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LSM9DS0.h
00001 //Most of the Credit goes to jimblom 00002 #ifndef _LSM9DS0_H__ 00003 #define _LSM9DS0_H__ 00004 00005 #include "mbed.h" 00006 #include "I2Cdev.h" 00007 00008 00009 //////////////////////////// 00010 // LSM9DS0 Gyro Registers // 00011 //////////////////////////// 00012 #define WHO_AM_I_G 0x0F 00013 #define CTRL_REG1_G 0x20 00014 #define CTRL_REG2_G 0x21 00015 #define CTRL_REG3_G 0x22 00016 #define CTRL_REG4_G 0x23 00017 #define CTRL_REG5_G 0x24 00018 #define REFERENCE_G 0x25 00019 #define STATUS_REG_G 0x27 00020 #define OUT_X_L_G 0x28 00021 #define OUT_X_H_G 0x29 00022 #define OUT_Y_L_G 0x2A 00023 #define OUT_Y_H_G 0x2B 00024 #define OUT_Z_L_G 0x2C 00025 #define OUT_Z_H_G 0x2D 00026 #define FIFO_CTRL_REG_G 0x2E 00027 #define FIFO_SRC_REG_G 0x2F 00028 #define INT1_CFG_G 0x30 00029 #define INT1_SRC_G 0x31 00030 #define INT1_THS_XH_G 0x32 00031 #define INT1_THS_XL_G 0x33 00032 #define INT1_THS_YH_G 0x34 00033 #define INT1_THS_YL_G 0x35 00034 #define INT1_THS_ZH_G 0x36 00035 #define INT1_THS_ZL_G 0x37 00036 #define INT1_DURATION_G 0x38 00037 00038 ////////////////////////////////////////// 00039 // LSM9DS0 Accel/Magneto (XM) Registers // 00040 ////////////////////////////////////////// 00041 #define OUT_TEMP_L_XM 0x05 00042 #define OUT_TEMP_H_XM 0x06 00043 #define STATUS_REG_M 0x07 00044 #define OUT_X_L_M 0x08 00045 #define OUT_X_H_M 0x09 00046 #define OUT_Y_L_M 0x0A 00047 #define OUT_Y_H_M 0x0B 00048 #define OUT_Z_L_M 0x0C 00049 #define OUT_Z_H_M 0x0D 00050 #define WHO_AM_I_XM 0x0F 00051 #define INT_CTRL_REG_M 0x12 00052 #define INT_SRC_REG_M 0x13 00053 #define INT_THS_L_M 0x14 00054 #define INT_THS_H_M 0x15 00055 #define OFFSET_X_L_M 0x16 00056 #define OFFSET_X_H_M 0x17 00057 #define OFFSET_Y_L_M 0x18 00058 #define OFFSET_Y_H_M 0x19 00059 #define OFFSET_Z_L_M 0x1A 00060 #define OFFSET_Z_H_M 0x1B 00061 #define REFERENCE_X 0x1C 00062 #define REFERENCE_Y 0x1D 00063 #define REFERENCE_Z 0x1E 00064 #define CTRL_REG0_XM 0x1F 00065 #define CTRL_REG1_XM 0x20 00066 #define CTRL_REG2_XM 0x21 00067 #define CTRL_REG3_XM 0x22 00068 #define CTRL_REG4_XM 0x23 00069 #define CTRL_REG5_XM 0x24 00070 #define CTRL_REG6_XM 0x25 00071 #define CTRL_REG7_XM 0x26 00072 #define STATUS_REG_A 0x27 00073 #define OUT_X_L_A 0x28 00074 #define OUT_X_H_A 0x29 00075 #define OUT_Y_L_A 0x2A 00076 #define OUT_Y_H_A 0x2B 00077 #define OUT_Z_L_A 0x2C 00078 #define OUT_Z_H_A 0x2D 00079 #define FIFO_CTRL_REG 0x2E 00080 #define FIFO_SRC_REG 0x2F 00081 #define INT_GEN_1_REG 0x30 00082 #define INT_GEN_1_SRC 0x31 00083 #define INT_GEN_1_THS 0x32 00084 #define INT_GEN_1_DURATION 0x33 00085 #define INT_GEN_2_REG 0x34 00086 #define INT_GEN_2_SRC 0x35 00087 #define INT_GEN_2_THS 0x36 00088 #define INT_GEN_2_DURATION 0x37 00089 #define CLICK_CFG 0x38 00090 #define CLICK_SRC 0x39 00091 #define CLICK_THS 0x3A 00092 #define TIME_LIMIT 0x3B 00093 #define TIME_LATENCY 0x3C 00094 #define TIME_WINDOW 0x3D 00095 #define ACT_THS 0x3E 00096 #define ACT_DUR 0x3F 00097 00098 00099 class LSM9DS0 00100 { 00101 public: 00102 // gyro_scale defines the possible full-scale ranges of the gyroscope: 00103 enum gyro_scale 00104 { 00105 G_SCALE_245DPS, // 00: +/- 245 degrees per second 00106 G_SCALE_500DPS, // 01: +/- 500 dps 00107 G_SCALE_2000DPS, // 10: +/- 2000 dps 00108 }; 00109 // accel_scale defines all possible FSR's