LSM6DS3.h

00001 // Based on Eugene Gonzalez's version of LSM9DS1_Demo
00002 // Modified by Sherry Yang for LSM6DS3 sensor
00003 #ifndef _LSM6DS3_H__
00004 #define _LSM6DS3_H__
00005 
00006 #include "mbed.h"
00007 
00008 /////////////////////////////////////////
00009 // LSM6DS3 Accel/Gyro (XL/G) Registers //
00010 /////////////////////////////////////////
00011 #define RAM_ACCESS            0x01
00012 #define SENSOR_SYNC_TIME      0x04
00013 #define SENSOR_SYNC_EN        0x05
00014 #define FIFO_CTRL1            0x06
00015 #define FIFO_CTRL2            0x07
00016 #define FIFO_CTRL3            0x08
00017 #define FIFO_CTRL4            0x09
00018 #define FIFO_CTRL5            0x0A
00019 #define ORIENT_CFG_G          0x0B
00020 #define REFERENCE_G           0x0C
00021 #define INT1_CTRL             0x0D
00022 #define INT2_CTRL             0x0E
00023 #define WHO_AM_I_REG          0X0F
00024 #define CTRL1_XL              0x10
00025 #define CTRL2_G               0x11
00026 #define CTRL3_C               0x12
00027 #define CTRL4_C               0x13
00028 #define CTRL5_C               0x14
00029 #define CTRL6_C               0x15
00030 #define CTRL7_G               0x16
00031 #define CTRL8_XL              0x17
00032 #define CTRL9_XL              0x18
00033 #define CTRL10_C              0x19
00034 #define MASTER_CONFIG         0x1A
00035 #define WAKE_UP_SRC           0x1B
00036 #define TAP_SRC               0x1C
00037 #define D6D_SRC               0x1D
00038 #define STATUS_REG            0x1E
00039 #define OUT_TEMP_L            0x20
00040 #define OUT_TEMP_H            0x21
00041 #define OUTX_L_G              0x22
00042 #define OUTX_H_G              0x23
00043 #define OUTY_L_G              0x24
00044 #define OUTY_H_G              0x25
00045 #define OUTZ_L_G              0x26
00046 #define OUTZ_H_G              0x27
00047 #define OUTX_L_XL             0x28
00048 #define OUTX_H_XL             0x29
00049 #define OUTY_L_XL             0x2A
00050 #define OUTY_H_XL             0x2B
00051 #define OUTZ_L_XL             0x2C
00052 #define OUTZ_H_XL             0x2D
00053 #define SENSORHUB1_REG        0x2E
00054 #define SENSORHUB2_REG        0x2F
00055 #define SENSORHUB3_REG        0x30
00056 #define SENSORHUB4_REG        0x31
00057 #define SENSORHUB5_REG        0x32
00058 #define SENSORHUB6_REG        0x33
00059 #define SENSORHUB7_REG        0x34
00060 #define SENSORHUB8_REG        0x35
00061 #define SENSORHUB9_REG        0x36
00062 #define SENSORHUB10_REG       0x37
00063 #define SENSORHUB11_REG       0x38
00064 #define SENSORHUB12_REG       0x39
00065 #define FIFO_STATUS1          0x3A
00066 #define FIFO_STATUS2          0x3B
00067 #define FIFO_STATUS3          0x3C
00068 #define FIFO_STATUS4          0x3D
00069 #define FIFO_DATA_OUT_L       0x3E
00070 #define FIFO_DATA_OUT_H       0x3F
00071 #define TIMESTAMP0_REG        0x40
00072 #define TIMESTAMP1_REG        0x41
00073 #define TIMESTAMP2_REG        0x42
00074 #define STEP_COUNTER_L        0x4B
00075 #define STEP_COUNTER_H        0x4C
00076 #define FUNC_SR               0x53
00077 #define TAP_CFG               0x58
00078 #define TAP_THS_6D            0x59
00079 #define INT_DUR2              0x5A
00080 #define WAKE_UP_THS           0x5B
00081 #define WAKE_UP_DUR           0x5C
00082 #define FREE_FALL             0x5D
00083 #define MD1_CFG               0x5E
00084 #define MD2_CFG               0x5F
00085 
