Dylan Slack / Mbed 2 deprecated DodgingAsteroids

Dodging asteroids game.

Dependencies:   4DGL-uLCD-SE PinDetect SDFileSystem mbed wave_player

LSM9DS1.h@0:3f73e98442ec, 2016-03-14 (annotated)

Committer:
dylanslack
Date:
Mon Mar 14 03:08:37 2016 +0000
Revision:
0:3f73e98442ec
Initial commit

Who changed what in which revision?

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dylanslack 0:3f73e98442ec 1 /******************************************************************************
dylanslack 0:3f73e98442ec 2 SFE_LSM9DS1.h
dylanslack 0:3f73e98442ec 3 SFE_LSM9DS1 Library Header File
dylanslack 0:3f73e98442ec 4 Jim Lindblom @ SparkFun Electronics
dylanslack 0:3f73e98442ec 5 Original Creation Date: February 27, 2015
dylanslack 0:3f73e98442ec 6 https://github.com/sparkfun/LSM9DS1_Breakout
dylanslack 0:3f73e98442ec 7
dylanslack 0:3f73e98442ec 8 This file prototypes the LSM9DS1 class, implemented in SFE_LSM9DS1.cpp. In
dylanslack 0:3f73e98442ec 9 addition, it defines every register in the LSM9DS1 (both the Gyro and Accel/
dylanslack 0:3f73e98442ec 10 Magnetometer registers).
dylanslack 0:3f73e98442ec 11
dylanslack 0:3f73e98442ec 12 Development environment specifics:
dylanslack 0:3f73e98442ec 13 IDE: Arduino 1.6.0
dylanslack 0:3f73e98442ec 14 Hardware Platform: Arduino Uno
dylanslack 0:3f73e98442ec 15 LSM9DS1 Breakout Version: 1.0
dylanslack 0:3f73e98442ec 16
dylanslack 0:3f73e98442ec 17 This code is beerware; if you see me (or any other SparkFun employee) at the
dylanslack 0:3f73e98442ec 18 local, and you've found our code helpful, please buy us a round!
dylanslack 0:3f73e98442ec 19
dylanslack 0:3f73e98442ec 20 Distributed as-is; no warranty is given.
dylanslack 0:3f73e98442ec 21 ******************************************************************************/
dylanslack 0:3f73e98442ec 22 #ifndef __SparkFunLSM9DS1_H__
dylanslack 0:3f73e98442ec 23 #define __SparkFunLSM9DS1_H__
dylanslack 0:3f73e98442ec 24
dylanslack 0:3f73e98442ec 25 //#if defined(ARDUINO) && ARDUINO >= 100
dylanslack 0:3f73e98442ec 26 // #include "Arduino.h"
dylanslack 0:3f73e98442ec 27 //#else
dylanslack 0:3f73e98442ec 28 // #include "WProgram.h"
dylanslack 0:3f73e98442ec 29 // #include "pins_arduino.h"
dylanslack 0:3f73e98442ec 30 //#endif
dylanslack 0:3f73e98442ec 31
dylanslack 0:3f73e98442ec 32 #include "mbed.h"
dylanslack 0:3f73e98442ec 33 #include <stdint.h>
dylanslack 0:3f73e98442ec 34 #include "LSM9DS1_Registers.h"
dylanslack 0:3f73e98442ec 35 #include "LSM9DS1_Types.h"
dylanslack 0:3f73e98442ec 36
dylanslack 0:3f73e98442ec 37 #define LSM9DS1_AG_ADDR(sa0) ((sa0) == 0 ? 0x6A : 0x6B)
dylanslack 0:3f73e98442ec 38 #define LSM9DS1_M_ADDR(sa1) ((sa1) == 0 ? 0x1C : 0x1E)
dylanslack 0:3f73e98442ec 39
dylanslack 0:3f73e98442ec 40 enum lsm9ds1_axis {
dylanslack 0:3f73e98442ec 41 X_AXIS,
dylanslack 0:3f73e98442ec 42 Y_AXIS,
dylanslack 0:3f73e98442ec 43 Z_AXIS,
dylanslack 0:3f73e98442ec 44 ALL_AXIS
dylanslack 0:3f73e98442ec 45 };
dylanslack 0:3f73e98442ec 46
dylanslack 0:3f73e98442ec 47 class LSM9DS1
dylanslack 0:3f73e98442ec 48 {
dylanslack 0:3f73e98442ec 49 public:
dylanslack 0:3f73e98442ec 50 IMUSettings settings;
dylanslack 0:3f73e98442ec 51
dylanslack 0:3f73e98442ec 52 // We'll store the gyro, accel, and magnetometer readings in a series of
dylanslack 0:3f73e98442ec 53 // public class variables. Each sensor gets three variables -- one for each
dylanslack 0:3f73e98442ec 54 // axis. Call readGyro(), readAccel(), and readMag() first, before using
dylanslack 0:3f73e98442ec 55 // these variables!
dylanslack 0:3f73e98442ec 56 // These values are the RAW signed 16-bit readings from the sensors.
dylanslack 0:3f73e98442ec 57 int16_t gx, gy, gz; // x, y, and z axis readings of the gyroscope
dylanslack 0:3f73e98442ec 58 int16_t ax, ay, az; // x, y, and z axis readings of the accelerometer
dylanslack 0:3f73e98442ec 59 int16_t mx, my, mz; // x, y, and z axis readings of the magnetometer
dylanslack 0:3f73e98442ec 60 int16_t temperature; // Chip temperature
dylanslack 0:3f73e98442ec 61 float gBias[3], aBias[3], mBias[3];
dylanslack 0:3f73e98442ec 62 int16_t gBiasRaw[3], aBiasRaw[3], mBiasRaw[3];
dylanslack 0:3f73e98442ec 63
dylanslack 0:3f73e98442ec 64 // LSM9DS1 -- LSM9DS1 class constructor
dylanslack 0:3f73e98442ec 65 // The constructor will set up a handful of private variables, and set the
dylanslack 0:3f73e98442ec 66 // communication mode as well.
dylanslack 0:3f73e98442ec 67 /**Input:
dylanslack 0:3f73e98442ec 68 * - interface = Either IMU_MODE_SPI or IMU_MODE_I2C, whichever you're using
dylanslack 0:3f73e98442ec 69 * to talk to the IC.