of the accelerometer: 00110 enum accel_scale 00111 { 00112 A_SCALE_2G, // 000: +/- 2g 00113 A_SCALE_4G, // 001: +/- 4g 00114 A_SCALE_6G, // 010: +/- 6g 00115 A_SCALE_8G, // 011: +/- 8g 00116 A_SCALE_16G // 100: +/- 16g 00117 }; 00118 // mag_scale defines all possible FSR's of the magnetometer: 00119 enum mag_scale 00120 { 00121 M_SCALE_2GS, // 00: +/- 2Gs 00122 M_SCALE_4GS, // 01: +/- 4Gs 00123 M_SCALE_8GS, // 10: +/- 8Gs 00124 M_SCALE_12GS, // 11: +/- 12Gs 00125 }; 00126 // gyro_odr defines all possible data rate/bandwidth combos of the gyro: 00127 enum gyro_odr 00128 { // ODR (Hz) --- Cutoff 00129 G_ODR_95_BW_125 = 0x0, // 95 12.5 00130 G_ODR_95_BW_25 = 0x1, // 95 25 00131 // 0x2 and 0x3 define the same data rate and bandwidth 00132 G_ODR_190_BW_125 = 0x4, // 190 12.5 00133 G_ODR_190_BW_25 = 0x5, // 190 25 00134 G_ODR_190_BW_50 = 0x6, // 190 50 00135 G_ODR_190_BW_70 = 0x7, // 190 70 00136 G_ODR_380_BW_20 = 0x8, // 380 20 00137 G_ODR_380_BW_25 = 0x9, // 380 25 00138 G_ODR_380_BW_50 = 0xA, // 380 50 00139 G_ODR_380_BW_100 = 0xB, // 380 100 00140 G_ODR_760_BW_30 = 0xC, // 760 30 00141 G_ODR_760_BW_35 = 0xD, // 760 35 00142 G_ODR_760_BW_50 = 0xE, // 760 50 00143 G_ODR_760_BW_100 = 0xF, // 760 100 00144 }; 00145 // accel_oder defines all possible output data rates of the accelerometer: 00146 enum accel_odr 00147 { 00148 A_POWER_DOWN, // Power-down mode (0x0) 00149 A_ODR_3125, // 3.125 Hz (0x1) 00150 A_ODR_625, // 6.25 Hz (0x2) 00151 A_ODR_125, // 12.5 Hz (0x3) 00152 A_ODR_25, // 25 Hz (0x4) 00153 A_ODR_50, // 50 Hz (0x5) 00154 A_ODR_100, // 100 Hz (0x6) 00155 A_ODR_200, // 200 Hz (0x7) 00156 A_ODR_400, // 400 Hz (0x8) 00157 A_ODR_800, // 800 Hz (9) 00158 A_ODR_1600 // 1600 Hz (0xA) 00159 }; 00160 // accel_oder defines all possible output data rates of the magnetometer: 00161 enum mag_odr 00162 { 00163 M_ODR_3125, // 3.125 Hz (0x00) 00164 M_ODR_625, // 6.25 Hz (0x01) 00165 M_ODR_125, // 12.5 Hz (0x02) 00166 M_ODR_25, // 25 Hz (0x03) 00167 M_ODR_50, // 50 (0x04) 00168 M_ODR_100, // 100 Hz (0x05) 00169 }; 00170 00171 // We'll store the gyro, accel, and magnetometer readings in a series of 00172 // public class variables. Each sensor gets three variables -- one for each 00173 // axis. Call readGyro(), readAccel(), and readMag() first, before using 00174 // these variables! 00175 // These values are the RAW signed 16-bit readings from the sensors. 00176 int16_t gx, gy, gz; // x, y, and z axis readings of the gyroscope 00177 int16_t ax, ay, az; // x, y, and z axis readings of the accelerometer 00178 int16_t mx, my, mz; // x, y, and z axis readings of the magnetometer 00179 int16_t temperature; 00180 float abias[3]; 00181 float gbias[3]; 00182 00183 00184 // LSM9DS0 -- LSM9DS0 class constructor 00185 // The constructor will set up a handful of private variables, and set the 00186 // communication mode as well. 00187 // Input: 00188 // - interface = Either MODE_SPI or MODE_I2C, whichever you're using 00189 // to talk to the IC. 00190 // - gAddr = If MODE_I2C, this is the I2C address of the gyroscope. 00191 // If MODE_SPI, this is the chip select pin of the gyro (CSG) 00192 // - xmAddr = If MODE_I2C, this is the I2C address of the accel/mag. 00193 // If MODE_SPI, this is the cs pin of the accel/mag (CSXM) 00194 LSM9DS0(PinName sda, PinName scl, uint8_t gAddr, uint8_t xmAddr); 00195 00196 // begin() -- Initialize the gyro, accelerometer, and magnetometer. 