This is our rendition of popular labyrinth games. We use readings from the IMU accelerometer to move a little yellow ball around the screen. We have created a maze of walls and holes that will end the game if the user runs into either of these.
Dependencies: 4DGL-uLCD-SE mbed
Diff: LSM9DS0.h
- Revision:
- 0:7b4bbd744f6d
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/LSM9DS0.h Tue Oct 20 00:42:42 2015 +0000 @@ -0,0 +1,478 @@ +//Most of the Credit goes to jimblom +#ifndef _LSM9DS0_H__ +#define _LSM9DS0_H__ + +#include "mbed.h" +#include "I2Cdev.h" + + +//////////////////////////// +// LSM9DS0 Gyro Registers // +//////////////////////////// +#define WHO_AM_I_G 0x0F +#define CTRL_REG1_G 0x20 +#define CTRL_REG2_G 0x21 +#define CTRL_REG3_G 0x22 +#define CTRL_REG4_G 0x23 +#define CTRL_REG5_G 0x24 +#define REFERENCE_G 0x25 +#define STATUS_REG_G 0x27 +#define OUT_X_L_G 0x28 +#define OUT_X_H_G 0x29 +#define OUT_Y_L_G 0x2A +#define OUT_Y_H_G 0x2B +#define OUT_Z_L_G 0x2C +#define OUT_Z_H_G 0x2D +#define FIFO_CTRL_REG_G 0x2E +#define FIFO_SRC_REG_G 0x2F +#define INT1_CFG_G 0x30 +#define INT1_SRC_G 0x31 +#define INT1_THS_XH_G 0x32 +#define INT1_THS_XL_G 0x33 +#define INT1_THS_YH_G 0x34 +#define INT1_THS_YL_G 0x35 +#define INT1_THS_ZH_G 0x36 +#define INT1_THS_ZL_G 0x37 +#define INT1_DURATION_G 0x38 + +////////////////////////////////////////// +// LSM9DS0 Accel/Magneto (XM) Registers // +////////////////////////////////////////// +#define OUT_TEMP_L_XM 0x05 +#define OUT_TEMP_H_XM 0x06 +#define STATUS_REG_M 0x07 +#define OUT_X_L_M 0x08 +#define OUT_X_H_M 0x09 +#define OUT_Y_L_M 0x0A +#define OUT_Y_H_M 0x0B +#define OUT_Z_L_M 0x0C +#define OUT_Z_H_M 0x0D +#define WHO_AM_I_XM 0x0F +#define INT_CTRL_REG_M 0x12 +#define INT_SRC_REG_M 0x13 +#define INT_THS_L_M 0x14 +#define INT_THS_H_M 0x15 +#define OFFSET_X_L_M 0x16 +#define OFFSET_X_H_M 0x17 +#define OFFSET_Y_L_M 0x18 +#define OFFSET_Y_H_M 0x19 +#define OFFSET_Z_L_M 0x1A +#define OFFSET_Z_H_M 0x1B +#define REFERENCE_X 0x1C +#define REFERENCE_Y 0x1D +#define REFERENCE_Z 0x1E +#define CTRL_REG0_XM 0x1F +#define CTRL_REG1_XM 0x20 +#define CTRL_REG2_XM 0x21 +#define CTRL_REG3_XM 0x22 +#define CTRL_REG4_XM 0x23 +#define CTRL_REG5_XM 0x24 +#define CTRL_REG6_XM 0x25 +#define CTRL_REG7_XM 0x26 +#define STATUS_REG_A 0x27 +#define OUT_X_L_A 0x28 +#define OUT_X_H_A 0x29 +#define OUT_Y_L_A 0x2A +#define OUT_Y_H_A 0x2B +#define OUT_Z_L_A 0x2C +#define OUT_Z_H_A 0x2D +#define FIFO_CTRL_REG 0x2E +#define FIFO_SRC_REG 0x2F +#define INT_GEN_1_REG 0x30 +#define INT_GEN_1_SRC 0x31 +#define INT_GEN_1_THS 0x32 +#define INT_GEN_1_DURATION 0x33 +#define INT_GEN_2_REG 0x34 +#define INT_GEN_2_SRC 0x35 +#define INT_GEN_2_THS 0x36 +#define INT_GEN_2_DURATION 0x37 +#define CLICK_CFG 0x38 +#define CLICK_SRC 0x39 +#define CLICK_THS 0x3A +#define TIME_LIMIT 0x3B +#define TIME_LATENCY 0x3C +#define TIME_WINDOW 0x3D +#define ACT_THS 0x3E +#define ACT_DUR 0x3F + + +class LSM9DS0 +{ +public: + // gyro_scale defines the possible full-scale ranges of the gyroscope: + enum gyro_scale + { + G_SCALE_245DPS, // 00: +/- 245 degrees per second + G_SCALE_500DPS, // 01: +/- 500 dps + G_SCALE_2000DPS, // 10: +/- 2000 dps + }; + // accel_scale defines all possible FSR's of the accelerometer: + enum accel_scale + { + A_SCALE_2G, // 000: +/- 2g + A_SCALE_4G, // 001: +/- 4g + A_SCALE_6G, // 010: +/- 6g + A_SCALE_8G, // 011: +/- 8g + A_SCALE_16G // 100: +/- 16g + }; + // mag_scale defines all possible FSR's of the magnetometer: + enum mag_scale + { + M_SCALE_2GS, // 00: +/- 2Gs + M_SCALE_4GS, // 01: +/- 4Gs + M_SCALE_8GS, // 10: +/- 8Gs + M_SCALE_12GS, // 11: +/- 12Gs + }; + // gyro_odr defines all possible data rate/bandwidth combos of the gyro: + enum gyro_odr + { // ODR (Hz) --- Cutoff + G_ODR_95_BW_125 = 0x0, // 95 12.5 + G_ODR_95_BW_25 = 0x1, // 95 25 + // 0x2 