Naoya Muramatsu / Mbed 2 deprecated LSM9DS0

publish

Dependencies:   mbed

Dependents:   RoboCup_2015

Fork of LSM9DS0 by Taylor Andrews

LSM9DS0.cpp@6:e6a15dcba942, 2015-01-11 (annotated)

Committer:
randrews33
Date:
Sun Jan 11 14:44:43 2015 +0000
Revision:
6:e6a15dcba942
Parent:
5:bf8f4e7c9905 
Gave credit where credit was due

Who changed what in which revision?

UserRevisionLine numberNew contents of line
randrews33 0:1b975a6ae539 1 #include "LSM9DS0.h"
randrews33 0:1b975a6ae539 2
randrews33 0:1b975a6ae539 3 LSM9DS0::LSM9DS0(PinName sda, PinName scl, uint8_t gAddr, uint8_t xmAddr)
randrews33 0:1b975a6ae539 4 {
randrews33 0:1b975a6ae539 5 // xmAddress and gAddress will store the 7-bit I2C address, if using I2C.
randrews33 0:1b975a6ae539 6 xmAddress = xmAddr;
randrews33 0:1b975a6ae539 7 gAddress = gAddr;
randrews33 0:1b975a6ae539 8
randrews33 0:1b975a6ae539 9 i2c_ = new I2Cdev(sda, scl);
randrews33 0:1b975a6ae539 10 }
randrews33 0:1b975a6ae539 11
randrews33 0:1b975a6ae539 12 uint16_t LSM9DS0::begin(gyro_scale gScl, accel_scale aScl, mag_scale mScl,
randrews33 0:1b975a6ae539 13 gyro_odr gODR, accel_odr aODR, mag_odr mODR)
randrews33 0:1b975a6ae539 14 {
randrews33 0:1b975a6ae539 15 // Store the given scales in class variables. These scale variables
randrews33 0:1b975a6ae539 16 // are used throughout to calculate the actual g's, DPS,and Gs's.
randrews33 0:1b975a6ae539 17 gScale = gScl;
randrews33 0:1b975a6ae539 18 aScale = aScl;
randrews33 0:1b975a6ae539 19 mScale = mScl;
randrews33 0:1b975a6ae539 20
randrews33 0:1b975a6ae539 21 // Once we have the scale values, we can calculate the resolution
randrews33 0:1b975a6ae539 22 // of each sensor. That's what these functions are for. One for each sensor
randrews33 0:1b975a6ae539 23 calcgRes(); // Calculate DPS / ADC tick, stored in gRes variable
randrews33 0:1b975a6ae539 24 calcmRes(); // Calculate Gs / ADC tick, stored in mRes variable
randrews33 0:1b975a6ae539 25 calcaRes(); // Calculate g / ADC tick, stored in aRes variable
randrews33 0:1b975a6ae539 26
randrews33 0:1b975a6ae539 27
randrews33 0:1b975a6ae539 28 // To verify communication, we can read from the WHO_AM_I register of
randrews33 0:1b975a6ae539 29 // each device. Store those in a variable so we can return them.
randrews33 0:1b975a6ae539 30 uint8_t gTest = gReadByte(WHO_AM_I_G); // Read the gyro WHO_AM_I
randrews33 0:1b975a6ae539 31 uint8_t xmTest = xmReadByte(WHO_AM_I_XM); // Read the accel/mag WHO_AM_I
randrews33 0:1b975a6ae539 32
randrews33 0:1b975a6ae539 33 // Gyro initialization stuff:
randrews33 0:1b975a6ae539 34 initGyro(); // This will "turn on" the gyro. Setting up interrupts, etc.
randrews33 0:1b975a6ae539 35 setGyroODR(gODR); // Set the gyro output data rate and bandwidth.
randrews33 0:1b975a6ae539 36 setGyroScale(gScale); // Set the gyro range
randrews33 0:1b975a6ae539 37
randrews33 0:1b975a6ae539 38 // Accelerometer initialization stuff:
randrews33 0:1b975a6ae539 39 initAccel(); // "Turn on" all axes of the accel. Set up interrupts, etc.
randrews33 5:bf8f4e7c9905 40 setAccelODR(aODR); // Set the accel data rate.
randrews33 5:bf8f4e7c9905 41 setAccelScale(aScale); // Set the accel range.
randrews33 0:1b975a6ae539 42
randrews33 0:1b975a6ae539 43 // Magnetometer initialization stuff:
randrews33 0:1b975a6ae539 44 initMag(); // "Turn on" all axes of the mag. Set up interrupts, etc.
randrews33 0:1b975a6ae539 45 setMagODR(mODR); // Set the magnetometer output data rate.
randrews33 0:1b975a6ae539 46 setMagScale(mScale); // Set the magnetometer's range.