dylanslack 0:3f73e98442ec 70 * - xgAddr = If IMU_MODE_I2C, this is the I2C address of the accel/gyroscope.
dylanslack 0:3f73e98442ec 71 * If IMU_MODE_SPI, this is the chip select pin of the gyro (CS_AG)
dylanslack 0:3f73e98442ec 72 * - mAddr = If IMU_MODE_I2C, this is the I2C address of the magnetometer.
dylanslack 0:3f73e98442ec 73 * If IMU_MODE_SPI, this is the cs pin of the magnetometer (CS_M)
dylanslack 0:3f73e98442ec 74
dylanslack 0:3f73e98442ec 75 */
dylanslack 0:3f73e98442ec 76 LSM9DS1(PinName sda, PinName scl, uint8_t xgAddr, uint8_t mAddr);
dylanslack 0:3f73e98442ec 77 //LSM9DS1(interface_mode interface, uint8_t xgAddr, uint8_t mAddr);
dylanslack 0:3f73e98442ec 78 //LSM9DS1();
dylanslack 0:3f73e98442ec 79
dylanslack 0:3f73e98442ec 80
dylanslack 0:3f73e98442ec 81 /** begin() -- Initialize the gyro, accelerometer, and magnetometer.
dylanslack 0:3f73e98442ec 82 *This will set up the scale and output rate of each sensor. The values set
dylanslack 0:3f73e98442ec 83 * in the IMUSettings struct will take effect after calling this function.
dylanslack 0:3f73e98442ec 84 */
dylanslack 0:3f73e98442ec 85 uint16_t begin();
dylanslack 0:3f73e98442ec 86
dylanslack 0:3f73e98442ec 87 void calibrate(bool autoCalc = true);
dylanslack 0:3f73e98442ec 88 void calibrateMag(bool loadIn = true);
dylanslack 0:3f73e98442ec 89 void magOffset(uint8_t axis, int16_t offset);
dylanslack 0:3f73e98442ec 90
dylanslack 0:3f73e98442ec 91 /** accelAvailable() -- Polls the accelerometer status register to check
dylanslack 0:3f73e98442ec 92 * if new data is available.
dylanslack 0:3f73e98442ec 93 * Output: 1 - New data available
dylanslack 0:3f73e98442ec 94 * 0 - No new data available
dylanslack 0:3f73e98442ec 95 */
dylanslack 0:3f73e98442ec 96 uint8_t accelAvailable();
dylanslack 0:3f73e98442ec 97
dylanslack 0:3f73e98442ec 98 /** gyroAvailable() -- Polls the gyroscope status register to check
dylanslack 0:3f73e98442ec 99 * if new data is available.
dylanslack 0:3f73e98442ec 100 * Output: 1 - New data available
dylanslack 0:3f73e98442ec 101 * 0 - No new data available
dylanslack 0:3f73e98442ec 102 */
dylanslack 0:3f73e98442ec 103 uint8_t gyroAvailable();
dylanslack 0:3f73e98442ec 104
dylanslack 0:3f73e98442ec 105 /** gyroAvailable() -- Polls the temperature status register to check
dylanslack 0:3f73e98442ec 106 * if new data is available.
dylanslack 0:3f73e98442ec 107 * Output: 1 - New data available
dylanslack 0:3f73e98442ec 108 * 0 - No new data available
dylanslack 0:3f73e98442ec 109 */
dylanslack 0:3f73e98442ec 110 uint8_t tempAvailable();
dylanslack 0:3f73e98442ec 111
dylanslack 0:3f73e98442ec 112 /** magAvailable() -- Polls the accelerometer status register to check
dylanslack 0:3f73e98442ec 113 * if new data is available.
dylanslack 0:3f73e98442ec 114 * Input:
dylanslack 0:3f73e98442ec 115 * - axis can be either X_AXIS, Y_AXIS, Z_AXIS, to check for new data
dylanslack 0:3f73e98442ec 116 * on one specific axis. Or ALL_AXIS (default) to check for new data
dylanslack 0:3f73e98442ec 117 * on all axes.
dylanslack 0:3f73e98442ec 118 * Output: 1 - New data available
dylanslack 0:3f73e98442ec 119 * 0 - No new data available
dylanslack 0:3f73e98442ec 120 */
dylanslack 0:3f73e98442ec 121 uint8_t magAvailable(lsm9ds1_axis axis = ALL_AXIS);
dylanslack 0:3f73e98442ec 122
dylanslack 0:3f73e98442ec 123 /** readGyro() -- Read the gyroscope output registers.
dylanslack 0:3f73e98442ec 124 * This function will read all six gyroscope output registers.
dylanslack 0:3f73e98442ec 125 * The readings are stored in the class' gx, gy, and gz variables. Read
dylanslack 0:3f73e98442ec 126 * those _after_ calling readGyro().
dylanslack 0:3f73e98442ec 127 */
dylanslack 0:3f73e98442ec 128 void readGyro();
dylanslack 0:3f73e98442ec 129
dylanslack 0:3f73e98442ec 130 /** int16_t readGyro(axis) -- Read a specific axis of the gyroscope.
dylanslack 0:3f73e98442ec 131 * [axis] can be any of X_AXIS, Y_AXIS, or Z_AXIS.
dylanslack 0:3f73e98442ec 132 * Input:
dylanslack 0:3f73e98442ec 133 * - axis: can be either X_AXIS, Y_AXIS, or Z_AXIS.
dylanslack 0:3f73e98442ec 134 * Output:
dylanslack 0:3f73e98442ec 135 * A 16-bit signed integer with sensor data on requested axis.
dylanslack 0:3f73e98442ec 136 */
dylanslack 0:3f73e98442ec 137 int16_t readGyro(lsm9ds1_axis axis);
dylanslack 0:3f73e98442ec 138
dylanslack 0:3f73e98442ec 139 /** readAccel() -- Read the accelerometer output registers.
dylanslack 0:3f73e98442ec 140 * This function will read all six accelerometer output registers.
