 00568 { 00569 uint8_t temp[2]; // We'll read two bytes from the temperature sensor into temp 00570 xgReadBytes(OUT_TEMP_L, temp, 2); // Read 2 bytes, beginning at OUT_TEMP_L 00571 temperature = ((int16_t)temp[1] << 8) | temp[0]; 00572 } 00573 00574 void LSM9DS1::readGyro() 00575 { 00576 uint8_t temp[6]; // We'll read six bytes from the gyro into temp 00577 xgReadBytes(OUT_X_L_G, temp, 6); // Read 6 bytes, beginning at OUT_X_L_G 00578 gx = (temp[1] << 8) | temp[0]; // Store x-axis values into gx 00579 gy = (temp[3] << 8) | temp[2]; // Store y-axis values into gy 00580 gz = (temp[5] << 8) | temp[4]; // Store z-axis values into gz 00581 if (_autoCalc) 00582 { 00583 gx -= gBiasRaw[X_AXIS]; 00584 gy -= gBiasRaw[Y_AXIS]; 00585 gz -= gBiasRaw[Z_AXIS]; 00586 } 00587 gyroX = static_cast<float>(gx)/32768.0f*245.0f*3.14159265358979323846f/180.0f; 00588 gyroY = static_cast<float>(gy)/32768.0f*245.0f*3.14159265358979323846f/180.0f; 00589 gyroZ = static_cast<float>(gz)/32768.0f*245.0f*3.14159265358979323846f/180.0f; 00590 } 00591 00592 int16_t LSM9DS1::readGyro(lsm9ds1_axis axis) 00593 { 00594 uint8_t temp[2]; 00595 int16_t value; 00596 00597 xgReadBytes(OUT_X_L_G + (2 * axis), temp, 2); 00598 00599 value = (temp[1] << 8) | temp[0]; 00600 00601 if (_autoCalc) 00602 value -= gBiasRaw[axis]; 00603 00604 return value; 00605 } 00606 00607 float LSM9DS1::calcGyro(int16_t gyro) 00608 { 00609 // Return the gyro raw reading times our pre-calculated DPS / (ADC tick): 00610 return gRes * gyro; 00611 } 00612 00613 float LSM9DS1::calcAccel(int16_t accel) 00614 { 00615 // Return the accel raw reading times our pre-calculated g's / (ADC tick): 00616 return aRes * accel; 00617 } 00618 00619 float LSM9DS1::calcMag(int16_t mag) 00620 { 00621 // Return the mag raw reading times our pre-calculated Gs / (ADC tick): 00622 return mRes * mag; 00623 } 00624 00625 void LSM9DS1::setGyroScale(uint16_t gScl) 00626 { 00627 // Read current value of CTRL_REG1_G: 00628 uint8_t ctrl1RegValue = xgReadByte(CTRL_REG1_G); 00629 // Mask out scale bits (3 & 4): 00630 ctrl1RegValue &= 0xE7; 00631 switch (gScl) 00632 { 00633 case 500: 00634 ctrl1RegValue |= (0x1 << 3); 00635 settings.gyro.scale = 500; 00636 break; 00637 case 2000: 00638 ctrl1RegValue |= (0x3 << 3); 00639 settings.gyro.scale = 2000; 00640 break; 00641 default: // Otherwise we'll set it to 245 dps (0x0 << 4) 00642 settings.gyro.scale = 245; 00643 break; 00644 } 00645 xgWriteByte(CTRL_REG1_G, ctrl1RegValue); 00646 00647 calcgRes(); 00648 } 00649 00650 void LSM9DS1::setAccelScale(uint8_t aScl) 00651 { 00652 // We need to preserve the other bytes in CTRL_REG6_XL. So, first read it: 00653 uint8_t tempRegValue = xgReadByte(CTRL_REG6_XL); 00654 // Mask out accel scale bits: 00655 tempRegValue &= 0xE7; 00656 00657 switch (aScl) 00658 { 00659 case 4: 00660 tempRegValue |= (0x2 << 3); 00661 settings.accel.scale = 4; 00662 break; 00663 case 8: 00664 tempRegValue |= (0x3 << 3); 00665 settings.accel.scale = 8; 00666 break; 00667 case 16: 00668 tempRegValue |= (0x1 << 3); 00669 settings.accel.scale = 16; 00670 break; 00671 default: // Otherwise it'll be set to 2g (0x0 << 3) 00672 settings.accel.scale = 2; 00673 break; 00674 } 00675 xgWriteByte(CTRL_REG6_XL, tempRegValue); 00676 00677 // Then calculate a new aRes, which relies on aScale being set correctly: 00678 calcaRes(); 00679 } 00680 00681 void LSM9DS1::setMagScale(uint8_t mScl) 00682 { 00683 // We need to preserve the other bytes in CTRL_REG6_XM. So, first read it: 00684 uint8_t temp = mReadByte(CTRL_REG2_M); 00685 // Then mask out the mag scale bits: 00686 temp &= 0xFF^(0x3 << 5); 00687 00688 switch (mScl) 00689 { 00690 case 8: 00691 temp |= (0x1 << 5); 00692 settings.mag.scale = 8; 00693 break; 00694 case 12: 00695 temp |= (0x2 << 5); 00696 settings.mag.scale = 12; 00697 break; 00698 case 16: 00699 temp |= (0x3 << 5); 00700 settings.mag.scale = 16; 00701 break; 00702 default: // Otherwise we'll default to 4 gauss (00) 00703 settings.mag.scale = 4; 00704 break; 00705 } 00706 00707 // And write the new register value back into CTRL_REG6_XM: 00708 mWriteByte(CTRL_REG2_M, temp); 00709 00710 // We've updated the sensor, but we also need to update our class variables 00711 // First update mScale: 00712 //mScale = mScl; 00713 // Then calculate a new mRes, which relies on mScale being set correctly: 00714 calcmRes(); 00715 } 00716 00717 void LSM9DS1::setGyroODR(uint8_t gRate) 00718 { 00719 // Only do this if gRate is not 0 (which would disable the gyro) 00720 if ((gRate & 0x07) != 0) 00721 { 00722 // We need to preserve the other bytes in CTRL_REG1_G. So, first read it: 00723 uint8_t temp = xgReadByte(CTRL_REG1_G); 00724 // Then mask out the gyro ODR bits: 00725 temp &= 0xFF^(0x7 << 5); 00726 temp |= (gRate & 0x07) << 5; 00727 // Update our settings struct 00728 settings.gyro.sampleRate = gRate & 0x07; 00729 // And write the new register value back into CTRL_REG1_G: 00730 xgWriteByte(CTRL_REG1_G, temp); 00731 } 00732 } 00733 00734 void LSM9DS1::setAccelODR(uint8_t aRate) 00735 { 00736 // Only do this if aRate is not 0 (which would disable the accel) 00737 if ((aRate & 0x07) != 0) 00738 { 00739 // We need to preserve the other bytes in CTRL_REG1_XM. So, first read it: 00740 uint8_t temp = xgReadByte(CTRL_REG6_XL); 00741 // Then mask out the accel ODR bits: 00742 temp &= 0x1F; 00743 // Then shift in our new ODR bits: 00744 temp |= ((aRate & 0x07) << 5); 00745 settings.accel.sampleRate = aRate & 0x07; 00746 // And write the new register value back into CTRL_REG1_XM: 00747 xgWriteByte(CTRL_REG6_XL, temp); 00748 } 00749 } 00750 00751 void LSM9DS1::setMagODR(uint8_t mRate) 00752 { 00753 // We need to preserve the other bytes in CTRL_REG5_XM. So, first read it: 00754 uint8_t temp = mReadByte(CTRL_REG1_M); 00755 // Then mask out the mag ODR bits: 00756 temp &= 0xFF^(0x7 << 2); 00757 // Then shift in our new ODR bits: 00758 temp |= ((mRate & 0x07) << 2); 00759 settings.mag.sampleRate = mRate & 0x07; 00760 // And write the new register value back into CTRL_REG5_XM: 00761 mWriteByte(CTRL_REG1_M, temp); 00762 } 00763 00764 void LSM9DS1::calcgRes() 00765 { 00766 gRes = ((float) settings.gyro.scale) / 32768.0; 00767 } 00768 00769 void LSM9DS1::calcaRes() 00770 { 00771 aRes = ((float) settings.accel.scale) / 32768.0; 00772 } 00773 00774 void LSM9DS1::calcmRes() 00775 { 00776 //mRes = ((float) settings.mag.scale) / 32768.0; 00777 switch (settings.mag.scale) 00778 { 00779 case 4: 00780 mRes = magSensitivity[0]; 00781 break; 00782 case 8: 00783 mRes = magSensitivity[1]; 00784 break; 00785 case 12: 00786 mRes = magSensitivity[2]; 00787 break; 00788 case 16: 00789 mRes = magSensitivity[3]; 00790 break; 00791 } 00792 00793 } 00794 00795 void LSM9DS1::configInt(interrupt_select interrupt, uint8_t generator, 00796 h_lactive activeLow, pp_od pushPull) 00797 { 00798 // Write to INT1_CTRL or INT2_CTRL. [interupt] should already be one of 00799 // those two values. 