randrews33 0:1b975a6ae539 47
randrews33 0:1b975a6ae539 48 // Once everything is initialized, return the WHO_AM_I registers we read:
randrews33 0:1b975a6ae539 49 return (xmTest << 8) | gTest;
randrews33 0:1b975a6ae539 50 }
randrews33 0:1b975a6ae539 51
randrews33 0:1b975a6ae539 52 void LSM9DS0::initGyro()
randrews33 0:1b975a6ae539 53 {
randrews33 5:bf8f4e7c9905 54
randrews33 0:1b975a6ae539 55 gWriteByte(CTRL_REG1_G, 0x0F); // Normal mode, enable all axes
randrews33 0:1b975a6ae539 56 gWriteByte(CTRL_REG2_G, 0x00); // Normal mode, high cutoff frequency
randrews33 5:bf8f4e7c9905 57 gWriteByte(CTRL_REG3_G, 0x88); //Interrupt enabled on both INT_G and I2_DRDY
randrews33 5:bf8f4e7c9905 58 gWriteByte(CTRL_REG4_G, 0x00); // Set scale to 245 dps
randrews33 5:bf8f4e7c9905 59 gWriteByte(CTRL_REG5_G, 0x00); //Init default values
randrews33 0:1b975a6ae539 60
randrews33 0:1b975a6ae539 61 }
randrews33 0:1b975a6ae539 62
randrews33 0:1b975a6ae539 63 void LSM9DS0::initAccel()
randrews33 0:1b975a6ae539 64 {
randrews33 5:bf8f4e7c9905 65 xmWriteByte(CTRL_REG0_XM, 0x00);
randrews33 5:bf8f4e7c9905 66 xmWriteByte(CTRL_REG1_XM, 0x57); // 50Hz data rate, x/y/z all enabled
randrews33 0:1b975a6ae539 67 xmWriteByte(CTRL_REG2_XM, 0x00); // Set scale to 2g
randrews33 5:bf8f4e7c9905 68 xmWriteByte(CTRL_REG3_XM, 0x04); // Accelerometer data ready on INT1_XM (0x04)
randrews33 5:bf8f4e7c9905 69
randrews33 0:1b975a6ae539 70 }
randrews33 0:1b975a6ae539 71
randrews33 0:1b975a6ae539 72 void LSM9DS0::initMag()
randrews33 0:1b975a6ae539 73 {
randrews33 5:bf8f4e7c9905 74 xmWriteByte(CTRL_REG5_XM, 0x94); // Mag data rate - 100 Hz, enable temperature sensor
randrews33 0:1b975a6ae539 75 xmWriteByte(CTRL_REG6_XM, 0x00); // Mag scale to +/- 2GS
randrews33 0:1b975a6ae539 76 xmWriteByte(CTRL_REG7_XM, 0x00); // Continuous conversion mode
randrews33 0:1b975a6ae539 77 xmWriteByte(CTRL_REG4_XM, 0x04); // Magnetometer data ready on INT2_XM (0x08)
randrews33 0:1b975a6ae539 78 xmWriteByte(INT_CTRL_REG_M, 0x09); // Enable interrupts for mag, active-low, push-pull
randrews33 0:1b975a6ae539 79 }
randrews33 0:1b975a6ae539 80
randrews33 5:bf8f4e7c9905 81 void LSM9DS0::calLSM9DS0(float * gbias, float * abias)
randrews33 5:bf8f4e7c9905 82 {
randrews33 5:bf8f4e7c9905 83 uint8_t data[6] = {0, 0, 0, 0, 0, 0};
randrews33 5:bf8f4e7c9905 84 int16_t gyro_bias[3] = {0, 0, 0}, accel_bias[3] = {0, 0, 0};
randrews33 5:bf8f4e7c9905 85 int samples, ii;
randrews33 5:bf8f4e7c9905 86
randrews33 5:bf8f4e7c9905 87 // First get gyro bias
randrews33 5:bf8f4e7c9905 88 uint8_t c = gReadByte(CTRL_REG5_G);
randrews33 5:bf8f4e7c9905 89 gWriteByte(CTRL_REG5_G, c | 0x40); // Enable gyro FIFO
randrews33 5:bf8f4e7c9905 90 wait_ms(20); // Wait for change to take effect
randrews33 5:bf8f4e7c9905 91 gWriteByte(FIFO_CTRL_REG_G, 0x20 | 0x1F); // Enable gyro FIFO stream mode and set watermark at 32 samples
randrews33 5:bf8f4e7c9905 92 wait_ms(1000); // delay 1000 milliseconds to collect FIFO samples
randrews33 5:bf8f4e7c9905 93
randrews33 5:bf8f4e7c9905 94 samples = (gReadByte(FIFO_SRC_REG_G) & 0x1F); // Read number of stored samples
randrews33 5:bf8f4e7c9905 95