dylanslack 0:3f73e98442ec 141 * The readings are stored in the class' ax, ay, and az variables. Read
dylanslack 0:3f73e98442ec 142 * those _after_ calling readAccel().
dylanslack 0:3f73e98442ec 143 */
dylanslack 0:3f73e98442ec 144 void readAccel();
dylanslack 0:3f73e98442ec 145
dylanslack 0:3f73e98442ec 146 /** int16_t readAccel(axis) -- Read a specific axis of the accelerometer.
dylanslack 0:3f73e98442ec 147 * [axis] can be any of X_AXIS, Y_AXIS, or Z_AXIS.
dylanslack 0:3f73e98442ec 148 * Input:
dylanslack 0:3f73e98442ec 149 * - axis: can be either X_AXIS, Y_AXIS, or Z_AXIS.
dylanslack 0:3f73e98442ec 150 * Output:
dylanslack 0:3f73e98442ec 151 * A 16-bit signed integer with sensor data on requested axis.
dylanslack 0:3f73e98442ec 152 */
dylanslack 0:3f73e98442ec 153 int16_t readAccel(lsm9ds1_axis axis);
dylanslack 0:3f73e98442ec 154
dylanslack 0:3f73e98442ec 155 /** readMag() -- Read the magnetometer output registers.
dylanslack 0:3f73e98442ec 156 * This function will read all six magnetometer output registers.
dylanslack 0:3f73e98442ec 157 * The readings are stored in the class' mx, my, and mz variables. Read
dylanslack 0:3f73e98442ec 158 * those _after_ calling readMag().
dylanslack 0:3f73e98442ec 159 */
dylanslack 0:3f73e98442ec 160 void readMag();
dylanslack 0:3f73e98442ec 161
dylanslack 0:3f73e98442ec 162 /** int16_t readMag(axis) -- Read a specific axis of the magnetometer.
dylanslack 0:3f73e98442ec 163 * [axis] can be any of X_AXIS, Y_AXIS, or Z_AXIS.
dylanslack 0:3f73e98442ec 164 * Input:
dylanslack 0:3f73e98442ec 165 * - axis: can be either X_AXIS, Y_AXIS, or Z_AXIS.
dylanslack 0:3f73e98442ec 166 * Output:
dylanslack 0:3f73e98442ec 167 * A 16-bit signed integer with sensor data on requested axis.
dylanslack 0:3f73e98442ec 168 */
dylanslack 0:3f73e98442ec 169 int16_t readMag(lsm9ds1_axis axis);
dylanslack 0:3f73e98442ec 170
dylanslack 0:3f73e98442ec 171 /** readTemp() -- Read the temperature output register.
dylanslack 0:3f73e98442ec 172 * This function will read two temperature output registers.
dylanslack 0:3f73e98442ec 173 * The combined readings are stored in the class' temperature variables. Read
dylanslack 0:3f73e98442ec 174 * those _after_ calling readTemp().
dylanslack 0:3f73e98442ec 175 */
dylanslack 0:3f73e98442ec 176 void readTemp();
dylanslack 0:3f73e98442ec 177
dylanslack 0:3f73e98442ec 178 /** calcGyro() -- Convert from RAW signed 16-bit value to degrees per second
dylanslack 0:3f73e98442ec 179 * This function reads in a signed 16-bit value and returns the scaled
dylanslack 0:3f73e98442ec 180 * DPS. This function relies on gScale and gRes being correct.
dylanslack 0:3f73e98442ec 181 * Input:
dylanslack 0:3f73e98442ec 182 * - gyro = A signed 16-bit raw reading from the gyroscope.
dylanslack 0:3f73e98442ec 183 */
dylanslack 0:3f73e98442ec 184 float calcGyro(int16_t gyro);
dylanslack 0:3f73e98442ec 185
dylanslack 0:3f73e98442ec 186 /** calcAccel() -- Convert from RAW signed 16-bit value to gravity (g's).
dylanslack 0:3f73e98442ec 187 * This function reads in a signed 16-bit value and returns the scaled
dylanslack 0:3f73e98442ec 188 * g's. This function relies on aScale and aRes being correct.
dylanslack 0:3f73e98442ec 189 * Input:
dylanslack 0:3f73e98442ec 190 * - accel = A signed 16-bit raw reading from the accelerometer.
dylanslack 0:3f73e98442ec 191 */
dylanslack 0:3f73e98442ec 192 float calcAccel(int16_t accel);
dylanslack 0:3f73e98442ec 193
dylanslack 0:3f73e98442ec 194 /** calcMag() -- Convert from RAW signed 16-bit value to Gauss (Gs)
dylanslack 0:3f73e98442ec 195 * This function reads in a signed 16-bit value and returns the scaled
dylanslack 0:3f73e98442ec 196 * Gs. This function relies on mScale and mRes being correct.
dylanslack 0:3f73e98442ec 197 * Input:
dylanslack 0:3f73e98442ec 198 * - mag = A signed 16-bit raw reading from the magnetometer.
dylanslack 0:3f73e98442ec 199 */
dylanslack 0:3f73e98442ec 200 float calcMag(int16_t mag);
dylanslack 0:3f73e98442ec 201
dylanslack 0:3f73e98442ec 202 /** setGyroScale() -- Set the full-scale range of the gyroscope.
dylanslack 0:3f73e98442ec 203 * This function can be called to set the scale of the gyroscope to
dylanslack 0:3f73e98442ec 204 * 245, 500, or 200 degrees per second.
dylanslack 0:3f73e98442ec 205 * Input:
dylanslack 0:3f73e98442ec 206 * - gScl = The desired gyroscope scale. Must be one of three possible
dylanslack 0:3f73e98442ec 207 * values from the gyro_scale.
dylanslack 0:3f73e98442ec 208 */
dylanslack 0:3f73e98442ec 209 void setGyroScale(uint16_t gScl);
dylanslack 0:3f73e98442ec 210
dylanslack 0:3f73e98442ec 211 /** setAccelScale() -- Set the full-scale range of the accelerometer.
dylanslack 0:3f73e98442ec 212 * This function can be called to set the scale of the accelerometer to
dylanslack 0:3f73e98442ec 213 * 2, 4, 6, 8, or 16 g's.