00197 // This will set up the scale and output rate of each sensor. It'll also 00198 // "turn on" every sensor and every axis of every sensor. 00199 // Input: 00200 // - gScl = The scale of the gyroscope. This should be a gyro_scale value. 00201 // - aScl = The scale of the accelerometer. Should be a accel_scale value. 00202 // - mScl = The scale of the magnetometer. Should be a mag_scale value. 00203 // - gODR = Output data rate of the gyroscope. gyro_odr value. 00204 // - aODR = Output data rate of the accelerometer. accel_odr value. 00205 // - mODR = Output data rate of the magnetometer. mag_odr value. 00206 // Output: The function will return an unsigned 16-bit value. The most-sig 00207 // bytes of the output are the WHO_AM_I reading of the accel. The 00208 // least significant two bytes are the WHO_AM_I reading of the gyro. 00209 // All parameters have a defaulted value, so you can call just "begin()". 00210 // Default values are FSR's of: +/- 245DPS, 2g, 2Gs; ODRs of 95 Hz for 00211 // gyro, 100 Hz for accelerometer, 100 Hz for magnetometer. 00212 // Use the return value of this function to verify communication. 00213 uint16_t begin(gyro_scale gScl = G_SCALE_245DPS, 00214 accel_scale aScl = A_SCALE_2G, mag_scale mScl = M_SCALE_2GS, 00215 gyro_odr gODR = G_ODR_95_BW_125, accel_odr aODR = A_ODR_50, 00216 mag_odr mODR = M_ODR_50); 00217 00218 // readGyro() -- Read the gyroscope output registers. 00219 // This function will read all six gyroscope output registers. 00220 // The readings are stored in the class' gx, gy, and gz variables. Read 00221 // those _after_ calling readGyro(). 00222 void readGyro(); 00223 00224 // readAccel() -- Read the accelerometer output registers. 00225 // This function will read all six accelerometer output registers. 00226 // The readings are stored in the class' ax, ay, and az variables. Read 00227 // those _after_ calling readAccel(). 00228 void readAccel(); 00229 00230 // readMag() -- Read the magnetometer output registers. 00231 // This function will read all six magnetometer output registers. 00232 // The readings are stored in the class' mx, my, and mz variables. Read 00233 // those _after_ calling readMag(). 00234 void readMag(); 00235 00236 // readTemp() -- Read the temperature output register. 00237 // This function will read two temperature output registers. 00238 // The combined readings are stored in the class' temperature variables. Read 00239 // those _after_ calling readTemp(). 00240 void readTemp(); 00241 00242 // calcGyro() -- Convert from RAW signed 16-bit value to degrees per second 00243 // This function reads in a signed 16-bit value and returns the scaled 00244 // DPS. This function relies on gScale and gRes being correct. 00245 // Input: 00246 // - gyro = A signed 16-bit raw reading from the gyroscope. 00247 float calcGyro(int16_t gyro); 00248 00249 // calcAccel() -- Convert from RAW signed 16-bit value to gravity (g's). 00250 // This function reads in a signed 16-bit value and returns the scaled 00251 // g's. This function relies on aScale and aRes being correct. 00252 // Input: 00253 // - accel = A signed 16-bit raw reading from the accelerometer. 00254 float calcAccel(int16_t accel); 00255 00256 // calcMag() -- Convert from RAW signed 16-bit value to Gauss (Gs) 00257 // This function reads in a signed 16-bit value and returns the scaled 00258 // Gs. This function relies on mScale and mRes being correct. 