randrews33 5:bf8f4e7c9905 96 for(ii = 0; ii < samples ; ii++) { // Read the gyro data stored in the FIFO
randrews33 5:bf8f4e7c9905 97
randrews33 5:bf8f4e7c9905 98 data[0] = gReadByte(OUT_X_L_G);
randrews33 5:bf8f4e7c9905 99 data[1] = gReadByte(OUT_X_H_G);
randrews33 5:bf8f4e7c9905 100 data[2] = gReadByte(OUT_Y_L_G);
randrews33 5:bf8f4e7c9905 101 data[3] = gReadByte(OUT_Y_H_G);
randrews33 5:bf8f4e7c9905 102 data[4] = gReadByte(OUT_Z_L_G);
randrews33 5:bf8f4e7c9905 103 data[5] = gReadByte(OUT_Z_H_G);
randrews33 5:bf8f4e7c9905 104
randrews33 5:bf8f4e7c9905 105 gyro_bias[0] += (((int16_t)data[1] << 8) | data[0]);
randrews33 5:bf8f4e7c9905 106 gyro_bias[1] += (((int16_t)data[3] << 8) | data[2]);
randrews33 5:bf8f4e7c9905 107 gyro_bias[2] += (((int16_t)data[5] << 8) | data[4]);
randrews33 5:bf8f4e7c9905 108 }
randrews33 5:bf8f4e7c9905 109
randrews33 5:bf8f4e7c9905 110 gyro_bias[0] /= samples; // average the data
randrews33 5:bf8f4e7c9905 111 gyro_bias[1] /= samples;
randrews33 5:bf8f4e7c9905 112 gyro_bias[2] /= samples;
randrews33 5:bf8f4e7c9905 113
randrews33 5:bf8f4e7c9905 114 gbias[0] = (float)gyro_bias[0]*gRes; // Properly scale the data to get deg/s
randrews33 5:bf8f4e7c9905 115 gbias[1] = (float)gyro_bias[1]*gRes;
randrews33 5:bf8f4e7c9905 116 gbias[2] = (float)gyro_bias[2]*gRes;
randrews33 5:bf8f4e7c9905 117
randrews33 5:bf8f4e7c9905 118 c = gReadByte(CTRL_REG5_G);
randrews33 5:bf8f4e7c9905 119 gWriteByte(CTRL_REG5_G, c & ~0x40); // Disable gyro FIFO
randrews33 5:bf8f4e7c9905 120 wait_ms(20);
randrews33 5:bf8f4e7c9905 121 gWriteByte(FIFO_CTRL_REG_G, 0x00); // Enable gyro bypass mode
randrews33 5:bf8f4e7c9905 122
randrews33 5:bf8f4e7c9905 123 // Now get the accelerometer biases
randrews33 5:bf8f4e7c9905 124 c = xmReadByte(CTRL_REG0_XM);
randrews33 5:bf8f4e7c9905 125 xmWriteByte(CTRL_REG0_XM, c | 0x40); // Enable accelerometer FIFO
randrews33 5:bf8f4e7c9905 126 wait_ms(20); // Wait for change to take effect
randrews33 5:bf8f4e7c9905 127 xmWriteByte(FIFO_CTRL_REG, 0x20 | 0x1F); // Enable accelerometer FIFO stream mode and set watermark at 32 samples
randrews33 5:bf8f4e7c9905 128 wait_ms(1000); // delay 1000 milliseconds to collect FIFO samples
randrews33 5:bf8f4e7c9905 129
randrews33 5:bf8f4e7c9905 130 samples = (xmReadByte(FIFO_SRC_REG) & 0x1F); // Read number of stored accelerometer samples
randrews33 5:bf8f4e7c9905 131
randrews33 5:bf8f4e7c9905 132 for(ii = 0; ii < samples ; ii++) { // Read the accelerometer data stored in the FIFO
randrews33 5:bf8f4e7c9905 133
randrews33 5:bf8f4e7c9905 134 data[0] = xmReadByte(OUT_X_L_A);
randrews33 5:bf8f4e7c9905 135 data[1] = xmReadByte(OUT_X_H_A);
randrews33 5:bf8f4e7c9905 136 data[2] = xmReadByte(OUT_Y_L_A);
randrews33 5:bf8f4e7c9905 137 data[3] = xmReadByte(OUT_Y_H_A);
randrews33 5:bf8f4e7c9905 138 data[4] = xmReadByte(OUT_Z_L_A);
randrews33 5:bf8f4e7c9905 139 data[5] = xmReadByte(OUT_Z_H_A);
randrews33 5:bf8f4e7c9905 140 accel_bias[0] += (((int16_t)data[1] << 8) | data[0]);
randrews33 5:bf8f4e7c9905 141 accel_bias[1] += (((int16_t)data[3] << 8) | data[2]);
randrews33 5:bf8f4e7c9905 142 accel_bias[2] += (((int16_t)data[5] << 8) | data[4]) - (int16_t)(1./aRes); // Assumes sensor facing up!