00086 // Possible I2C addresses for the accel/gyro
00087 #define LSM6DS3_AG_I2C_ADDR(sa0) ((sa0) ? 0xD6 : 0xD4)
00088 
00089 /**
00090  * LSM6DS3 Class - driver for the 9 DoF IMU
00091  */
00092 class LSM6DS3
00093 {
00094 public:
00095 
00096     /// gyro_scale defines the possible full-scale ranges of the gyroscope:
00097     enum gyro_scale
00098     {
00099         G_SCALE_245DPS = 0x0 << 3,     // 00 << 3: +/- 245 degrees per second
00100         G_SCALE_500DPS = 0x1 << 3,     // 01 << 3: +/- 500 dps
00101         G_SCALE_1000DPS = 0x2 << 3,    // 10 << 3: +/- 1000 dps
00102         G_SCALE_2000DPS = 0x3 << 3     // 11 << 3: +/- 2000 dps
00103     };
00104 
00105     /// gyro_odr defines all possible data rate/bandwidth combos of the gyro:
00106     enum gyro_odr
00107     {                               // ODR (Hz) --- Cutoff
00108         G_POWER_DOWN     = 0x00,    //  0           0
00109         G_ODR_13_BW_0    = 0x10,    //  12.5        0.0081      low power
00110         G_ODR_26_BW_2    = 0x20,    //  26          2.07        low power
00111         G_ODR_52_BW_16   = 0x30,    //  52          16.32       low power
00112         G_ODR_104        = 0x40,    //  104         
00113         G_ODR_208        = 0x50,    //  208         
00114         G_ODR_416        = 0x60,    //  416         
00115         G_ODR_833        = 0x70,    //  833         
00116         G_ODR_1660       = 0x80     //  1660
00117     };
00118 
00119     /// accel_scale defines all possible FSR's of the accelerometer:
00120     enum accel_scale
00121     {
00122         A_SCALE_2G, // 00: +/- 2g
00123         A_SCALE_16G,// 01: +/- 16g
00124         A_SCALE_4G, // 10: +/- 4g
00125         A_SCALE_8G  // 11: +/- 8g
00126     };
00127 
00128     /// accel_oder defines all possible output data rates of the accelerometer:
00129     enum accel_odr
00130     {
00131         A_POWER_DOWN,   // Power-down mode (0x0)
00132         A_ODR_13,       // 12.5 Hz (0x1)        low power
00133         A_ODR_26,       // 26 Hz (0x2)          low power
00134         A_ODR_52,       // 52 Hz (0x3)          low power
00135         A_ODR_104,      // 104 Hz (0x4)         normal mode
00136         A_ODR_208,      // 208 Hz (0x5)         normal mode
00137         A_ODR_416,      // 416 Hz (0x6)         high performance
00138         A_ODR_833,      // 833 Hz (0x7)         high performance
00139         A_ODR_1660,     // 1.66 kHz (0x8)       high performance
00140         A_ODR_3330,     // 3.33 kHz (0x9)       high performance
00141         A_ODR_6660,     // 6.66 kHz (0xA)       high performance
00142     };
00143 
00144     // accel_bw defines all possible bandwiths for low-pass filter of the accelerometer:
00145     enum accel_bw
00146     {
00147         A_BW_AUTO_SCALE = 0x0,  // Automatic BW scaling (0x0)
00148         A_BW_408 = 0x4,         // 408 Hz (0x4)
00149         A_BW_211 = 0x5,         // 211 Hz (0x5)
00150         A_BW_105 = 0x6,         // 105 Hz (0x6)
00151         A_BW_50 = 0x7           // 50 Hz (0x7)
00152     };
00153     
00154     
00155 
00156     // We'll store the gyro, and accel, readings in a series of
00157     // public class variables. Each sensor gets three variables -- one for each
00158     // axis. Call readGyro(), and readAccel() first, before using
00159     // these variables!
00160     // These values are the RAW signed 16-bit readings from the sensors.