dylanslack 0:3f73e98442ec 214 * Input:
dylanslack 0:3f73e98442ec 215 * - aScl = The desired accelerometer scale. Must be one of five possible
dylanslack 0:3f73e98442ec 216 * values from the accel_scale.
dylanslack 0:3f73e98442ec 217 */
dylanslack 0:3f73e98442ec 218 void setAccelScale(uint8_t aScl);
dylanslack 0:3f73e98442ec 219
dylanslack 0:3f73e98442ec 220 /** setMagScale() -- Set the full-scale range of the magnetometer.
dylanslack 0:3f73e98442ec 221 * This function can be called to set the scale of the magnetometer to
dylanslack 0:3f73e98442ec 222 * 2, 4, 8, or 12 Gs.
dylanslack 0:3f73e98442ec 223 * Input:
dylanslack 0:3f73e98442ec 224 * - mScl = The desired magnetometer scale. Must be one of four possible
dylanslack 0:3f73e98442ec 225 * values from the mag_scale.
dylanslack 0:3f73e98442ec 226 */
dylanslack 0:3f73e98442ec 227 void setMagScale(uint8_t mScl);
dylanslack 0:3f73e98442ec 228
dylanslack 0:3f73e98442ec 229 /** setGyroODR() -- Set the output data rate and bandwidth of the gyroscope
dylanslack 0:3f73e98442ec 230 * Input:
dylanslack 0:3f73e98442ec 231 * - gRate = The desired output rate and cutoff frequency of the gyro.
dylanslack 0:3f73e98442ec 232 */
dylanslack 0:3f73e98442ec 233 void setGyroODR(uint8_t gRate);
dylanslack 0:3f73e98442ec 234
dylanslack 0:3f73e98442ec 235 // setAccelODR() -- Set the output data rate of the accelerometer
dylanslack 0:3f73e98442ec 236 // Input:
dylanslack 0:3f73e98442ec 237 // - aRate = The desired output rate of the accel.
dylanslack 0:3f73e98442ec 238 void setAccelODR(uint8_t aRate);
dylanslack 0:3f73e98442ec 239
dylanslack 0:3f73e98442ec 240 // setMagODR() -- Set the output data rate of the magnetometer
dylanslack 0:3f73e98442ec 241 // Input:
dylanslack 0:3f73e98442ec 242 // - mRate = The desired output rate of the mag.
dylanslack 0:3f73e98442ec 243 void setMagODR(uint8_t mRate);
dylanslack 0:3f73e98442ec 244
dylanslack 0:3f73e98442ec 245 // configInactivity() -- Configure inactivity interrupt parameters
dylanslack 0:3f73e98442ec 246 // Input:
dylanslack 0:3f73e98442ec 247 // - duration = Inactivity duration - actual value depends on gyro ODR
dylanslack 0:3f73e98442ec 248 // - threshold = Activity Threshold
dylanslack 0:3f73e98442ec 249 // - sleepOn = Gyroscope operating mode during inactivity.
dylanslack 0:3f73e98442ec 250 // true: gyroscope in sleep mode
dylanslack 0:3f73e98442ec 251 // false: gyroscope in power-down
dylanslack 0:3f73e98442ec 252 void configInactivity(uint8_t duration, uint8_t threshold, bool sleepOn);
dylanslack 0:3f73e98442ec 253
dylanslack 0:3f73e98442ec 254 // configAccelInt() -- Configure Accelerometer Interrupt Generator
dylanslack 0:3f73e98442ec 255 // Input:
dylanslack 0:3f73e98442ec 256 // - generator = Interrupt axis/high-low events
dylanslack 0:3f73e98442ec 257 // Any OR'd combination of ZHIE_XL, ZLIE_XL, YHIE_XL, YLIE_XL, XHIE_XL, XLIE_XL
dylanslack 0:3f73e98442ec 258 // - andInterrupts = AND/OR combination of interrupt events
dylanslack 0:3f73e98442ec 259 // true: AND combination
dylanslack 0:3f73e98442ec 260 // false: OR combination
dylanslack 0:3f73e98442ec 261 void configAccelInt(uint8_t generator, bool andInterrupts = false);
dylanslack 0:3f73e98442ec 262
dylanslack 0:3f73e98442ec 263 // configAccelThs() -- Configure the threshold of an accelereomter axis
dylanslack 0:3f73e98442ec 264 // Input:
dylanslack 0:3f73e98442ec 265 // - threshold = Interrupt threshold. Possible values: 0-255.
dylanslack 0:3f73e98442ec 266 // Multiply by 128 to get the actual raw accel value.
dylanslack 0:3f73e98442ec 267 // - axis = Axis to be configured. Either X_AXIS, Y_AXIS, or Z_AXIS
dylanslack 0:3f73e98442ec 268 // - duration = Duration value must be above or below threshold to trigger interrupt
dylanslack 0:3f73e98442ec 269 // - wait = Wait function on duration counter
dylanslack 0:3f73e98442ec 270 // true: Wait for duration samples before exiting interrupt
dylanslack 0:3f73e98442ec 271 // false: Wait function off
dylanslack 0:3f73e98442ec 272 void configAccelThs(uint8_t threshold, lsm9ds1_axis axis, uint8_t duration = 0, bool wait = 0);
dylanslack 0:3f73e98442ec 273
dylanslack 0:3f73e98442ec 274 // configGyroInt() -- Configure Gyroscope Interrupt Generator
dylanslack 0:3f73e98442ec 275 // Input:
dylanslack 0:3f73e98442ec 276 // - generator = Interrupt axis/high-low events
dylanslack 0:3f73e98442ec 277 // Any OR'd combination of ZHIE_G, ZLIE_G, YHIE_G, YLIE_G, XHIE_G, XLIE_G
dylanslack 0:3f73e98442ec 278 // - aoi = AND/OR combination of interrupt events
dylanslack 0:3f73e98442ec 279 // true: AND combination
dylanslack 0:3f73e98442ec 280 // false: OR combination
dylanslack 0:3f73e98442ec 281 // - latch: latch gyroscope interrupt request.