and 0x3 define the same data rate and bandwidth + G_ODR_190_BW_125 = 0x4, // 190 12.5 + G_ODR_190_BW_25 = 0x5, // 190 25 + G_ODR_190_BW_50 = 0x6, // 190 50 + G_ODR_190_BW_70 = 0x7, // 190 70 + G_ODR_380_BW_20 = 0x8, // 380 20 + G_ODR_380_BW_25 = 0x9, // 380 25 + G_ODR_380_BW_50 = 0xA, // 380 50 + G_ODR_380_BW_100 = 0xB, // 380 100 + G_ODR_760_BW_30 = 0xC, // 760 30 + G_ODR_760_BW_35 = 0xD, // 760 35 + G_ODR_760_BW_50 = 0xE, // 760 50 + G_ODR_760_BW_100 = 0xF, // 760 100 + }; + // accel_oder defines all possible output data rates of the accelerometer: + enum accel_odr + { + A_POWER_DOWN, // Power-down mode (0x0) + A_ODR_3125, // 3.125 Hz (0x1) + A_ODR_625, // 6.25 Hz (0x2) + A_ODR_125, // 12.5 Hz (0x3) + A_ODR_25, // 25 Hz (0x4) + A_ODR_50, // 50 Hz (0x5) + A_ODR_100, // 100 Hz (0x6) + A_ODR_200, // 200 Hz (0x7) + A_ODR_400, // 400 Hz (0x8) + A_ODR_800, // 800 Hz (9) + A_ODR_1600 // 1600 Hz (0xA) + }; + // accel_oder defines all possible output data rates of the magnetometer: + enum mag_odr + { + M_ODR_3125, // 3.125 Hz (0x00) + M_ODR_625, // 6.25 Hz (0x01) + M_ODR_125, // 12.5 Hz (0x02) + M_ODR_25, // 25 Hz (0x03) + M_ODR_50, // 50 (0x04) + M_ODR_100, // 100 Hz (0x05) + }; + + // We'll store the gyro, accel, and magnetometer readings in a series of + // public class variables. Each sensor gets three variables -- one for each + // axis. Call readGyro(), readAccel(), and readMag() first, before using + // these variables! + // These values are the RAW signed 16-bit readings from the sensors. + int16_t gx, 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; + float abias[3]; + float gbias[3]; + + + // LSM9DS0 -- LSM9DS0 class constructor + // The constructor will set up a handful of private variables, and set the + // communication mode as well. + // Input: + // - interface = Either MODE_SPI or MODE_I2C, whichever you're using + // to talk to the IC. + // - gAddr = If MODE_I2C, this is the I2C address of the gyroscope. + // If MODE_SPI, this is the chip select pin of the gyro (CSG) + // - xmAddr = If MODE_I2C, this is the I2C address of the accel/mag. + // If MODE_SPI, this is the cs pin of the accel/mag (CSXM) + LSM9DS0(PinName sda, PinName scl, uint8_t gAddr, uint8_t xmAddr); + + // begin() -- Initialize the gyro, accelerometer, and magnetometer. + // This will set up the scale and output rate of each sensor. It'll also + // "turn on" every sensor and every axis of every sensor. + // Input: + // - gScl = The scale of the gyroscope. This should be a gyro_scale value. + // - aScl = The scale of the accelerometer. Should be a accel_scale value. + // - mScl = The scale of the magnetometer. Should be a mag_scale value. + // - gODR = Output data rate of the gyroscope. gyro_odr value. + // - aODR = Output data rate of the accelerometer. accel_odr value. + // - mODR = Output data rate of the magnetometer. mag_odr value. + // Output: The function will return an unsigned 16-bit value. The most-sig + // bytes of the output are the WHO_AM_I reading of the accel. The + // least significant two bytes are the WHO_AM_I reading of the gyro. + // All parameters have a defaulted value, so you can call just "begin()". + // Default values are FSR's of: +/- 245DPS, 2g, 2Gs; ODRs of 95 Hz for + // gyro, 100 Hz for accelerometer, 100 Hz for magnetometer. + // Use the return value of this function to verify communication. + uint16_t begin(gyro_scale gScl = G_SCALE_245DPS, + accel_scale aScl = A_SCALE_2G, mag_scale mScl = M_SCALE_2GS, + gyro_odr gODR = G_ODR_95_BW_125, accel_odr aODR = A_ODR_50, + mag_odr mODR = M_ODR_50); + + // readGyro() -- Read the gyroscope output registers. + // This function will read all six gyroscope output registers. + // The readings are stored in the class' gx, gy, and gz 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, ay, and az variables. Read + // those _after_ calling readAccel(). + void readAccel(); + + // readMag() -- Read the magnetometer output registers. + // This function will read all six magnetometer output registers. + // The readings are stored in the class' mx, my, and mz variables. Read + // those _after_ calling readMag(). + void readMag(); + + // readTemp() -- Read the temperature output register. + // This function will read two temperature output registers. + // The combined readings are stored in the class' temperature variables. Read + // those _after_ calling readTemp(). + void readTemp(); + + // 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); + + + // I added these two functions + float calcTemp(int16_t temp); + float getAccel(); + + // 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 enum. + void setGyroScale(gyro_scale gScl); + + // setAccelScale() -- Set the full-scale range of the accelerometer. + // This function can be called to set the scale of the accelerometer to + // 2, 4, 6, 8, or 16 g's. + // Input: + // - aScl = The desired accelerometer scale. Must be one of five possible + // values from the accel_scale enum. + void setAccelScale(accel_scale aScl); + + // setMagScale() -- Set the full-scale range of the magnetometer. + // This function can be called to set the scale of the magnetometer to + // 2, 4, 8, or 12 Gs. + // Input: + // - mScl = The desired magnetometer scale. Must be one of four possible + // values from the mag_scale enum. + void setMagScale(mag_scale mScl); + + // setGyroODR() -- Set the output data rate and bandwidth of the gyroscope + // Input: + // - gRate = The desired output rate and cutoff frequency of the gyro. + // Must be a value from the gyro_odr enum (check above, there're 14). + void setGyroODR(gyro_odr gRate); + + // setAccelODR() -- Set the output data rate of the accelerometer + // Input: + // - aRate = The desired output rate of the accel. + // Must be a value from the accel_odr enum (check above, there're 11). + void setAccelODR(accel_odr aRate); + + // setMagODR() -- Set the output data rate of the magnetometer + // Input: + // - mRate = The desired output rate of the mag. + // Must be a value from the mag_odr enum (check above, there're 6). + void setMagODR(mag_odr mRate); + + // configGyroInt() -- Configure the gyro interrupt output. + // Triggers can be set to either rising above or falling below a specified + // threshold. This function helps setup the interrupt configuration and + // threshold values for all axes. + // Input: + // - int1Cfg = A 8-bit value that is sent directly to the INT1_CFG_G + // register. This sets AND/OR and high/low interrupt gen for each axis + // - int1ThsX = 16-bit interrupt threshold value for x-axis + // - int1ThsY = 16-bit interrupt threshold value for y-axis + // - int1ThsZ = 16-bit interrupt threshold value for z-axis + // - duration = Duration an interrupt holds after triggered. This value + // is copied directly into the INT1_DURATION_G register. + // Before using this function, read about the INT1_CFG_G register and + // the related INT1* registers in the LMS9DS0 datasheet. + void configGyroInt(uint8_t int1Cfg, uint16_t int1ThsX = 0, + uint16_t int1ThsY = 0, uint16_t int1ThsZ = 0, + uint8_t duration = 0); + + void calLSM9DS0(float gbias[3], float abias[3]); + + +private: + // xmAddress and gAddress store the I2C address + // for each sensor. + uint8_t xmAddress, gAddress; + + // gScale, aScale, and mScale store the current scale range for each + // sensor. Should be updated whenever that value changes. + gyro_scale gScale; + accel_scale aScale; + mag_scale mScale; + + // gRes, aRes, and mRes store the current resolution for each sensor. + // Units of these values would be DPS (or g's or Gs's) per ADC tick. + // This value is calculated as (sensor scale) / (2^15). + float