Einstein Filho
Mangue Baja team's code to frontal ECU
Diff: LSM6DS3/LSM6DS3.h
- Revision:
- 0:12fb9cbcabcc
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/LSM6DS3/LSM6DS3.h Wed Jul 24 20:03:52 2019 +0000
@@ -0,0 +1,307 @@
+// Based on Eugene Gonzalez's version of LSM9DS1_Demo
+// Modified by Sherry Yang for LSM6DS3 sensor
+#ifndef LSM6DS3_H
+#define LSM6DS3_H
+
+#include "mbed.h"
+
+/////////////////////////////////////////
+// LSM6DS3 Accel/Gyro (XL/G) Registers //
+/////////////////////////////////////////
+#define RAM_ACCESS 0x01
+#define SENSOR_SYNC_TIME 0x04
+#define SENSOR_SYNC_EN 0x05
+#define FIFO_CTRL1 0x06
+#define FIFO_CTRL2 0x07
+#define FIFO_CTRL3 0x08
+#define FIFO_CTRL4 0x09
+#define FIFO_CTRL5 0x0A
+#define ORIENT_CFG_G 0x0B
+#define REFERENCE_G 0x0C
+#define INT1_CTRL 0x0D
+#define INT2_CTRL 0x0E
+#define WHO_AM_I_REG 0X0F
+#define CTRL1_XL 0x10
+#define CTRL2_G 0x11
+#define CTRL3_C 0x12
+#define CTRL4_C 0x13
+#define CTRL5_C 0x14
+#define CTRL6_C 0x15
+#define CTRL7_G 0x16
+#define CTRL8_XL 0x17
+#define CTRL9_XL 0x18
+#define CTRL10_C 0x19
+#define MASTER_CONFIG 0x1A
+#define WAKE_UP_SRC 0x1B
+#define TAP_SRC 0x1C
+#define D6D_SRC 0x1D
+#define STATUS_REG 0x1E
+#define OUT_TEMP_L 0x20
+#define OUT_TEMP_H 0x21
+#define OUTX_L_G 0x22
+#define OUTX_H_G 0x23
+#define OUTY_L_G 0x24
+#define OUTY_H_G 0x25
+#define OUTZ_L_G 0x26
+#define OUTZ_H_G 0x27
+#define OUTX_L_XL 0x28
+#define OUTX_H_XL 0x29
+#define OUTY_L_XL 0x2A
+#define OUTY_H_XL 0x2B
+#define OUTZ_L_XL 0x2C
+#define OUTZ_H_XL 0x2D
+#define SENSORHUB1_REG 0x2E
+#define SENSORHUB2_REG 0x2F
+#define SENSORHUB3_REG 0x30
+#define SENSORHUB4_REG 0x31
+#define SENSORHUB5_REG 0x32
+#define SENSORHUB6_REG 0x33
+#define SENSORHUB7_REG 0x34
+#define SENSORHUB8_REG 0x35
+#define SENSORHUB9_REG 0x36
+#define SENSORHUB10_REG 0x37
+#define SENSORHUB11_REG 0x38
+#define SENSORHUB12_REG 0x39
+#define FIFO_STATUS1 0x3A
+#define FIFO_STATUS2 0x3B
+#define FIFO_STATUS3 0x3C
+#define FIFO_STATUS4 0x3D
+#define FIFO_DATA_OUT_L 0x3E
+#define FIFO_DATA_OUT_H 0x3F
+#define TIMESTAMP0_REG 0x40
+#define TIMESTAMP1_REG 0x41
+#define TIMESTAMP2_REG 0x42
+#define STEP_COUNTER_L 0x4B
+#define STEP_COUNTER_H 0x4C
+#define FUNC_SR 0x53
+#define TAP_CFG 0x58
+#define TAP_THS_6D 0x59
+#define INT_DUR2 0x5A
+#define WAKE_UP_THS 0x5B
+#define WAKE_UP_DUR 0x5C
+#define FREE_FALL 0x5D
+#define MD1_CFG 0x5E
+#define MD2_CFG 0x5F
+
+// Possible I2C addresses for the accel/gyro
+#define LSM6DS3_AG_I2C_ADDR(sa0) ((sa0) ? 0xD6 : 0xD4)
+
+/**
+ * LSM6DS3 Class - driver for the 9 DoF IMU
+ */
+class LSM6DS3
+{
+public:
+
+ /// gyro_scale defines the possible full-scale ranges of the gyroscope:
+ enum gyro_scale
+ {
+ G_SCALE_245DPS = 0x0 << 3, // 00 << 3: +/- 245 degrees per second
+ G_SCALE_500DPS = 0x1 << 3, // 01 << 3: +/- 500 dps
+ G_SCALE_1000DPS = 0x2 << 3, // 10 << 3: +/- 1000 dps
+ G_SCALE_2000DPS = 0x3 << 3 // 11 << 3: +/- 2000 dps
+ };
+
+ /// gyro_odr defines all possible data rate/bandwidth combos of the gyro:
+ enum gyro_odr
+ { // ODR (Hz) --- Cutoff
+ G_POWER_DOWN = 0x00, // 0 0
+ G_ODR_13_BW_0 = 0x10, // 12.5 0.0081 low power
+ G_ODR_26_BW_2 = 0x20, // 26 2.07 low power
+ G_ODR_52_BW_16 = 0x30, // 52 16.32 low power
+ G_ODR_104 = 0x40, // 104
+ G_ODR_208 = 0x50, // 208
+ G_ODR_416 = 0x60, // 416
+ G_ODR_833 = 0x70, // 833
+ G_ODR_1660 = 0x80 // 1660
+ };
+
+ /// accel_scale defines all possible FSR's of the accelerometer:
+ enum accel_scale
+ {
+ A_SCALE_2G, // 00: +/- 2g
+ A_SCALE_16G,// 01: +/- 16g
+ A_SCALE_4G, // 10: +/- 4g
+ A_SCALE_8G // 11: +/- 8g
+ };
+
+ /// accel_oder defines all possible output data rates of the accelerometer:
+ enum accel_odr
+ {
+ A_POWER_DOWN, // Power-down mode (0x0)
+ A_ODR_13, // 12.5 Hz (0x1) low power
+ A_ODR_26, // 26 Hz (0x2) low power
+ A_ODR_52, // 52 Hz (0x3) low power
+ A_ODR_104, // 104 Hz (0x4) normal mode
+ A_ODR_208, // 208 Hz (0x5) normal mode
+ A_ODR_416, // 416 Hz (0x6) high performance
+ A_ODR_833, // 833 Hz (0x7) high performance
+ A_ODR_1660, // 1.66 kHz (0x8) high performance
+ A_ODR_3330, // 3.33 kHz (0x9) high performance
+ A_ODR_6660, // 6.66 kHz (0xA) high performance
+ };
+