dylanslack 0:3f73e98442ec 282 void configGyroInt(uint8_t generator, bool aoi, bool latch);
dylanslack 0:3f73e98442ec 283
dylanslack 0:3f73e98442ec 284 // configGyroThs() -- Configure the threshold of a gyroscope axis
dylanslack 0:3f73e98442ec 285 // Input:
dylanslack 0:3f73e98442ec 286 // - threshold = Interrupt threshold. Possible values: 0-0x7FF.
dylanslack 0:3f73e98442ec 287 // Value is equivalent to raw gyroscope value.
dylanslack 0:3f73e98442ec 288 // - axis = Axis to be configured. Either X_AXIS, Y_AXIS, or Z_AXIS
dylanslack 0:3f73e98442ec 289 // - duration = Duration value must be above or below threshold to trigger interrupt
dylanslack 0:3f73e98442ec 290 // - wait = Wait function on duration counter
dylanslack 0:3f73e98442ec 291 // true: Wait for duration samples before exiting interrupt
dylanslack 0:3f73e98442ec 292 // false: Wait function off
dylanslack 0:3f73e98442ec 293 void configGyroThs(int16_t threshold, lsm9ds1_axis axis, uint8_t duration, bool wait);
dylanslack 0:3f73e98442ec 294
dylanslack 0:3f73e98442ec 295 // configInt() -- Configure INT1 or INT2 (Gyro and Accel Interrupts only)
dylanslack 0:3f73e98442ec 296 // Input:
dylanslack 0:3f73e98442ec 297 // - interrupt = Select INT1 or INT2
dylanslack 0:3f73e98442ec 298 // Possible values: XG_INT1 or XG_INT2
dylanslack 0:3f73e98442ec 299 // - generator = Or'd combination of interrupt generators.
dylanslack 0:3f73e98442ec 300 // Possible values: INT_DRDY_XL, INT_DRDY_G, INT1_BOOT (INT1 only), INT2_DRDY_TEMP (INT2 only)
dylanslack 0:3f73e98442ec 301 // INT_FTH, INT_OVR, INT_FSS5, INT_IG_XL (INT1 only), INT1_IG_G (INT1 only), INT2_INACT (INT2 only)
dylanslack 0:3f73e98442ec 302 // - activeLow = Interrupt active configuration
dylanslack 0:3f73e98442ec 303 // Can be either INT_ACTIVE_HIGH or INT_ACTIVE_LOW
dylanslack 0:3f73e98442ec 304 // - pushPull = Push-pull or open drain interrupt configuration
dylanslack 0:3f73e98442ec 305 // Can be either INT_PUSH_PULL or INT_OPEN_DRAIN
dylanslack 0:3f73e98442ec 306 void configInt(interrupt_select interupt, uint8_t generator,
dylanslack 0:3f73e98442ec 307 h_lactive activeLow = INT_ACTIVE_LOW, pp_od pushPull = INT_PUSH_PULL);
dylanslack 0:3f73e98442ec 308
dylanslack 0:3f73e98442ec 309 /** configMagInt() -- Configure Magnetometer Interrupt Generator
dylanslack 0:3f73e98442ec 310 * Input:
dylanslack 0:3f73e98442ec 311 * - generator = Interrupt axis/high-low events
dylanslack 0:3f73e98442ec 312 * Any OR'd combination of ZIEN, YIEN, XIEN
dylanslack 0:3f73e98442ec 313 * - activeLow = Interrupt active configuration
dylanslack 0:3f73e98442ec 314 * Can be either INT_ACTIVE_HIGH or INT_ACTIVE_LOW
dylanslack 0:3f73e98442ec 315 * - latch: latch gyroscope interrupt request.
dylanslack 0:3f73e98442ec 316 */
dylanslack 0:3f73e98442ec 317 void configMagInt(uint8_t generator, h_lactive activeLow, bool latch = true);
dylanslack 0:3f73e98442ec 318
dylanslack 0:3f73e98442ec 319 /** configMagThs() -- Configure the threshold of a gyroscope axis
dylanslack 0:3f73e98442ec 320 * Input:
dylanslack 0:3f73e98442ec 321 * - threshold = Interrupt threshold. Possible values: 0-0x7FF.
dylanslack 0:3f73e98442ec 322 * Value is equivalent to raw magnetometer value.
dylanslack 0:3f73e98442ec 323 */
dylanslack 0:3f73e98442ec 324 void configMagThs(uint16_t threshold);
dylanslack 0:3f73e98442ec 325
dylanslack 0:3f73e98442ec 326 //! getGyroIntSrc() -- Get contents of Gyroscope interrupt source register
dylanslack 0:3f73e98442ec 327 uint8_t getGyroIntSrc();
dylanslack 0:3f73e98442ec 328
dylanslack 0:3f73e98442ec 329 //! getGyroIntSrc() -- Get contents of accelerometer interrupt source register
dylanslack 0:3f73e98442ec 330 uint8_t getAccelIntSrc();
dylanslack 0:3f73e98442ec 331
dylanslack 0:3f73e98442ec 332 //! getGyroIntSrc() -- Get contents of magnetometer interrupt source register
dylanslack 0:3f73e98442ec 333 uint8_t getMagIntSrc();
dylanslack 0:3f73e98442ec 334
dylanslack 0:3f73e98442ec 335 //! getGyroIntSrc() -- Get status of inactivity interrupt
dylanslack 0:3f73e98442ec 336 uint8_t getInactivity();
dylanslack 0:3f73e98442ec 337
dylanslack 0:3f73e98442ec 338 /** sleepGyro() -- Sleep or wake the gyroscope
dylanslack 0:3f73e98442ec 339 * Input:
dylanslack 0:3f73e98442ec 340 * - enable: True = sleep gyro. False = wake gyro.
dylanslack 0:3f73e98442ec 341 */
dylanslack 0:3f73e98442ec 342 void sleepGyro(bool enable = true);
dylanslack 0:3f73e98442ec 343
dylanslack 0:3f73e98442ec 344 /** enableFIFO() - Enable or disable the FIFO
dylanslack 0:3f73e98442ec 345 * Input:
dylanslack 0:3f73e98442ec 346 * - enable: true = enable, false = disable.