00800 // [generator] should be an OR'd list of values from the interrupt_generators enum 00801 xgWriteByte(interrupt, generator); 00802 00803 // Configure CTRL_REG8 00804 uint8_t temp; 00805 temp = xgReadByte(CTRL_REG8); 00806 00807 if (activeLow) temp |= (1<<5); 00808 else temp &= ~(1<<5); 00809 00810 if (pushPull) temp &= ~(1<<4); 00811 else temp |= (1<<4); 00812 00813 xgWriteByte(CTRL_REG8, temp); 00814 } 00815 00816 void LSM9DS1::configInactivity(uint8_t duration, uint8_t threshold, bool sleepOn) 00817 { 00818 uint8_t temp = 0; 00819 00820 temp = threshold & 0x7F; 00821 if (sleepOn) temp |= (1<<7); 00822 xgWriteByte(ACT_THS, temp); 00823 00824 xgWriteByte(ACT_DUR, duration); 00825 } 00826 00827 uint8_t LSM9DS1::getInactivity() 00828 { 00829 uint8_t temp = xgReadByte(STATUS_REG_0); 00830 temp &= (0x10); 00831 return temp; 00832 } 00833 00834 void LSM9DS1::configAccelInt(uint8_t generator, bool andInterrupts) 00835 { 00836 // Use variables from accel_interrupt_generator, OR'd together to create 00837 // the [generator]value. 00838 uint8_t temp = generator; 00839 if (andInterrupts) temp |= 0x80; 00840 xgWriteByte(INT_GEN_CFG_XL, temp); 00841 } 00842 00843 void LSM9DS1::configAccelThs(uint8_t threshold, lsm9ds1_axis axis, uint8_t duration, bool wait) 00844 { 00845 // Write threshold value to INT_GEN_THS_?_XL. 00846 // axis will be 0, 1, or 2 (x, y, z respectively) 00847 xgWriteByte(INT_GEN_THS_X_XL + axis, threshold); 00848 00849 // Write duration and wait to INT_GEN_DUR_XL 00850 uint8_t temp; 00851 temp = (duration & 0x7F); 00852 if (wait) temp |= 0x80; 00853 xgWriteByte(INT_GEN_DUR_XL, temp); 00854 } 00855 00856 uint8_t LSM9DS1::getAccelIntSrc() 00857 { 00858 uint8_t intSrc = xgReadByte(INT_GEN_SRC_XL); 00859 00860 // Check if the IA_XL (interrupt active) bit is set 00861 if (intSrc & (1<<6)) 00862 { 00863 return (intSrc & 0x3F); 00864 } 00865 00866 return 0; 00867 } 00868 00869 void LSM9DS1::configGyroInt(uint8_t generator, bool aoi, bool latch) 00870 { 00871 // Use variables from accel_interrupt_generator, OR'd together to create 00872 // the [generator]value. 00873 uint8_t temp = generator; 00874 if (aoi) temp |= 0x80; 00875 if (latch) temp |= 0x40; 00876 xgWriteByte(INT_GEN_CFG_G, temp); 00877 } 00878 00879 void LSM9DS1::configGyroThs(int16_t threshold, lsm9ds1_axis axis, uint8_t duration, bool wait) 00880 { 00881 uint8_t buffer[2]; 00882 buffer[0] = (threshold & 0x7F00) >> 8; 00883 buffer[1] = (threshold & 0x00FF); 00884 // Write threshold value to INT_GEN_THS_?H_G and INT_GEN_THS_?L_G. 00885 // axis will be 0, 1, or 2 (x, y, z respectively) 00886 xgWriteByte(INT_GEN_THS_XH_G + (axis * 2), buffer[0]); 00887 xgWriteByte(INT_GEN_THS_XH_G + 1 + (axis * 2), buffer[1]); 00888 00889 // Write duration and wait to INT_GEN_DUR_XL 00890 uint8_t temp; 00891 temp = (duration & 0x7F); 00892 if (wait) temp |= 0x80; 00893 xgWriteByte(INT_GEN_DUR_G, temp); 00894 } 00895 00896 uint8_t LSM9DS1::getGyroIntSrc() 00897 { 00898 uint8_t intSrc = xgReadByte(INT_GEN_SRC_G); 00899 00900 // Check if the IA_G (interrupt active) bit is set 00901 if (intSrc & (1<<6)) 00902 { 00903 return (intSrc & 0x3F); 00904 } 00905 00906 return 0; 00907 } 00908 00909 void LSM9DS1::configMagInt(uint8_t generator, h_lactive activeLow, bool latch) 00910 { 00911 // Mask out non-generator