00259 // Input: 00260 // - mag = A signed 16-bit raw reading from the magnetometer. 00261 float calcMag(int16_t mag); 00262 00263 // setGyroScale() -- Set the full-scale range of the gyroscope. 00264 // This function can be called to set the scale of the gyroscope to 00265 // 245, 500, or 200 degrees per second. 00266 // Input: 00267 // - gScl = The desired gyroscope scale. Must be one of three possible 00268 // values from the gyro_scale enum. 00269 void setGyroScale(gyro_scale gScl); 00270 00271 // setAccelScale() -- Set the full-scale range of the accelerometer. 00272 // This function can be called to set the scale of the accelerometer to 00273 // 2, 4, 6, 8, or 16 g's. 00274 // Input: 00275 // - aScl = The desired accelerometer scale. Must be one of five possible 00276 // values from the accel_scale enum. 00277 void setAccelScale(accel_scale aScl); 00278 00279 // setMagScale() -- Set the full-scale range of the magnetometer. 00280 // This function can be called to set the scale of the magnetometer to 00281 // 2, 4, 8, or 12 Gs. 00282 // Input: 00283 // - mScl = The desired magnetometer scale. Must be one of four possible 00284 // values from the mag_scale enum. 00285 void setMagScale(mag_scale mScl); 00286 00287 // setGyroODR() -- Set the output data rate and bandwidth of the gyroscope 00288 // Input: 00289 // - gRate = The desired output rate and cutoff frequency of the gyro. 00290 // Must be a value from the gyro_odr enum (check above, there're 14). 00291 void setGyroODR(gyro_odr gRate); 00292 00293 // setAccelODR() -- Set the output data rate of the accelerometer 00294 // Input: 00295 // - aRate = The desired output rate of the accel. 00296 // Must be a value from the accel_odr enum (check above, there're 11). 00297 void setAccelODR(accel_odr aRate); 00298 00299 // setMagODR() -- Set the output data rate of the magnetometer 00300 // Input: 00301 // - mRate = The desired output rate of the mag. 00302 // Must be a value from the mag_odr enum (check above, there're 6). 00303 void setMagODR(mag_odr mRate); 00304 00305 // configGyroInt() -- Configure the gyro interrupt output. 00306 // Triggers can be set to either rising above or falling below a specified 00307 // threshold. This function helps setup the interrupt configuration and 00308 // threshold values for all axes. 00309 // Input: 00310 // - int1Cfg = A 8-bit value that is sent directly to the INT1_CFG_G 00311 // register. This sets AND/OR and high/low interrupt gen for each axis 00312 // - int1ThsX = 16-bit interrupt threshold value for x-axis 00313 // - int1ThsY = 16-bit interrupt threshold value for y-axis 00314 // - int1ThsZ = 16-bit interrupt threshold value for z-axis 00315 // - duration = Duration an interrupt holds after triggered. This value 00316 // is copied directly into the INT1_DURATION_G register. 00317 // Before using this function, read about the INT1_CFG_G register and 00318 // the related INT1* registers in the LMS9DS0 datasheet. 00319 void configGyroInt(uint8_t int1Cfg, uint16_t int1ThsX = 0, 00320 uint16_t int1ThsY = 0, uint16_t int1ThsZ = 0, 00321 uint8_t duration = 0); 00322 00323 void calLSM9DS0(float gbias[3], float abias[3]); 00324 00325 00326 private: 00327 // xmAddress and gAddress store the I2C address 00328 // for each sensor. 