gRes, aRes, mRes; + + // initGyro() -- Sets up the gyroscope to begin reading. + // This function steps through all five gyroscope control registers. + // Upon exit, the following parameters will be set: + // - CTRL_REG1_G = 0x0F: Normal operation mode, all axes enabled. + // 95 Hz ODR, 12.5 Hz cutoff frequency. + // - CTRL_REG2_G = 0x00: HPF set to normal mode, cutoff frequency + // set to 7.2 Hz (depends on ODR). + // - CTRL_REG3_G = 0x88: Interrupt enabled on INT_G (set to push-pull and + // active high). Data-ready output enabled on DRDY_G. + // - CTRL_REG4_G = 0x00: Continuous update mode. Data LSB stored in lower + // address. Scale set to 245 DPS. SPI mode set to 4-wire. + // - CTRL_REG5_G = 0x00: FIFO disabled. HPF disabled. + void initGyro(); + + // initAccel() -- Sets up the accelerometer to begin reading. + // This function steps through all accelerometer related control registers. + // Upon exit these registers will be set as: + // - CTRL_REG0_XM = 0x00: FIFO disabled. HPF bypassed. Normal mode. + // - CTRL_REG1_XM = 0x57: 100 Hz data rate. Continuous update. + // all axes enabled. + // - CTRL_REG2_XM = 0x00: +/- 2g scale. 773 Hz anti-alias filter BW. + // - CTRL_REG3_XM = 0x04: Accel data ready signal on INT1_XM pin. + void initAccel(); + + // initMag() -- Sets up the magnetometer to begin reading. + // This function steps through all magnetometer-related control registers. + // Upon exit these registers will be set as: + // - CTRL_REG4_XM = 0x04: Mag data ready signal on INT2_XM pin. + // - CTRL_REG5_XM = 0x14: 100 Hz update rate. Low resolution. Interrupt + // requests don't latch. Temperature sensor disabled. + // - CTRL_REG6_XM = 0x00: +/- 2 Gs scale. + // - CTRL_REG7_XM = 0x00: Continuous conversion mode. Normal HPF mode. + // - INT_CTRL_REG_M = 0x09: Interrupt active-high. Enable interrupts. + void initMag(); + + // gReadByte() -- Reads a byte from a specified gyroscope register. + // Input: + // - subAddress = Register to be read from. + // Output: + // - An 8-bit value read from the requested address. + uint8_t gReadByte(uint8_t subAddress); + + // 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 gReadBytes(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 gWriteByte(uint8_t subAddress, uint8_t data); + + // xmReadByte() -- Read a byte from a register in the accel/mag sensor + // Input: + // - subAddress = Register to be read from. + // Output: + // - An 8-bit value read from the requested register. + uint8_t xmReadByte(uint8_t subAddress); + + // 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 xmReadBytes(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 xmWriteByte(uint8_t subAddress, uint8_t data); + + // calcgRes() -- Calculate the resolution of the gyroscope. + // This function will set the value of the gRes variable. gScale must + // be set prior to calling this function. + void calcgRes(); + + // calcmRes() -- Calculate the resolution of the magnetometer. + // This function will set the value of the mRes variable. mScale must + // be set prior to calling this function. + void calcmRes(); + + // calcaRes() -- Calculate the resolution of the accelerometer. + // This function will set the value of the aRes variable. aScale must + // be set prior to calling this function. + void calcaRes(); + + + /////////////////// + // I2C Functions // + /////////////////// + I2Cdev* i2c_; + + + // I2CwriteByte() -- Write a byte out of I2C to a register in the device + // Input: + // - address = The 7-bit I2C address of the slave device. + // - subAddress = The register to be written to. + // - data = Byte to be written to the register. + void I2CwriteByte(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. + void I2CreadBytes(uint8_t address, uint8_t subAddress, uint8_t * dest, uint8_t count); +}; + +#endif // _LSM9DS0_H //