bits (0-4) 00912 uint8_t config = (generator & 0xE0); 00913 // IEA bit is 0 for active-low, 1 for active-high. 00914 if (activeLow == INT_ACTIVE_HIGH) config |= (1<<2); 00915 // IEL bit is 0 for latched, 1 for not-latched 00916 if (!latch) config |= (1<<1); 00917 // As long as we have at least 1 generator, enable the interrupt 00918 if (generator != 0) config |= (1<<0); 00919 00920 mWriteByte(INT_CFG_M, config); 00921 } 00922 00923 void LSM9DS1::configMagThs(uint16_t threshold) 00924 { 00925 // Write high eight bits of [threshold] to INT_THS_H_M 00926 mWriteByte(INT_THS_H_M, uint8_t((threshold & 0x7F00) >> 8)); 00927 // Write low eight bits of [threshold] to INT_THS_L_M 00928 mWriteByte(INT_THS_L_M, uint8_t(threshold & 0x00FF)); 00929 } 00930 00931 uint8_t LSM9DS1::getMagIntSrc() 00932 { 00933 uint8_t intSrc = mReadByte(INT_SRC_M); 00934 00935 // Check if the INT (interrupt active) bit is set 00936 if (intSrc & (1<<0)) 00937 { 00938 return (intSrc & 0xFE); 00939 } 00940 00941 return 0; 00942 } 00943 00944 void LSM9DS1::sleepGyro(bool enable) 00945 { 00946 uint8_t temp = xgReadByte(CTRL_REG9); 00947 if (enable) temp |= (1<<6); 00948 else temp &= ~(1<<6); 00949 xgWriteByte(CTRL_REG9, temp); 00950 } 00951 00952 void LSM9DS1::enableFIFO(bool enable) 00953 { 00954 uint8_t temp = xgReadByte(CTRL_REG9); 00955 if (enable) temp |= (1<<1); 00956 else temp &= ~(1<<1); 00957 xgWriteByte(CTRL_REG9, temp); 00958 } 00959 00960 void LSM9DS1::setFIFO(fifoMode_type fifoMode, uint8_t fifoThs) 00961 { 00962 // Limit threshold - 0x1F (31) is the maximum. If more than that was asked 00963 // limit it to the maximum. 00964 uint8_t threshold = fifoThs <= 0x1F ? fifoThs : 0x1F; 00965 xgWriteByte(FIFO_CTRL, ((fifoMode & 0x7) << 5) | (threshold & 0x1F)); 00966 } 00967 00968 uint8_t LSM9DS1::getFIFOSamples() 00969 { 00970 return (xgReadByte(FIFO_SRC) & 0x3F); 00971 } 00972 00973 void LSM9DS1::constrainScales() 00974 { 00975 if ((settings.gyro.scale != 245) && (settings.gyro.scale != 500) && 00976 (settings.gyro.scale != 2000)) 00977 { 00978 settings.gyro.scale = 245; 00979 } 00980 00981 if ((settings.accel.scale != 2) && (settings.accel.scale != 4) && 00982 (settings.accel.scale != 8) && (settings.accel.scale != 16)) 00983 { 00984 settings.accel.scale = 2; 00985 } 00986 00987 if ((settings.mag.scale != 4) && (settings.mag.scale != 8) && 00988 (settings.mag.scale != 12) && (settings.mag.scale != 16)) 00989 { 00990 settings.mag.scale = 4; 00991 } 00992 } 00993 00994 void LSM9DS1::xgWriteByte(uint8_t subAddress, uint8_t data) 00995 { 00996 // Whether we're using I2C or SPI, write a byte using the 00997 // gyro-specific I2C address or SPI CS pin. 00998 if (settings.device.commInterface == IMU_MODE_I2C) { 00999 printf("yo"); 01000 I2CwriteByte(_xgAddress, subAddress, data); 01001 } else if (settings.device.commInterface == IMU_MODE_SPI) { 01002 SPIwriteByte(_xgAddress, subAddress, data); 01003 } 01004 } 01005 01006 void LSM9DS1::mWriteByte(uint8_t subAddress, uint8_t data) 01007 { 01008 // Whether we're using I2C or SPI, write a byte using the 01009 // accelerometer-specific I2C address or SPI CS pin. 01010 if (settings.device.commInterface == IMU_MODE_I2C) 01011 return I2CwriteByte(_mAddress, subAddress, data); 01012 else if (settings.device.commInterface == IMU_MODE_SPI) 01013 return SPIwriteByte(_mAddress, subAddress, data); 01014 } 01015 01016 uint8_t LSM9DS1::xgReadByte(uint8_t