00329 uint8_t xmAddress, gAddress; 00330 00331 // gScale, aScale, and mScale store the current scale range for each 00332 // sensor. Should be updated whenever that value changes. 00333 gyro_scale gScale; 00334 accel_scale aScale; 00335 mag_scale mScale; 00336 00337 // gRes, aRes, and mRes store the current resolution for each sensor. 00338 // Units of these values would be DPS (or g's or Gs's) per ADC tick. 00339 // This value is calculated as (sensor scale) / (2^15). 00340 float gRes, aRes, mRes; 00341 00342 // initGyro() -- Sets up the gyroscope to begin reading. 00343 // This function steps through all five gyroscope control registers. 00344 // Upon exit, the following parameters will be set: 00345 // - CTRL_REG1_G = 0x0F: Normal operation mode, all axes enabled. 00346 // 95 Hz ODR, 12.5 Hz cutoff frequency. 00347 // - CTRL_REG2_G = 0x00: HPF set to normal mode, cutoff frequency 00348 // set to 7.2 Hz (depends on ODR). 00349 // - CTRL_REG3_G = 0x88: Interrupt enabled on INT_G (set to push-pull and 00350 // active high). Data-ready output enabled on DRDY_G. 00351 // - CTRL_REG4_G = 0x00: Continuous update mode. Data LSB stored in lower 00352 // address. Scale set to 245 DPS. SPI mode set to 4-wire. 00353 // - CTRL_REG5_G = 0x00: FIFO disabled. HPF disabled. 00354 void initGyro(); 00355 00356 // initAccel() -- Sets up the accelerometer to begin reading. 00357 // This function steps through all accelerometer related control registers. 00358 // Upon exit these registers will be set as: 00359 // - CTRL_REG0_XM = 0x00: FIFO disabled. HPF bypassed. Normal mode. 00360 // - CTRL_REG1_XM = 0x57: 100 Hz data rate. Continuous update. 00361 // all axes enabled. 00362 // - CTRL_REG2_XM = 0x00: +/- 2g scale. 773 Hz anti-alias filter BW. 00363 // - CTRL_REG3_XM = 0x04: Accel data ready signal on INT1_XM pin. 00364 void initAccel(); 00365 00366 // initMag() -- Sets up the magnetometer to begin reading. 00367 // This function steps through all magnetometer-related control registers. 00368 // Upon exit these registers will be set as: 00369 // - CTRL_REG4_XM = 0x04: Mag data ready signal on INT2_XM pin. 00370 // - CTRL_REG5_XM = 0x14: 100 Hz update rate. Low resolution. Interrupt 00371 // requests don't latch. Temperature sensor disabled. 00372 // - CTRL_REG6_XM = 0x00: +/- 2 Gs scale. 00373 // - CTRL_REG7_XM = 0x00: Continuous conversion mode. Normal HPF mode. 00374 // - INT_CTRL_REG_M = 0x09: Interrupt active-high. Enable interrupts. 00375 void initMag(); 00376 00377 // gReadByte() -- Reads a byte from a specified gyroscope register. 00378 // Input: 00379 // - subAddress = Register to be read from. 00380 // Output: 00381 // - An 8-bit value read from the requested address. 00382 uint8_t gReadByte(uint8_t subAddress); 00383 00384 // gReadBytes() -- Reads a number of bytes -- beginning at an address 00385 // and incrementing from there -- from the gyroscope. 00386 // Input: 00387 // - subAddress = Register to be read from. 00388 // - * dest = A pointer to an array of uint8_t's. Values read will be 00389 // stored in here on return. 00390 // - count = The number of bytes to be read. 00391 // Output: No value is returned, but the `dest` array will store 00392 // the data read upon exit. 00393 void gReadBytes(uint8_t subAddress, uint8_t * dest, uint8_t count); 00394 00395 // gWriteByte() -- Write a byte to a register in the gyroscope. 