dylanslack 0:3f73e98442ec 347 */
dylanslack 0:3f73e98442ec 348 void enableFIFO(bool enable = true);
dylanslack 0:3f73e98442ec 349
dylanslack 0:3f73e98442ec 350 /** setFIFO() - Configure FIFO mode and Threshold
dylanslack 0:3f73e98442ec 351 * Input:
dylanslack 0:3f73e98442ec 352 * - fifoMode: Set FIFO mode to off, FIFO (stop when full), continuous, bypass
dylanslack 0:3f73e98442ec 353 * Possible inputs: FIFO_OFF, FIFO_THS, FIFO_CONT_TRIGGER, FIFO_OFF_TRIGGER, FIFO_CONT
dylanslack 0:3f73e98442ec 354 * - fifoThs: FIFO threshold level setting
dylanslack 0:3f73e98442ec 355 * Any value from 0-0x1F is acceptable.
dylanslack 0:3f73e98442ec 356 */
dylanslack 0:3f73e98442ec 357 void setFIFO(fifoMode_type fifoMode, uint8_t fifoThs);
dylanslack 0:3f73e98442ec 358
dylanslack 0:3f73e98442ec 359 //! getFIFOSamples() - Get number of FIFO samples
dylanslack 0:3f73e98442ec 360 uint8_t getFIFOSamples();
dylanslack 0:3f73e98442ec 361
dylanslack 0:3f73e98442ec 362
dylanslack 0:3f73e98442ec 363 protected:
dylanslack 0:3f73e98442ec 364 // x_mAddress and gAddress store the I2C address or SPI chip select pin
dylanslack 0:3f73e98442ec 365 // for each sensor.
dylanslack 0:3f73e98442ec 366 uint8_t _mAddress, _xgAddress;
dylanslack 0:3f73e98442ec 367
dylanslack 0:3f73e98442ec 368 // gRes, aRes, and mRes store the current resolution for each sensor.
dylanslack 0:3f73e98442ec 369 // Units of these values would be DPS (or g's or Gs's) per ADC tick.
dylanslack 0:3f73e98442ec 370 // This value is calculated as (sensor scale) / (2^15).
dylanslack 0:3f73e98442ec 371 float gRes, aRes, mRes;
dylanslack 0:3f73e98442ec 372
dylanslack 0:3f73e98442ec 373 // _autoCalc keeps track of whether we're automatically subtracting off
dylanslack 0:3f73e98442ec 374 // accelerometer and gyroscope bias calculated in calibrate().
dylanslack 0:3f73e98442ec 375 bool _autoCalc;
dylanslack 0:3f73e98442ec 376
dylanslack 0:3f73e98442ec 377 // init() -- Sets up gyro, accel, and mag settings to default.
dylanslack 0:3f73e98442ec 378 // - interface - Sets the interface mode (IMU_MODE_I2C or IMU_MODE_SPI)
dylanslack 0:3f73e98442ec 379 // - xgAddr - Sets either the I2C address of the accel/gyro or SPI chip
dylanslack 0:3f73e98442ec 380 // select pin connected to the CS_XG pin.
dylanslack 0:3f73e98442ec 381 // - mAddr - Sets either the I2C address of the magnetometer or SPI chip
dylanslack 0:3f73e98442ec 382 // select pin connected to the CS_M pin.
dylanslack 0:3f73e98442ec 383 void init(interface_mode interface, uint8_t xgAddr, uint8_t mAddr);
dylanslack 0:3f73e98442ec 384
dylanslack 0:3f73e98442ec 385 // initGyro() -- Sets up the gyroscope to begin reading.
dylanslack 0:3f73e98442ec 386 // This function steps through all five gyroscope control registers.
dylanslack 0:3f73e98442ec 387 // Upon exit, the following parameters will be set:
dylanslack 0:3f73e98442ec 388 // - CTRL_REG1_G = 0x0F: Normal operation mode, all axes enabled.
dylanslack 0:3f73e98442ec 389 // 95 Hz ODR, 12.5 Hz cutoff frequency.
dylanslack 0:3f73e98442ec 390 // - CTRL_REG2_G = 0x00: HPF set to normal mode, cutoff frequency
dylanslack 0:3f73e98442ec 391 // set to 7.2 Hz (depends on ODR).
dylanslack 0:3f73e98442ec 392 // - CTRL_REG3_G = 0x88: Interrupt enabled on INT_G (set to push-pull and
dylanslack 0:3f73e98442ec 393 // active high). Data-ready output enabled on DRDY_G.
dylanslack 0:3f73e98442ec 394 // - CTRL_REG4_G = 0x00: Continuous update mode. Data LSB stored in lower
dylanslack 0:3f73e98442ec 395 // address. Scale set to 245 DPS. SPI mode set to 4-wire.
dylanslack 0:3f73e98442ec 396 // - CTRL_REG5_G = 0x00: FIFO disabled. HPF disabled.
dylanslack 0:3f73e98442ec 397 void initGyro();
dylanslack 0:3f73e98442ec 398
dylanslack 0:3f73e98442ec 399 // initAccel() -- Sets up the accelerometer to begin reading.
dylanslack 0:3f73e98442ec 400 // This function steps through all accelerometer related control registers.
dylanslack 0:3f73e98442ec 401 // Upon exit these registers will be set as:
dylanslack 0:3f73e98442ec 402 // - CTRL_REG0_XM = 0x00: FIFO disabled. HPF bypassed. Normal mode.
dylanslack 0:3f73e98442ec 403 // - CTRL_REG1_XM = 0x57: 100 Hz data rate. Continuous update.
dylanslack 0:3f73e98442ec 404 // all axes enabled.
dylanslack 0:3f73e98442ec 405 // - CTRL_REG2_XM = 0x00: 2g scale. 773 Hz anti-alias filter BW.
dylanslack 0:3f73e98442ec 406 // - CTRL_REG3_XM = 0x04: Accel data ready signal on INT1_XM pin.
dylanslack 0:3f73e98442ec 407 void initAccel();
dylanslack 0:3f73e98442ec 408
dylanslack 0:3f73e98442ec 409 // initMag() -- Sets up the magnetometer to begin reading.
dylanslack 0:3f73e98442ec 410 // This function steps through all magnetometer-related control registers.
dylanslack 0:3f73e98442ec 411 // Upon exit these registers will be set as:
dylanslack 0:3f73e98442ec 412 // - CTRL_REG4_XM = 0x04: Mag data ready signal on INT2_XM pin.