subAddress) 01017 { 01018 // Whether we're using I2C or SPI, read a byte using the 01019 // gyro-specific I2C address or SPI CS pin. 01020 if (settings.device.commInterface == IMU_MODE_I2C) 01021 return I2CreadByte(_xgAddress, subAddress); 01022 else if (settings.device.commInterface == IMU_MODE_SPI) 01023 return SPIreadByte(_xgAddress, subAddress); 01024 } 01025 01026 void LSM9DS1::xgReadBytes(uint8_t subAddress, uint8_t * dest, uint8_t count) 01027 { 01028 // Whether we're using I2C or SPI, read multiple bytes using the 01029 // gyro-specific I2C address or SPI CS pin. 01030 if (settings.device.commInterface == IMU_MODE_I2C) { 01031 I2CreadBytes(_xgAddress, subAddress, dest, count); 01032 } else if (settings.device.commInterface == IMU_MODE_SPI) { 01033 SPIreadBytes(_xgAddress, subAddress, dest, count); 01034 } 01035 } 01036 01037 uint8_t LSM9DS1::mReadByte(uint8_t subAddress) 01038 { 01039 // Whether we're using I2C or SPI, read a byte using the 01040 // accelerometer-specific I2C address or SPI CS pin. 01041 if (settings.device.commInterface == IMU_MODE_I2C) 01042 return I2CreadByte(_mAddress, subAddress); 01043 else if (settings.device.commInterface == IMU_MODE_SPI) 01044 return SPIreadByte(_mAddress, subAddress); 01045 } 01046 01047 void LSM9DS1::mReadBytes(uint8_t subAddress, uint8_t * dest, uint8_t count) 01048 { 01049 // Whether we're using I2C or SPI, read multiple bytes using the 01050 // accelerometer-specific I2C address or SPI CS pin. 01051 if (settings.device.commInterface == IMU_MODE_I2C) 01052 I2CreadBytes(_mAddress, subAddress, dest, count); 01053 else if (settings.device.commInterface == IMU_MODE_SPI) 01054 SPIreadBytes(_mAddress, subAddress, dest, count); 01055 } 01056 01057 void LSM9DS1::initSPI() 01058 { 01059 /* 01060 pinMode(_xgAddress, OUTPUT); 01061 digitalWrite(_xgAddress, HIGH); 01062 pinMode(_mAddress, OUTPUT); 01063 digitalWrite(_mAddress, HIGH); 01064 01065 SPI.begin(); 01066 // Maximum SPI frequency is 10MHz, could divide by 2 here: 01067 SPI.setClockDivider(SPI_CLOCK_DIV2); 01068 // Data is read and written MSb first. 01069 SPI.setBitOrder(MSBFIRST); 01070 // Data is captured on rising edge of clock (CPHA = 0) 01071 // Base value of the clock is HIGH (CPOL = 1) 01072 SPI.setDataMode(SPI_MODE0); 01073 */ 01074 } 01075 01076 void LSM9DS1::SPIwriteByte(uint8_t csPin, uint8_t subAddress, uint8_t data) 01077 { 01078 /* 01079 digitalWrite(csPin, LOW); // Initiate communication 01080 01081 // If write, bit 0 (MSB) should be 0 01082 // If single write, bit 1 should be 0 01083 SPI.transfer(subAddress & 0x3F); // Send Address 01084 SPI.transfer(data); // Send data 01085 01086 digitalWrite(csPin, HIGH); // Close communication 01087 */ 01088 } 01089 01090 uint8_t LSM9DS1::SPIreadByte(uint8_t csPin, uint8_t subAddress) 01091 { 01092 uint8_t temp; 01093 // Use the multiple read function to read 1 byte. 01094 // Value is returned to `temp`. 01095 SPIreadBytes(csPin, subAddress, &temp, 1); 01096 return temp; 01097 } 01098 01099 void LSM9DS1::SPIreadBytes(uint8_t csPin, uint8_t subAddress, 01100 uint8_t * dest, uint8_t count) 01101 { 01102 // To indicate a read, set bit 0 (msb) of first byte to 1 01103 uint8_t rAddress = 0x80 | (subAddress & 0x3F); 01104 // Mag SPI port is different. If we're reading multiple bytes, 01105 // set bit 1 to 1. The remaining six bytes are the address to be read 01106 if ((csPin == _mAddress) && count > 1) 01107 rAddress |= 0x40; 01108 01109 /* 01110 digitalWrite(csPin, LOW); // Initiate communication 01111 SPI.transfer(rAddress); 01112 for (int i=0; i<count; i++) 01113 { 01114 dest[i] = SPI.transfer(0x00); // Read into destination array 01115 } 01116 digitalWrite(csPin, HIGH); // Close communication 01117 */ 01118 } 01119 01120 void LSM9DS1::initI2C() 01121 { 01122 /* 01123 Wire.begin(); // Initialize I2C library 01124 */ 01125 01126 //already initialized in constructor! 