Diff: LSM6DS3/LSM6DS3.cpp

Revision:

0:aef6b59caed0

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/LSM6DS3/LSM6DS3.cpp	Fri Jul 05 00:02:13 2019 +0000
@@ -0,0 +1,387 @@
+#include "LSM6DS3.h"
+
+LSM6DS3::LSM6DS3(PinName sda, PinName scl, uint8_t xgAddr) : i2c(sda, scl)
+{
+    // xgAddress will store the 7-bit I2C address, if using I2C.
+    i2c.frequency(400000);
+    xgAddress = xgAddr;
+}
+
+uint16_t LSM6DS3::begin(gyro_scale gScl, accel_scale aScl,  
+                        gyro_odr gODR, accel_odr aODR)
+{
+    // Store the given scales in class variables. These scale variables
+    // are used throughout to calculate the actual g's, DPS,and Gs's.
+    gScale = gScl;
+    aScale = aScl;
+    
+    // Once we have the scale values, we can calculate the resolution
+    // of each sensor. That's what these functions are for. One for each sensor
+    calcgRes(); // Calculate DPS / ADC tick, stored in gRes variable
+    calcaRes(); // Calculate g / ADC tick, stored in aRes variable
+    
+    
+    // To verify communication, we can read from the WHO_AM_I register of
+    // each device. Store those in a variable so we can return them.
+    // The start of the addresses we want to read from
+    char cmd[2] = {
+        WHO_AM_I_REG,
+        0
+    };
+
+    // Write the address we are going to read from and don't end the transaction
+    i2c.write(xgAddress, cmd, 1, true);
+    // Read in all the 8 bits of data
+    i2c.read(xgAddress, cmd+1, 1);
+    uint8_t xgTest = cmd[1];                    // Read the accel/gyro WHO_AM_I
+        
+    // Gyro initialization stuff:
+    initGyro(); // This will "turn on" the gyro. Setting up interrupts, etc.
+    setGyroODR(gODR); // Set the gyro output data rate and bandwidth.
+    setGyroScale(gScale); // Set the gyro range
+    
+    // Accelerometer initialization stuff:
+    initAccel(); // "Turn on" all axes of the accel. Set up interrupts, etc.
+    setAccelODR(aODR); // Set the accel data rate.
+    setAccelScale(aScale); // Set the accel range.
+    
+    // Interrupt initialization stuff;
+    initIntr();
+    
+    // Once everything is initialized, return the WHO_AM_I registers we read:
+    return xgTest;
+}
+
+void LSM6DS3::initGyro()
+{
+    char cmd[4] = {
+        CTRL2_G,
+        gScale | G_ODR_104,
+        0,          // Default data out and int out
+        0           // Default power mode and high pass settings
+    };
+
+    // Write the data to the gyro control registers
+    i2c.write(xgAddress, cmd, 4);
+}
+
+void LSM6DS3::initAccel()
+{
+    char cmd[4] = {
+        CTRL1_XL,
+        0x38,       // Enable all axis and don't decimate data in out Registers
+        (A_ODR_104 << 5) | (aScale << 3) | (A_BW_AUTO_SCALE),   // 119 Hz ODR, set scale, and auto BW
+        0           // Default resolution mode and filtering settings
+    };
+
+    // Write the data to the accel control registers
+    i2c.write(xgAddress, cmd, 4);
+}
+
+void LSM6DS3::initIntr()
+{
+    char cmd[2];
+    
+    cmd[0] = TAP_CFG;
+    cmd[1] = 0x0E;
+    i2c.write(xgAddress, cmd, 2);
+    cmd[0] = TAP_THS_6D;
+    cmd[1] = 0x03;
+    i2c.write(xgAddress, cmd, 2);
+    cmd[0] = INT_DUR2;
+    cmd[1] = 0x7F;
+    i2c.write(xgAddress, cmd, 2);
+    cmd[0] = WAKE_UP_THS;
+    cmd[1] = 0x80;
+    i2c.write(xgAddress, cmd, 2);
+    cmd[0] = MD1_CFG;
+    cmd[1] = 0x48;
+    i2c.write(xgAddress, cmd, 2);
+}
+
+void LSM6DS3::readAccel()
+{
+    // The data we are going to read from the accel
+    char data[6];
+
+    // Set addresses
+    char subAddressXL = OUTX_L_XL;
+    char subAddressXH = OUTX_H_XL;
+    char subAddressYL = OUTY_L_XL;
+    char subAddressYH = OUTY_H_XL;
+    char subAddressZL = OUTZ_L_XL;
+    char subAddressZH = OUTZ_H_XL;
+
+    // Write the address we are going to read from and don't end the transaction
+    i2c.write(xgAddress, &subAddressXL, 1, true);