+ // accel_bw defines all possible bandwiths for low-pass filter of the accelerometer:
+ enum accel_bw
+ {
+ A_BW_AUTO_SCALE = 0x0, // Automatic BW scaling (0x0)
+ A_BW_408 = 0x4, // 408 Hz (0x4)
+ A_BW_211 = 0x5, // 211 Hz (0x5)
+ A_BW_105 = 0x6, // 105 Hz (0x6)
+ A_BW_50 = 0x7 // 50 Hz (0x7)
+ };
+
+
+
+ // We'll store the gyro, and accel, readings in a series of
+ // public class variables. Each sensor gets three variables -- one for each
+ // axis. Call readGyro(), and readAccel() first, before using
+ // these variables!
+ // These values are the RAW signed 16-bit readings from the sensors.
+ int16_t gx_raw, gy_raw, gz_raw; // x, y, and z axis readings of the gyroscope
+ int16_t ax_raw, ay_raw, az_raw; // x, y, and z axis readings of the accelerometer
+ int16_t temperature_raw;
+
+ // floating-point values of scaled data in real-world units
+ float gx, gy, gz;
+ float ax, ay, az;
+ float temperature_c, temperature_f; // temperature in celcius and fahrenheit
+ float intr;
+
+
+ /** LSM6DS3 -- LSM6DS3 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.
+ * - xgAddr = If MODE_I2C, this is the I2C address of the accel/gyro.
+ * If MODE_SPI, this is the chip select pin of the accel/gyro (CS_A/G)
+ */
+ LSM6DS3(PinName sda, PinName scl, uint8_t xgAddr = LSM6DS3_AG_I2C_ADDR(1));
+
+ /** begin() -- Initialize the gyro, and accelerometer.
+ * 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.
+ * - gODR = Output data rate of the gyroscope. gyro_odr value.
+ * - aODR = Output data rate of the accelerometer. accel_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/gyro.
+ * All parameters have a defaulted value, so you can call just "begin()".
+ * Default values are FSR's of: +/- 245DPS, 4g, 2Gs; ODRs of 119 Hz for
+ * gyro, 119 Hz for accelerometer.
+ * 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, gyro_odr gODR = G_ODR_104,
+ accel_odr aODR = A_ODR_104);
+
+ /** readGyro() -- Read the gyroscope output registers.
+ * This function will read all six gyroscope output registers.
+ * The readings are stored in the class' gx_raw, gy_raw, and gz_raw variables. Read
+ * those _after_ calling readGyro().
+ */
+ bool readGyro();
+
+ /** readAccel() -- Read the accelerometer output registers.
+ * This function will read all six accelerometer output registers.
+ * The readings are stored in the class' ax_raw, ay_raw, and az_raw variables. Read
+ * those _after_ calling readAccel().
+ */
+ bool readAccel();
+
+ /** 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().
+ */
+ bool readTemp();
+
+ /** Read Interrupt **/
+ bool readIntr();
+
+ /** 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 2000 degrees per second.
+ * Input:
+ * - gScl = The desired gyroscope scale. Must be one of three possible
+ * values from the gyro_scale enum.
+ */
+ bool 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, 8, or 16 g's.
+ * Input:
+ * - aScl = The desired accelerometer scale. Must be one of five possible
+ * values from the accel_scale enum.
+ */
+ bool setAccelScale(accel_scale aScl);
+
+ /** 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).
+ */
+ bool 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).
+ */
+ bool setAccelODR(accel_odr aRate);
+
+
+private:
+ /** xgAddress store the I2C address
+ * for each sensor.
+ */
+ uint8_t xgAddress;
+
+ // I2C bus
+ I2C *i2c;
+ PinName _sda;
+ PinName _scl;
+ /** gScale, and aScale store the current scale range for each
+ * sensor. Should be updated whenever that value changes.
+ */
+ gyro_scale gScale;
+ accel_scale aScale;
+
+ /** gRes, and aRes 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;
+
+ /** initGyro() -- Sets up the gyroscope to begin reading.
+ * This function steps through all three gyroscope control registers.
+ */
+ bool initGyro();
+
+ /** initAccel() -- Sets up the accelerometer to begin reading.
+ * This function steps through all accelerometer related control registers.
+ */
+ bool initAccel();
+
+ /** Setup Interrupt **/
+ bool initIntr();
+
+ /** 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();
+
+ /** 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();
+};
+
+#endif // _LSM6DS3_H //