01127 } 01128 01129 // Wire.h read and write protocols 01130 void LSM9DS1::I2CwriteByte(uint8_t address, uint8_t subAddress, uint8_t data) 01131 { 01132 /* 01133 Wire.beginTransmission(address); // Initialize the Tx buffer 01134 Wire.write(subAddress); // Put slave register address in Tx buffer 01135 Wire.write(data); // Put data in Tx buffer 01136 Wire.endTransmission(); // Send the Tx buffer 01137 */ 01138 char temp_data[2] = {subAddress, data}; 01139 i2c.write(address, temp_data, 2); 01140 } 01141 01142 uint8_t LSM9DS1::I2CreadByte(uint8_t address, uint8_t subAddress) 01143 { 01144 /* 01145 int timeout = LSM9DS1_COMMUNICATION_TIMEOUT; 01146 uint8_t data; // `data` will store the register data 01147 01148 Wire.beginTransmission(address); // Initialize the Tx buffer 01149 Wire.write(subAddress); // Put slave register address in Tx buffer 01150 Wire.endTransmission(true); // Send the Tx buffer, but send a restart to keep connection alive 01151 Wire.requestFrom(address, (uint8_t) 1); // Read one byte from slave register address 01152 while ((Wire.available() < 1) && (timeout-- > 0)) 01153 delay(1); 01154 01155 if (timeout <= 0) 01156 return 255; //! Bad! 255 will be misinterpreted as a good value. 01157 01158 data = Wire.read(); // Fill Rx buffer with result 01159 return data; // Return data read from slave register 01160 */ 01161 char data; 01162 char temp[1] = {subAddress}; 01163 01164 i2c.write(address, temp, 1); 01165 //i2c.write(address & 0xFE); 01166 temp[1] = 0x00; 01167 i2c.write(address, temp, 1); 01168 //i2c.write( address | 0x01); 01169 int a = i2c.read(address, &data, 1); 01170 return data; 01171 } 01172 01173 uint8_t LSM9DS1::I2CreadBytes(uint8_t address, uint8_t subAddress, uint8_t * dest, uint8_t count) 01174 { 01175 /* 01176 int timeout = LSM9DS1_COMMUNICATION_TIMEOUT; 01177 Wire.beginTransmission(address); // Initialize the Tx buffer 01178 // Next send the register to be read. OR with 0x80 to indicate multi-read. 01179 Wire.write(subAddress | 0x80); // Put slave register address in Tx buffer 01180 01181 Wire.endTransmission(true); // Send the Tx buffer, but send a restart to keep connection alive 01182 uint8_t i = 0; 01183 Wire.requestFrom(address, count); // Read bytes from slave register address 01184 while ((Wire.available() < count) && (timeout-- > 0)) 01185 delay(1); 01186 if (timeout <= 0) 01187 return -1; 01188 01189 for (int i=0; i<count;) 01190 { 01191 if (Wire.available()) 01192 { 01193 dest[i++] = Wire.read(); 01194 } 01195 } 01196 return count; 01197 */ 01198 int i; 01199 char temp_dest[count]; 01200 char temp[1] = {subAddress}; 01201 i2c.write(address, temp, 1); 01202 i2c.read(address, temp_dest, count); 01203 01204 //i2c doesn't take uint8_ts, but rather chars so do this nasty af conversion 01205 for (i=0; i < count; i++) { 01206 dest[i] = temp_dest[i]; 01207 } 01208 return count; 01209 }
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