dylanslack 0:3f73e98442ec 413 // - CTRL_REG5_XM = 0x14: 100 Hz update rate. Low resolution. Interrupt
dylanslack 0:3f73e98442ec 414 // requests don't latch. Temperature sensor disabled.
dylanslack 0:3f73e98442ec 415 // - CTRL_REG6_XM = 0x00: 2 Gs scale.
dylanslack 0:3f73e98442ec 416 // - CTRL_REG7_XM = 0x00: Continuous conversion mode. Normal HPF mode.
dylanslack 0:3f73e98442ec 417 // - INT_CTRL_REG_M = 0x09: Interrupt active-high. Enable interrupts.
dylanslack 0:3f73e98442ec 418 void initMag();
dylanslack 0:3f73e98442ec 419
dylanslack 0:3f73e98442ec 420 // gReadByte() -- Reads a byte from a specified gyroscope register.
dylanslack 0:3f73e98442ec 421 // Input:
dylanslack 0:3f73e98442ec 422 // - subAddress = Register to be read from.
dylanslack 0:3f73e98442ec 423 // Output:
dylanslack 0:3f73e98442ec 424 // - An 8-bit value read from the requested address.
dylanslack 0:3f73e98442ec 425 uint8_t mReadByte(uint8_t subAddress);
dylanslack 0:3f73e98442ec 426
dylanslack 0:3f73e98442ec 427 // gReadBytes() -- Reads a number of bytes -- beginning at an address
dylanslack 0:3f73e98442ec 428 // and incrementing from there -- from the gyroscope.
dylanslack 0:3f73e98442ec 429 // Input:
dylanslack 0:3f73e98442ec 430 // - subAddress = Register to be read from.
dylanslack 0:3f73e98442ec 431 // - * dest = A pointer to an array of uint8_t's. Values read will be
dylanslack 0:3f73e98442ec 432 // stored in here on return.
dylanslack 0:3f73e98442ec 433 // - count = The number of bytes to be read.
dylanslack 0:3f73e98442ec 434 // Output: No value is returned, but the `dest` array will store
dylanslack 0:3f73e98442ec 435 // the data read upon exit.
dylanslack 0:3f73e98442ec 436 void mReadBytes(uint8_t subAddress, uint8_t * dest, uint8_t count);
dylanslack 0:3f73e98442ec 437
dylanslack 0:3f73e98442ec 438 // gWriteByte() -- Write a byte to a register in the gyroscope.
dylanslack 0:3f73e98442ec 439 // Input:
dylanslack 0:3f73e98442ec 440 // - subAddress = Register to be written to.
dylanslack 0:3f73e98442ec 441 // - data = data to be written to the register.
dylanslack 0:3f73e98442ec 442 void mWriteByte(uint8_t subAddress, uint8_t data);
dylanslack 0:3f73e98442ec 443
dylanslack 0:3f73e98442ec 444 // xmReadByte() -- Read a byte from a register in the accel/mag sensor
dylanslack 0:3f73e98442ec 445 // Input:
dylanslack 0:3f73e98442ec 446 // - subAddress = Register to be read from.
dylanslack 0:3f73e98442ec 447 // Output:
dylanslack 0:3f73e98442ec 448 // - An 8-bit value read from the requested register.
dylanslack 0:3f73e98442ec 449 uint8_t xgReadByte(uint8_t subAddress);
dylanslack 0:3f73e98442ec 450
dylanslack 0:3f73e98442ec 451 // xmReadBytes() -- Reads a number of bytes -- beginning at an address
dylanslack 0:3f73e98442ec 452 // and incrementing from there -- from the accelerometer/magnetometer.
dylanslack 0:3f73e98442ec 453 // Input:
dylanslack 0:3f73e98442ec 454 // - subAddress = Register to be read from.
dylanslack 0:3f73e98442ec 455 // - * dest = A pointer to an array of uint8_t's. Values read will be
dylanslack 0:3f73e98442ec 456 // stored in here on return.
dylanslack 0:3f73e98442ec 457 // - count = The number of bytes to be read.
dylanslack 0:3f73e98442ec 458 // Output: No value is returned, but the `dest` array will store
dylanslack 0:3f73e98442ec 459 // the data read upon exit.
dylanslack 0:3f73e98442ec 460 void xgReadBytes(uint8_t subAddress, uint8_t * dest, uint8_t count);
dylanslack 0:3f73e98442ec 461
dylanslack 0:3f73e98442ec 462 // xmWriteByte() -- Write a byte to a register in the accel/mag sensor.
dylanslack 0:3f73e98442ec 463 // Input:
dylanslack 0:3f73e98442ec 464 // - subAddress = Register to be written to.
dylanslack 0:3f73e98442ec 465 // - data = data to be written to the register.
dylanslack 0:3f73e98442ec 466 void xgWriteByte(uint8_t subAddress, uint8_t data);
dylanslack 0:3f73e98442ec 467
dylanslack 0:3f73e98442ec 468 // calcgRes() -- Calculate the resolution of the gyroscope.
dylanslack 0:3f73e98442ec 469 // This function will set the value of the gRes variable. gScale must
dylanslack 0:3f73e98442ec 470 // be set prior to calling this function.
dylanslack 0:3f73e98442ec 471 void calcgRes();
dylanslack 0:3f73e98442ec 472
dylanslack 0:3f73e98442ec 473 // calcmRes() -- Calculate the resolution of the magnetometer.
dylanslack 0:3f73e98442ec 474 // This function will set the value of the mRes variable. mScale must
dylanslack 0:3f73e98442ec 475 // be set prior to calling this function.
dylanslack 0:3f73e98442ec 476 void calcmRes();
dylanslack 0:3f73e98442ec 477
dylanslack 0:3f73e98442ec 478 // calcaRes() -- Calculate the resolution of the accelerometer.
dylanslack 0:3f73e98442ec 479 // This function will set the value of the aRes variable. aScale must
dylanslack 0:3f73e98442ec 480 // be set prior to calling this function.