+    // Read in register containing the axes data and alocated to the correct index
+    i2c.read(xgAddress, data, 1);
+    
+    i2c.write(xgAddress, &subAddressXH, 1, true);
+    i2c.read(xgAddress, (data + 1), 1);
+    i2c.write(xgAddress, &subAddressYL, 1, true);
+    i2c.read(xgAddress, (data + 2), 1);
+    i2c.write(xgAddress, &subAddressYH, 1, true);
+    i2c.read(xgAddress, (data + 3), 1);
+    i2c.write(xgAddress, &subAddressZL, 1, true);
+    i2c.read(xgAddress, (data + 4), 1);
+    i2c.write(xgAddress, &subAddressZH, 1, true);
+    i2c.read(xgAddress, (data + 5), 1);
+
+    // Reassemble the data and convert to g
+    ax_raw = data[0] | (data[1] << 8);
+    ay_raw = data[2] | (data[3] << 8);
+    az_raw = data[4] | (data[5] << 8);
+    ax = ax_raw * aRes;
+    ay = ay_raw * aRes;
+    az = az_raw * aRes;
+}
+
+void LSM6DS3::readIntr()
+{
+    char data[1];
+    char subAddress = TAP_SRC;
+
+    i2c.write(xgAddress, &subAddress, 1, true);
+    i2c.read(xgAddress, data, 1);
+
+    intr = (float)data[0];
+}
+
+void LSM6DS3::readTemp()
+{
+    // The data we are going to read from the temp
+    char data[2];
+
+    // Set addresses
+    char subAddressL = OUT_TEMP_L;
+    char subAddressH = OUT_TEMP_H;
+
+    // Write the address we are going to read from and don't end the transaction
+    i2c.write(xgAddress, &subAddressL, 1, true);
+    // Read in register containing the temperature data and alocated to the correct index
+    i2c.read(xgAddress, data, 1);
+    
+    i2c.write(xgAddress, &subAddressH, 1, true);
+    i2c.read(xgAddress, (data + 1), 1);
+
+    // Temperature is a 12-bit signed integer   
+    temperature_raw = data[0] | (data[1] << 8);
+
+    temperature_c = (float)temperature_raw / 16.0 + 25.0;
+    temperature_f = temperature_c * 1.8 + 32.0;
+}
+
+
+void LSM6DS3::readGyro()
+{
+    // The data we are going to read from the gyro
+    char data[6];
+
+    // Set addresses
+    char subAddressXL = OUTX_L_G;
+    char subAddressXH = OUTX_H_G;
+    char subAddressYL = OUTY_L_G;
+    char subAddressYH = OUTY_H_G;
+    char subAddressZL = OUTZ_L_G;
+    char subAddressZH = OUTZ_H_G;
+
+    // Write the address we are going to read from and don't end the transaction
+    i2c.write(xgAddress, &subAddressXL, 1, true);
+    // Read in register containing the axes data and alocated to the correct index
+    i2c.read(xgAddress, data, 1);
+    
+    i2c.write(xgAddress, &subAddressXH, 1, true);
+    i2c.read(xgAddress, (data + 1), 1);
+    i2c.write(xgAddress, &subAddressYL, 1, true);
+    i2c.read(xgAddress, (data + 2), 1);
+    i2c.write(xgAddress, &subAddressYH, 1, true);
+    i2c.read(xgAddress, (data + 3), 1);
+    i2c.write(xgAddress, &subAddressZL, 1, true);
+    i2c.read(xgAddress, (data + 4), 1);
+    i2c.write(xgAddress, &subAddressZH, 1, true);
+    i2c.read(xgAddress, (data + 5), 1);
+
+    // Reassemble the data and convert to degrees/sec
+    gx_raw = data[0] | (data[1] << 8);
+    gy_raw = data[2] | (data[3] << 8);
+    gz_raw = data[4] | (data[5] << 8);
+    gx = gx_raw * gRes;
+    gy = gy_raw * gRes;
+    gz = gz_raw * gRes;
+}
+
+void LSM6DS3::setGyroScale(gyro_scale gScl)
+{
+    // The start of the addresses we want to read from
+    char cmd[2] = {
+        CTRL2_G,
+        0
+    };
+
+    // Write the address we are going to read from and don't end the transaction
+    i2c.write(xgAddress, cmd, 1, true);
+    // Read in all the 8 bits of data
+    i2c.read(xgAddress, cmd+1, 1);
+
+    // Then mask out the gyro scale bits:
+    cmd[1] &= 0xFF^(0x3 << 3);
+    // Then shift in our new scale bits:
+    cmd[1] |= gScl << 3;
+
+    // Write the gyroscale out to the gyro
+    i2c.write(xgAddress, cmd, 2);
+    
+    // We've updated the sensor, but we also need to update our class variables
+    // First update gScale:
+    gScale = gScl;
+    // Then calculate a new gRes, which relies on gScale being set correctly:
+    calcgRes();
+}
+
+void LSM6DS3::setAccelScale(accel_scale aScl)
+{
+    // The start of the addresses we want to read from
+    char cmd[2] = {
+        CTRL1_XL,
+        0
+    };
+
+    // Write the address we are going to read from and don't end the transaction
+    i2c.write(xgAddress, cmd, 1, true);
+    // Read in all the 8 bits of data
+    i2c.read(xgAddress, cmd+1, 1);
+
+    // Then mask out the accel scale bits:
+    cmd[1] &= 0xFF^(0x3 << 3);
+    // Then shift in our new scale bits:
+    cmd[1] |= aScl << 3;
+
+    // Write the accelscale out to the accel
+    i2c.write(xgAddress, cmd, 2);
+    
+    // We've updated the sensor, but we also need to update our class variables
+    // First update aScale:
+    aScale = aScl;
+    // Then calculate a new aRes, which relies on aScale being set correctly:
+    calcaRes();
+}
+
+void LSM6DS3::setGyroODR(gyro_odr gRate)
+{
+    // The start of the addresses we want to read from
+    char cmd[2] = {
+        CTRL2_G,
+        0
+    };
+    
+    // Set low power based on ODR, else keep sensor on high performance
+    if(gRate == G_ODR_13_BW_0 | gRate == G_ODR_26_BW_2 | gRate == G_ODR_52_BW_16) {
+        char cmdLow[2] ={
+            CTRL7_G,
+            1
+        };
+        
+        i2c.write(xgAddress, cmdLow, 2);
+    }
+    else {
+        char cmdLow[2] ={
+            CTRL7_G,
+            0
+        };
+        
+        i2c.write(xgAddress, cmdLow, 2);
+    }
+
+    // Write the address we are going to read from and don't end the transaction
+    i2c.write(xgAddress, cmd, 1, true);
+    // Read in all the 8 bits of data
+    i2c.read(xgAddress, cmd+1, 1);
+
+    // Then mask out the gyro odr bits:
+    cmd[1] &= (0x3 << 3);
+    // Then shift in our new odr bits:
+    cmd[1] |= gRate;
+
+    // Write the gyroodr out to the gyro
+    i2c.write(xgAddress, cmd, 2);
+}
+
+void LSM6DS3::setAccelODR(accel_odr aRate)
+{
+    // The start of the addresses we want to read from
+    char cmd[2] = {
+        CTRL1_XL,
+        0
+    };
+    
+    // Set low power based on ODR, else keep sensor on high performance
+    if(aRate == A_ODR_13 | aRate == A_ODR_26 | aRate == A_ODR_52) {
+        char cmdLow[2] ={
+            CTRL6_C,
+            1
+        };
+        
+        i2c.write(xgAddress, cmdLow, 2);
+    }
+    else {
+        char cmdLow[2] ={
+            CTRL6_C,
+            0
+        };
+        
+        i2c.write(xgAddress, cmdLow, 2);
+    }
+
+    // Write the address we are going to read from and don't end the transaction
+    i2c.write(xgAddress, cmd, 1, true);
+    // Read in all the 8 bits of data
+    i2c.read(xgAddress, cmd+1, 1);
+
+    // Then mask out the accel odr bits:
+    cmd[1] &= 0xFF^(0x7 << 5);
+    // Then shift in our new odr bits:
+    cmd[1] |= aRate << 5;
+
+    // Write the accelodr out to the accel
+    i2c.write(xgAddress, cmd, 2);
+}
+
+void LSM6DS3::calcgRes()
+{
+    // Possible gyro scales (and their register bit settings) are:
+    // 245 DPS (00), 500 DPS (01), 2000 DPS (10).
+    switch (gScale)
+    {
+        case G_SCALE_245DPS:
+            gRes = 245.0 / 32768.0;
+            break;
+        case G_SCALE_500DPS:
+            gRes = 500.0 / 32768.0;
+            break;
+        case G_SCALE_2000DPS:
+            gRes = 2000.0 / 32768.0;
+            break;
+    }
+}
+
+void LSM6DS3::calcaRes()
+{
+    // Possible accelerometer scales (and their register bit settings) are:
+    // 2 g (000), 4g (001), 6g (010) 8g (011), 16g (100).
+    switch (aScale)
+    {
+        case A_SCALE_2G:
+            aRes = 2.0 / 32768.0;
+            break;
+        case A_SCALE_4G:
+            aRes = 4.0 / 32768.0;
+            break;
+        case A_SCALE_8G:
+            aRes = 8.0 / 32768.0;
+            break;
+        case A_SCALE_16G:
+            aRes = 16.0 / 32768.0;
+            break;
+    }
+}