randrews33 5:bf8f4e7c9905 143 }
randrews33 5:bf8f4e7c9905 144
randrews33 5:bf8f4e7c9905 145 accel_bias[0] /= samples; // average the data
randrews33 5:bf8f4e7c9905 146 accel_bias[1] /= samples;
randrews33 5:bf8f4e7c9905 147 accel_bias[2] /= samples;
randrews33 5:bf8f4e7c9905 148
randrews33 5:bf8f4e7c9905 149 abias[0] = (float)accel_bias[0]*aRes; // Properly scale data to get gs
randrews33 5:bf8f4e7c9905 150 abias[1] = (float)accel_bias[1]*aRes;
randrews33 5:bf8f4e7c9905 151 abias[2] = (float)accel_bias[2]*aRes;
randrews33 5:bf8f4e7c9905 152
randrews33 5:bf8f4e7c9905 153 c = xmReadByte(CTRL_REG0_XM);
randrews33 5:bf8f4e7c9905 154 xmWriteByte(CTRL_REG0_XM, c & ~0x40); // Disable accelerometer FIFO
randrews33 5:bf8f4e7c9905 155 wait_ms(20);
randrews33 5:bf8f4e7c9905 156 xmWriteByte(FIFO_CTRL_REG, 0x00); // Enable accelerometer bypass mode
randrews33 5:bf8f4e7c9905 157
randrews33 5:bf8f4e7c9905 158 }
randrews33 0:1b975a6ae539 159 void LSM9DS0::readAccel()
randrews33 0:1b975a6ae539 160 {
randrews33 0:1b975a6ae539 161 uint16_t Temp = 0;
randrews33 0:1b975a6ae539 162
randrews33 0:1b975a6ae539 163 //Get x
randrews33 0:1b975a6ae539 164 Temp = xmReadByte(OUT_X_H_A);
randrews33 0:1b975a6ae539 165 Temp = Temp<<8;
randrews33 0:1b975a6ae539 166 Temp |= xmReadByte(OUT_X_L_A);
randrews33 0:1b975a6ae539 167 ax = Temp;
randrews33 0:1b975a6ae539 168
randrews33 0:1b975a6ae539 169
randrews33 0:1b975a6ae539 170 //Get y
randrews33 0:1b975a6ae539 171 Temp=0;
randrews33 0:1b975a6ae539 172 Temp = xmReadByte(OUT_Y_H_A);
randrews33 0:1b975a6ae539 173 Temp = Temp<<8;
randrews33 0:1b975a6ae539 174 Temp |= xmReadByte(OUT_Y_L_A);
randrews33 0:1b975a6ae539 175 ay = Temp;
randrews33 0:1b975a6ae539 176
randrews33 0:1b975a6ae539 177 //Get z
randrews33 0:1b975a6ae539 178 Temp=0;
randrews33 0:1b975a6ae539 179 Temp = xmReadByte(OUT_Z_H_A);
randrews33 0:1b975a6ae539 180 Temp = Temp<<8;
randrews33 0:1b975a6ae539 181 Temp |= xmReadByte(OUT_Z_L_A);
randrews33 0:1b975a6ae539 182 az = Temp;
randrews33 0:1b975a6ae539 183
randrews33 0:1b975a6ae539 184 }
randrews33 0:1b975a6ae539 185
randrews33 0:1b975a6ae539 186 void LSM9DS0::readMag()
randrews33 0:1b975a6ae539 187 {
randrews33 5:bf8f4e7c9905 188 uint16_t Temp = 0;
randrews33 0:1b975a6ae539 189
randrews33 0:1b975a6ae539 190 //Get x
randrews33 0:1b975a6ae539 191 Temp = xmReadByte(OUT_X_H_M);
randrews33 0:1b975a6ae539 192 Temp = Temp<<8;
randrews33 0:1b975a6ae539 193 Temp |= xmReadByte(OUT_X_L_M);
randrews33 0:1b975a6ae539 194 mx = Temp;
randrews33 0:1b975a6ae539 195
randrews33 0:1b975a6ae539 196
randrews33 0:1b975a6ae539 197 //Get y
randrews33 0:1b975a6ae539 198 Temp=0;
randrews33 0:1b975a6ae539 199 Temp = xmReadByte(OUT_Y_H_M);
randrews33 0:1b975a6ae539 200 Temp = Temp<<8;
randrews33 0:1b975a6ae539 201 Temp |= xmReadByte(OUT_Y_L_M);
randrews33 0:1b975a6ae539 202 my = Temp;
randrews33 0:1b975a6ae539 203
randrews33 0:1b975a6ae539 204 //Get z
randrews33 0:1b975a6ae539 205 Temp=0;
randrews33 0:1b975a6ae539 206 Temp = xmReadByte(OUT_Z_H_M);
randrews33 0:1b975a6ae539 207 Temp = Temp<<8;
randrews33 0:1b975a6ae539 208 Temp |= xmReadByte(OUT_Z_L_M);
randrews33 0:1b975a6ae539 209 mz = Temp;
randrews33 0:1b975a6ae539 210 }
randrews33 0:1b975a6ae539 211
randrews33 5:bf8f4e7c9905 212 void LSM9DS0::readTemp()
randrews33 0:1b975a6ae539 213 {
randrews33 5:bf8f4e7c9905 214 uint8_t temp[2]; // We'll read two bytes from the temperature sensor into temp
randrews33 5:bf8f4e7c9905 215
randrews33 5:bf8f4e7c9905 216 temp[0] = xmReadByte(OUT_TEMP_L_XM);
randrews33 5:bf8f4e7c9905 217 temp[1] = xmReadByte(OUT_TEMP_H_XM);
randrews33 0:1b975a6ae539 218
randrews33 5:bf8f4e7c9905 219 temperature = (((int16_t) temp[1] << 12) | temp[0] << 4 ) >> 4; // Temperature is a 12-bit signed integer