00396 // Input: 00397 // - subAddress = Register to be written to. 00398 // - data = data to be written to the register. 00399 void gWriteByte(uint8_t subAddress, uint8_t data); 00400 00401 // xmReadByte() -- Read a byte from a register in the accel/mag sensor 00402 // Input: 00403 // - subAddress = Register to be read from. 00404 // Output: 00405 // - An 8-bit value read from the requested register. 00406 uint8_t xmReadByte(uint8_t subAddress); 00407 00408 // xmReadBytes() -- Reads a number of bytes -- beginning at an address 00409 // and incrementing from there -- from the accelerometer/magnetometer. 00410 // Input: 00411 // - subAddress = Register to be read from. 00412 // - * dest = A pointer to an array of uint8_t's. Values read will be 00413 // stored in here on return. 00414 // - count = The number of bytes to be read. 00415 // Output: No value is returned, but the `dest` array will store 00416 // the data read upon exit. 00417 void xmReadBytes(uint8_t subAddress, uint8_t * dest, uint8_t count); 00418 00419 // xmWriteByte() -- Write a byte to a register in the accel/mag sensor. 00420 // Input: 00421 // - subAddress = Register to be written to. 00422 // - data = data to be written to the register. 00423 void xmWriteByte(uint8_t subAddress, uint8_t data); 00424 00425 // calcgRes() -- Calculate the resolution of the gyroscope. 00426 // This function will set the value of the gRes variable. gScale must 00427 // be set prior to calling this function. 00428 void calcgRes(); 00429 00430 // calcmRes() -- Calculate the resolution of the magnetometer. 00431 // This function will set the value of the mRes variable. mScale must 00432 // be set prior to calling this function. 00433 void calcmRes(); 00434 00435 // calcaRes() -- Calculate the resolution of the accelerometer. 00436 // This function will set the value of the aRes variable. aScale must 00437 // be set prior to calling this function. 00438 void calcaRes(); 00439 00440 00441 /////////////////// 00442 // I2C Functions // 00443 /////////////////// 00444 I2Cdev* i2c_; 00445 00446 00447 // I2CwriteByte() -- Write a byte out of I2C to a register in the device 00448 // Input: 00449 // - address = The 7-bit I2C address of the slave device. 00450 // - subAddress = The register to be written to. 00451 // - data = Byte to be written to the register. 00452 void I2CwriteByte(uint8_t address, uint8_t subAddress, uint8_t data); 00453 00454 // I2CreadByte() -- Read a single byte from a register over I2C. 00455 // Input: 00456 // - address = The 7-bit I2C address of the slave device. 00457 // - subAddress = The register to be read from. 00458 // Output: 00459 // - The byte read from the requested address. 00460 uint8_t I2CreadByte(uint8_t address, uint8_t subAddress); 00461 00462 // I2CreadBytes() -- Read a series of bytes, starting at a register via SPI 00463 // Input: 00464 // - address = The 7-bit I2C address of the slave device. 00465 // - subAddress = The register to begin reading. 00466 // - * dest = Pointer to an array where we'll store the readings. 00467 // - count = Number of registers to be read. 00468 // Output: No value is returned by the function, but the registers read are 00469 // all stored in the *dest array given. 00470 void I2CreadBytes(uint8_t address, uint8_t subAddress, uint8_t * dest, uint8_t count); 00471 }; 00472 00473 #endif // _LSM9DS0_H //
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