dylanslack 0:3f73e98442ec 481 void calcaRes();
dylanslack 0:3f73e98442ec 482
dylanslack 0:3f73e98442ec 483 //////////////////////
dylanslack 0:3f73e98442ec 484 // Helper Functions //
dylanslack 0:3f73e98442ec 485 //////////////////////
dylanslack 0:3f73e98442ec 486 void constrainScales();
dylanslack 0:3f73e98442ec 487
dylanslack 0:3f73e98442ec 488 ///////////////////
dylanslack 0:3f73e98442ec 489 // SPI Functions //
dylanslack 0:3f73e98442ec 490 ///////////////////
dylanslack 0:3f73e98442ec 491 // initSPI() -- Initialize the SPI hardware.
dylanslack 0:3f73e98442ec 492 // This function will setup all SPI pins and related hardware.
dylanslack 0:3f73e98442ec 493 void initSPI();
dylanslack 0:3f73e98442ec 494
dylanslack 0:3f73e98442ec 495 // SPIwriteByte() -- Write a byte out of SPI to a register in the device
dylanslack 0:3f73e98442ec 496 // Input:
dylanslack 0:3f73e98442ec 497 // - csPin = The chip select pin of the slave device.
dylanslack 0:3f73e98442ec 498 // - subAddress = The register to be written to.
dylanslack 0:3f73e98442ec 499 // - data = Byte to be written to the register.
dylanslack 0:3f73e98442ec 500 void SPIwriteByte(uint8_t csPin, uint8_t subAddress, uint8_t data);
dylanslack 0:3f73e98442ec 501
dylanslack 0:3f73e98442ec 502 // SPIreadByte() -- Read a single byte from a register over SPI.
dylanslack 0:3f73e98442ec 503 // Input:
dylanslack 0:3f73e98442ec 504 // - csPin = The chip select pin of the slave device.
dylanslack 0:3f73e98442ec 505 // - subAddress = The register to be read from.
dylanslack 0:3f73e98442ec 506 // Output:
dylanslack 0:3f73e98442ec 507 // - The byte read from the requested address.
dylanslack 0:3f73e98442ec 508 uint8_t SPIreadByte(uint8_t csPin, uint8_t subAddress);
dylanslack 0:3f73e98442ec 509
dylanslack 0:3f73e98442ec 510 // SPIreadBytes() -- Read a series of bytes, starting at a register via SPI
dylanslack 0:3f73e98442ec 511 // Input:
dylanslack 0:3f73e98442ec 512 // - csPin = The chip select pin of a slave device.
dylanslack 0:3f73e98442ec 513 // - subAddress = The register to begin reading.
dylanslack 0:3f73e98442ec 514 // - * dest = Pointer to an array where we'll store the readings.
dylanslack 0:3f73e98442ec 515 // - count = Number of registers to be read.
dylanslack 0:3f73e98442ec 516 // Output: No value is returned by the function, but the registers read are
dylanslack 0:3f73e98442ec 517 // all stored in the *dest array given.
dylanslack 0:3f73e98442ec 518 void SPIreadBytes(uint8_t csPin, uint8_t subAddress,
dylanslack 0:3f73e98442ec 519 uint8_t * dest, uint8_t count);
dylanslack 0:3f73e98442ec 520
dylanslack 0:3f73e98442ec 521 ///////////////////
dylanslack 0:3f73e98442ec 522 // I2C Functions //
dylanslack 0:3f73e98442ec 523 ///////////////////
dylanslack 0:3f73e98442ec 524 // initI2C() -- Initialize the I2C hardware.
dylanslack 0:3f73e98442ec 525 // This function will setup all I2C pins and related hardware.
dylanslack 0:3f73e98442ec 526 void initI2C();
dylanslack 0:3f73e98442ec 527
dylanslack 0:3f73e98442ec 528 // I2CwriteByte() -- Write a byte out of I2C to a register in the device
dylanslack 0:3f73e98442ec 529 // Input:
dylanslack 0:3f73e98442ec 530 // - address = The 7-bit I2C address of the slave device.
dylanslack 0:3f73e98442ec 531 // - subAddress = The register to be written to.
dylanslack 0:3f73e98442ec 532 // - data = Byte to be written to the register.
dylanslack 0:3f73e98442ec 533 void I2CwriteByte(uint8_t address, uint8_t subAddress, uint8_t data);
dylanslack 0:3f73e98442ec 534
dylanslack 0:3f73e98442ec 535 // I2CreadByte() -- Read a single byte from a register over I2C.
dylanslack 0:3f73e98442ec 536 // Input:
dylanslack 0:3f73e98442ec 537 // - address = The 7-bit I2C address of the slave device.
dylanslack 0:3f73e98442ec 538 // - subAddress = The register to be read from.
dylanslack 0:3f73e98442ec 539 // Output:
dylanslack 0:3f73e98442ec 540 // - The byte read from the requested address.
dylanslack 0:3f73e98442ec 541 uint8_t I2CreadByte(uint8_t address, uint8_t subAddress);
dylanslack 0:3f73e98442ec 542
dylanslack 0:3f73e98442ec 543 // I2CreadBytes() -- Read a series of bytes, starting at a register via SPI
dylanslack 0:3f73e98442ec 544 // Input:
dylanslack 0:3f73e98442ec 545 // - address = The 7-bit I2C address of the slave device.
dylanslack 0:3f73e98442ec 546 // - subAddress = The register to begin reading.
dylanslack 0:3f73e98442ec 547 // - * dest = Pointer to an array where we'll store the readings.
dylanslack 0:3f73e98442ec 548 // - count = Number of registers to be read.
dylanslack 0:3f73e98442ec 549 // Output: No value is returned by the function, but the registers read are
dylanslack 0:3f73e98442ec 550 // all stored in the *dest array given.
dylanslack 0:3f73e98442ec 551 uint8_t I2CreadBytes(uint8_t address, uint8_t subAddress, uint8_t * dest, uint8_t count);
dylanslack 0:3f73e98442ec 552
dylanslack 0:3f73e98442ec 553 private:
dylanslack 0:3f73e98442ec 554 I2C i2c;
dylanslack 0:3f73e98442ec 555 };
dylanslack 0:3f73e98442ec 556
dylanslack 0:3f73e98442ec 557 #endif // SFE_LSM9DS1_H //