randrews33 5:bf8f4e7c9905 220 }
randrews33 5:bf8f4e7c9905 221
randrews33 5:bf8f4e7c9905 222
randrews33 5:bf8f4e7c9905 223 void LSM9DS0::readGyro()
randrews33 5:bf8f4e7c9905 224 {
randrews33 0:1b975a6ae539 225 uint16_t Temp = 0;
randrews33 0:1b975a6ae539 226
randrews33 0:1b975a6ae539 227 //Get x
randrews33 5:bf8f4e7c9905 228 Temp = gReadByte(OUT_X_H_G);
randrews33 0:1b975a6ae539 229 Temp = Temp<<8;
randrews33 5:bf8f4e7c9905 230 Temp |= gReadByte(OUT_X_L_G);
randrews33 0:1b975a6ae539 231 gx = Temp;
randrews33 0:1b975a6ae539 232
randrews33 0:1b975a6ae539 233
randrews33 0:1b975a6ae539 234 //Get y
randrews33 0:1b975a6ae539 235 Temp=0;
randrews33 5:bf8f4e7c9905 236 Temp = gReadByte(OUT_Y_H_G);
randrews33 0:1b975a6ae539 237 Temp = Temp<<8;
randrews33 5:bf8f4e7c9905 238 Temp |= gReadByte(OUT_Y_L_G);
randrews33 0:1b975a6ae539 239 gy = Temp;
randrews33 0:1b975a6ae539 240
randrews33 0:1b975a6ae539 241 //Get z
randrews33 0:1b975a6ae539 242 Temp=0;
randrews33 5:bf8f4e7c9905 243 Temp = gReadByte(OUT_Z_H_G);
randrews33 0:1b975a6ae539 244 Temp = Temp<<8;
randrews33 5:bf8f4e7c9905 245 Temp |= gReadByte(OUT_Z_L_G);
randrews33 0:1b975a6ae539 246 gz = Temp;
randrews33 0:1b975a6ae539 247 }
randrews33 0:1b975a6ae539 248
randrews33 0:1b975a6ae539 249 float LSM9DS0::calcGyro(int16_t gyro)
randrews33 0:1b975a6ae539 250 {
randrews33 0:1b975a6ae539 251 // Return the gyro raw reading times our pre-calculated DPS / (ADC tick):
randrews33 0:1b975a6ae539 252 return gRes * gyro;
randrews33 0:1b975a6ae539 253 }
randrews33 0:1b975a6ae539 254
randrews33 0:1b975a6ae539 255 float LSM9DS0::calcAccel(int16_t accel)
randrews33 0:1b975a6ae539 256 {
randrews33 0:1b975a6ae539 257 // Return the accel raw reading times our pre-calculated g's / (ADC tick):
randrews33 0:1b975a6ae539 258 return aRes * accel;
randrews33 0:1b975a6ae539 259 }
randrews33 0:1b975a6ae539 260
randrews33 0:1b975a6ae539 261 float LSM9DS0::calcMag(int16_t mag)
randrews33 0:1b975a6ae539 262 {
randrews33 0:1b975a6ae539 263 // Return the mag raw reading times our pre-calculated Gs / (ADC tick):
randrews33 0:1b975a6ae539 264 return mRes * mag;
randrews33 0:1b975a6ae539 265 }
randrews33 0:1b975a6ae539 266
randrews33 0:1b975a6ae539 267 void LSM9DS0::setGyroScale(gyro_scale gScl)
randrews33 0:1b975a6ae539 268 {
randrews33 0:1b975a6ae539 269 // We need to preserve the other bytes in CTRL_REG4_G. So, first read it:
randrews33 0:1b975a6ae539 270 uint8_t temp = gReadByte(CTRL_REG4_G);
randrews33 0:1b975a6ae539 271 // Then mask out the gyro scale bits:
randrews33 0:1b975a6ae539 272 temp &= 0xFF^(0x3 << 4);
randrews33 0:1b975a6ae539 273 // Then shift in our new scale bits:
randrews33 0:1b975a6ae539 274 temp |= gScl << 4;
randrews33 0:1b975a6ae539 275 // And write the new register value back into CTRL_REG4_G:
randrews33 0:1b975a6ae539 276 gWriteByte(CTRL_REG4_G, temp);
randrews33 0:1b975a6ae539 277
randrews33 0:1b975a6ae539 278 // We've updated the sensor, but we also need to update our class variables
randrews33 0:1b975a6ae539 279 // First update gScale:
randrews33 0:1b975a6ae539 280 gScale = gScl;
randrews33 0:1b975a6ae539 281 // Then calculate a new gRes, which relies on gScale being set correctly:
randrews33 0:1b975a6ae539 282 calcgRes();
randrews33 0:1b975a6ae539 283 }
randrews33 0:1b975a6ae539 284
randrews33 0:1b975a6ae539 285 void LSM9DS0::setAccelScale(accel_scale aScl)
randrews33 0:1b975a6ae539 286 {
randrews33 0:1b975a6ae539 287 // We need to preserve the other bytes in CTRL_REG2_XM. So, first read it:
randrews33 0:1b975a6ae539 288 uint8_t temp = xmReadByte(CTRL_REG2_XM);
randrews33 0:1b975a6ae539 289 // Then mask out the accel scale bits:
randrews33 0:1b975a6ae539 290 temp &= 0xFF^(0x3 << 3);
randrews33 0:1b975a6ae539 291 // Then shift in our new scale bits:
randrews33 0:1b975a6ae539 292 temp |= aScl << 3;
randrews33 0:1b975a6ae539 293 // And write the new register value back into CTRL_REG2_XM:
randrews33 0:1b975a6ae539 294 xmWriteByte(CTRL_REG2_XM, temp);
randrews33 0:1b975a6ae539 295
randrews33 0:1b975a6ae539 296 // We've updated the sensor, but we also need to update our class variables
randrews33 0:1b975a6ae539 297 // First update aScale:
randrews33 0:1b975a6ae539 298 aScale = aScl;
randrews33 0:1b975a6ae539 299 // Then calculate a new aRes, which relies on aScale being set correctly:
randrews33 0:1b975a6ae539 300 calcaRes();
randrews33 0:1b975a6ae539 301 }
randrews33 0:1b975a6ae539 302
randrews33 0:1b975a6ae539 303 void LSM9DS0::setMagScale(mag_scale mScl)
randrews33 0:1b975a6ae539 304 {
randrews33 0:1b975a6ae539 305 // We need to preserve the other bytes in CTRL_REG6_XM. So, first read it:
randrews33 0:1b975a6ae539 306 uint8_t temp = xmReadByte(CTRL_REG6_XM);
randrews33 0:1b975a6ae539 307 // Then mask out the mag scale bits:
randrews33 0:1b975a6ae539 308 temp &= 0xFF^(0x3 << 5);
randrews33 0:1b975a6ae539 309 // Then shift in our new scale bits:
randrews33 0:1b975a6ae539 310 temp |= mScl << 5;
randrews33 0:1b975a6ae539 311 // And write the new register value back into CTRL_REG6_XM:
randrews33 0:1b975a6ae539 312 xmWriteByte(CTRL_REG6_XM, temp);
randrews33 0:1b975a6ae539 313
randrews33 0:1b975a6ae539 314 // We've updated the sensor, but we also need to update our class variables
randrews33 0:1b975a6ae539 315 // First update mScale:
randrews33 0:1b975a6ae539 316 mScale = mScl;
randrews33 0:1b975a6ae539 317 // Then calculate a new mRes, which relies on mScale being set correctly:
randrews33 0:1b975a6ae539 318 calcmRes();
randrews33 0:1b975a6ae539 319 }
randrews33 0:1b975a6ae539 320
randrews33 0:1b975a6ae539 321 void LSM9DS0::setGyroODR(gyro_odr gRate)
randrews33 0:1b975a6ae539 322 {
randrews33 0:1b975a6ae539 323 // We need to preserve the other bytes in CTRL_REG1_G. So, first read it:
randrews33 0:1b975a6ae539 324 uint8_t temp = gReadByte(CTRL_REG1_G);
randrews33 0:1b975a6ae539 325 // Then mask out the gyro ODR bits:
randrews33 0:1b975a6ae539 326 temp &= 0xFF^(0xF << 4);
randrews33 0:1b975a6ae539 327 // Then shift in our new ODR bits:
randrews33 0:1b975a6ae539 328 temp |= (gRate << 4);
randrews33 0:1b975a6ae539 329 // And write the new register value back into CTRL_REG1_G:
randrews33 0:1b975a6ae539 330 gWriteByte(CTRL_REG1_G, temp);
randrews33 0:1b975a6ae539 331 }
randrews33 0:1b975a6ae539 332 void LSM9DS0::setAccelODR(accel_odr aRate)
randrews33 0:1b975a6ae539 333 {
randrews33 0:1b975a6ae539 334 // We need to preserve the other bytes in CTRL_REG1_XM. So, first read it:
randrews33 0:1b975a6ae539 335 uint8_t temp = xmReadByte(CTRL_REG1_XM);
randrews33 0:1b975a6ae539 336 // Then mask out the accel ODR bits:
randrews33 0:1b975a6ae539 337 temp &= 0xFF^(0xF << 4);
randrews33 0:1b975a6ae539 338 // Then shift in our new ODR bits:
randrews33 0:1b975a6ae539 339 temp |= (aRate << 4);
randrews33 0:1b975a6ae539 340 // And write the new register value back into CTRL_REG1_XM:
randrews33 0:1b975a6ae539 341 xmWriteByte(CTRL_REG1_XM, temp);
randrews33 0:1b975a6ae539 342 }
randrews33 0:1b975a6ae539 343 void LSM9DS0::setMagODR(mag_odr mRate)
randrews33 0:1b975a6ae539 344 {
randrews33 0:1b975a6ae539 345 // We need to preserve the other bytes in CTRL_REG5_XM. So, first read it:
randrews33 0:1b975a6ae539 346 uint8_t temp = xmReadByte(CTRL_REG5_XM);
randrews33 0:1b975a6ae539 347 // Then mask out the mag ODR bits:
randrews33 0:1b975a6ae539 348 temp &= 0xFF^(0x7 << 2);
randrews33 0:1b975a6ae539 349 // Then shift in our new ODR bits:
randrews33 0:1b975a6ae539 350 temp |= (mRate << 2);
randrews33 0:1b975a6ae539 351 // And write the new register value back into CTRL_REG5_XM:
randrews33 0:1b975a6ae539 352 xmWriteByte(CTRL_REG5_XM, temp);
randrews33 0:1b975a6ae539 353 }
randrews33 0:1b975a6ae539 354
randrews33 0:1b975a6ae539 355 void LSM9DS0::configGyroInt(uint8_t int1Cfg, uint16_t int1ThsX, uint16_t int1ThsY, uint16_t int1ThsZ, uint8_t duration)
randrews33 0:1b975a6ae539 356 {
randrews33 0:1b975a6ae539 357 gWriteByte(INT1_CFG_G, int1Cfg);
randrews33 0:1b975a6ae539 358 gWriteByte(INT1_THS_XH_G, (int1ThsX & 0xFF00) >> 8);
randrews33 0:1b975a6ae539 359 gWriteByte(INT1_THS_XL_G, (int1ThsX & 0xFF));
randrews33 0:1b975a6ae539 360 gWriteByte(INT1_THS_YH_G, (int1ThsY & 0xFF00) >> 8);
randrews33 0:1b975a6ae539 361 gWriteByte(INT1_THS_YL_G, (int1ThsY & 0xFF));
randrews33 0:1b975a6ae539 362 gWriteByte(INT1_THS_ZH_G, (int1ThsZ & 0xFF00) >> 8);
randrews33 0:1b975a6ae539 363 gWriteByte(INT1_THS_ZL_G, (int1ThsZ & 0xFF));
randrews33 0:1b975a6ae539 364 if (duration)
randrews33 0:1b975a6ae539 365 gWriteByte(INT1_DURATION_G, 0x80 | duration);
randrews33 0:1b975a6ae539 366 else
randrews33 0:1b975a6ae539 367 gWriteByte(INT1_DURATION_G, 0x00);
randrews33 0:1b975a6ae539 368 }
randrews33 0:1b975a6ae539 369
randrews33 0:1b975a6ae539 370 void LSM9DS0::calcgRes()
randrews33 0:1b975a6ae539 371 {
randrews33 0:1b975a6ae539 372 // Possible gyro scales (and their register bit settings) are:
randrews33 0:1b975a6ae539 373 // 245 DPS (00), 500 DPS (01), 2000 DPS (10). Here's a bit of an algorithm
randrews33 0:1b975a6ae539 374 // to calculate DPS/(ADC tick) based on that 2-bit value:
randrews33 0:1b975a6ae539 375 switch (gScale)
randrews33 0:1b975a6ae539 376 {
randrews33 0:1b975a6ae539 377 case G_SCALE_245DPS:
randrews33 0:1b975a6ae539 378 gRes = 245.0 / 32768.0;
randrews33 0:1b975a6ae539 379 break;
randrews33 0:1b975a6ae539 380 case G_SCALE_500DPS:
randrews33 0:1b975a6ae539 381 gRes = 500.0 / 32768.0;
randrews33 0:1b975a6ae539 382 break;
randrews33 0:1b975a6ae539 383 case G_SCALE_2000DPS:
randrews33 0:1b975a6ae539 384 gRes = 2000.0 / 32768.0;
randrews33 0:1b975a6ae539 385 break;
randrews33 0:1b975a6ae539 386 }
randrews33 0:1b975a6ae539 387 }
randrews33 0:1b975a6ae539 388
randrews33 0:1b975a6ae539 389 void LSM9DS0::calcaRes()
randrews33 0:1b975a6ae539 390 {
randrews33 0:1b975a6ae539 391 // Possible accelerometer scales (and their register bit settings) are:
randrews33 0:1b975a6ae539 392 // 2 g (000), 4g (001), 6g (010) 8g (011), 16g (100). Here's a bit of an
randrews33 0:1b975a6ae539 393 // algorithm to calculate g/(ADC tick) based on that 3-bit value:
randrews33 0:1b975a6ae539 394 aRes = aScale == A_SCALE_16G ? 16.0 / 32768.0 :
randrews33 0:1b975a6ae539 395 (((float) aScale + 1.0) * 2.0) / 32768.0;
randrews33 0:1b975a6ae539 396 }
randrews33 0:1b975a6ae539 397
randrews33 0:1b975a6ae539 398 void LSM9DS0::calcmRes()
randrews33 0:1b975a6ae539 399 {
randrews33 0:1b975a6ae539 400 // Possible magnetometer scales (and their register bit settings) are:
randrews33 0:1b975a6ae539 401 // 2 Gs (00), 4 Gs (01), 8 Gs (10) 12 Gs (11). Here's a bit of an algorithm
randrews33 0:1b975a6ae539 402 // to calculate Gs/(ADC tick) based on that 2-bit value:
randrews33 0:1b975a6ae539 403 mRes = mScale == M_SCALE_2GS ? 2.0 / 32768.0 :
randrews33 0:1b975a6ae539 404 (float) (mScale << 2) / 32768.0;
randrews33 0:1b975a6ae539 405 }
randrews33 0:1b975a6ae539 406
randrews33 0:1b975a6ae539 407 void LSM9DS0::gWriteByte(uint8_t subAddress, uint8_t data)
randrews33 0:1b975a6ae539 408 {
randrews33 0:1b975a6ae539 409 // Whether we're using I2C or SPI, write a byte using the
randrews33 0:1b975a6ae539 410 // gyro-specific I2C address or SPI CS pin.
randrews33 0:1b975a6ae539 411 I2CwriteByte(gAddress, subAddress, data);
randrews33 0:1b975a6ae539 412 }
randrews33 0:1b975a6ae539 413
randrews33 0:1b975a6ae539 414 void LSM9DS0::xmWriteByte(uint8_t subAddress, uint8_t data)
randrews33 0:1b975a6ae539 415 {
randrews33 0:1b975a6ae539 416 // Whether we're using I2C or SPI, write a byte using the
randrews33 0:1b975a6ae539 417 // accelerometer-specific I2C address or SPI CS pin.
randrews33 0:1b975a6ae539 418 return I2CwriteByte(xmAddress, subAddress, data);
randrews33 0:1b975a6ae539 419 }
randrews33 0:1b975a6ae539 420
randrews33 0:1b975a6ae539 421 uint8_t LSM9DS0::gReadByte(uint8_t subAddress)
randrews33 0:1b975a6ae539 422 {
randrews33 0:1b975a6ae539 423 return I2CreadByte(gAddress, subAddress);
randrews33 0:1b975a6ae539 424 }
randrews33 0:1b975a6ae539 425
randrews33 0:1b975a6ae539 426 void LSM9DS0::gReadBytes(uint8_t subAddress, uint8_t * dest, uint8_t count)
randrews33 0:1b975a6ae539 427 {
randrews33 0:1b975a6ae539 428 // Whether we're using I2C or SPI, read multiple bytes using the
randrews33 5:bf8f4e7c9905 429 // gyro-specific I2C address.
randrews33 0:1b975a6ae539 430 I2CreadBytes(gAddress, subAddress, dest, count);
randrews33 0:1b975a6ae539 431 }
randrews33 0:1b975a6ae539 432
randrews33 0:1b975a6ae539 433 uint8_t LSM9DS0::xmReadByte(uint8_t subAddress)
randrews33 0:1b975a6ae539 434 {
randrews33 0:1b975a6ae539 435 // Whether we're using I2C or SPI, read a byte using the
randrews33 5:bf8f4e7c9905 436 // accelerometer-specific I2C address.
randrews33 0:1b975a6ae539 437 return I2CreadByte(xmAddress, subAddress);
randrews33 0:1b975a6ae539 438 }
randrews33 0:1b975a6ae539 439
randrews33 0:1b975a6ae539 440 void LSM9DS0::xmReadBytes(uint8_t subAddress, uint8_t * dest, uint8_t count)
randrews33 0:1b975a6ae539 441 {
randrews33 5:bf8f4e7c9905 442 // read multiple bytes using the
randrews33 5:bf8f4e7c9905 443 // accelerometer-specific I2C address.
randrews33 5:bf8f4e7c9905 444 I2CreadBytes(xmAddress, subAddress, dest, count);
randrews33 0:1b975a6ae539 445 }
randrews33 0:1b975a6ae539 446
randrews33 0:1b975a6ae539 447
randrews33 0:1b975a6ae539 448 void LSM9DS0::I2CwriteByte(uint8_t address, uint8_t subAddress, uint8_t data)
randrews33 5:bf8f4e7c9905 449 {
randrews33 0:1b975a6ae539 450 i2c_->writeByte(address,subAddress,data);
randrews33 0:1b975a6ae539 451 }
randrews33 0:1b975a6ae539 452
randrews33 0:1b975a6ae539 453 uint8_t LSM9DS0::I2CreadByte(uint8_t address, uint8_t subAddress)
randrews33 0:1b975a6ae539 454 {
randrews33 0:1b975a6ae539 455 char data[1]; // `data` will store the register data
randrews33 0:1b975a6ae539 456
randrews33 0:1b975a6ae539 457 I2CreadBytes(address, subAddress,(uint8_t*)data, 1);
randrews33 0:1b975a6ae539 458 return (uint8_t)data[0];
randrews33 0:1b975a6ae539 459
randrews33 0:1b975a6ae539 460 }
randrews33 0:1b975a6ae539 461
randrews33 0:1b975a6ae539 462 void LSM9DS0::I2CreadBytes(uint8_t address, uint8_t subAddress, uint8_t * dest,
randrews33 0:1b975a6ae539 463 uint8_t count)
randrews33 5:bf8f4e7c9905 464 {
randrews33 0:1b975a6ae539 465 i2c_->readBytes(address, subAddress, count, dest);
randrews33 0:1b975a6ae539 466 }