00161     int16_t gx_raw, gy_raw, gz_raw; // x, y, and z axis readings of the gyroscope
00162     int16_t ax_raw, ay_raw, az_raw; // x, y, and z axis readings of the accelerometer
00163     int16_t temperature_raw;
00164 
00165     // floating-point values of scaled data in real-world units
00166     float gx, gy, gz;
00167     float ax, ay, az;
00168     float temperature_c, temperature_f; // temperature in celcius and fahrenheit
00169     float intr;
00170 
00171     
00172     /**  LSM6DS3 -- LSM6DS3 class constructor
00173     *  The constructor will set up a handful of private variables, and set the
00174     *  communication mode as well.
00175     *  Input:
00176     *   - interface = Either MODE_SPI or MODE_I2C, whichever you're using
00177     *               to talk to the IC.
00178     *   - xgAddr = If MODE_I2C, this is the I2C address of the accel/gyro.
00179     *               If MODE_SPI, this is the chip select pin of the accel/gyro (CS_A/G)
00180     */
00181     LSM6DS3(PinName sda, PinName scl, uint8_t xgAddr = LSM6DS3_AG_I2C_ADDR(1));
00182     
00183     /**  begin() -- Initialize the gyro, and accelerometer.
00184     *  This will set up the scale and output rate of each sensor. It'll also
00185     *  "turn on" every sensor and every axis of every sensor.
00186     *  Input:
00187     *   - gScl = The scale of the gyroscope. This should be a gyro_scale value.
00188     *   - aScl = The scale of the accelerometer. Should be a accel_scale value.
00189     *   - gODR = Output data rate of the gyroscope. gyro_odr value.
00190     *   - aODR = Output data rate of the accelerometer. accel_odr value.
00191     *  Output: The function will return an unsigned 16-bit value. The most-sig
00192     *       bytes of the output are the WHO_AM_I reading of the accel/gyro.
00193     *  All parameters have a defaulted value, so you can call just "begin()".
00194     *  Default values are FSR's of: +/- 245DPS, 4g, 2Gs; ODRs of 119 Hz for 
00195     *  gyro, 119 Hz for accelerometer.
00196     *  Use the return value of this function to verify communication.
00197     */
00198     uint16_t begin(gyro_scale gScl = G_SCALE_245DPS, 
00199                 accel_scale aScl = A_SCALE_2G, gyro_odr gODR = G_ODR_104, 
00200                 accel_odr aODR = A_ODR_104);
00201     
00202     /**  readGyro() -- Read the gyroscope output registers.
00203     *  This function will read all six gyroscope output registers.
00204     *  The readings are stored in the class' gx_raw, gy_raw, and gz_raw variables. Read
00205     *  those _after_ calling readGyro().
00206     */
00207     void readGyro();
00208     
00209     /**  readAccel() -- Read the accelerometer output registers.
00210     *  This function will read all six accelerometer output registers.
00211     *  The readings are stored in the class' ax_raw, ay_raw, and az_raw variables. Read
00212     *  those _after_ calling readAccel().
00213     */
00214     void readAccel();
00215     
00216     /**  readTemp() -- Read the temperature output register.
00217     *  This function will read two temperature output registers.
00218     *  The combined readings are stored in the class' temperature variables. Read
00219     *  those _after_ calling readTemp().
00220     */
00221     void readTemp();
00222     
00223     /** Read Interrupt **/
00224     void readIntr();
00225     
00226     /**  setGyroScale() -- Set the full-scale range of the gyroscope.
00227     *  This function can be called to set the scale of the gyroscope to 
00228     *  245, 500, or 2000 degrees per second.
00229     *  Input:
00230     *   - gScl = The desired gyroscope scale. Must be one of three possible
00231     *       values from the gyro_scale enum.
00232     */
00233     void setGyroScale(gyro_scale gScl);
00234     
00235     /**  setAccelScale() -- Set the full-scale range of the accelerometer.
00236     *  This function can be called to set the scale of the accelerometer to
00237     *  2, 4, 8, or 16 g's.
00238     *  Input:
00239     *   - aScl = The desired accelerometer scale. Must be one of five possible
00240     *       values from the accel_scale enum.
00241     */
00242     void setAccelScale(accel_scale aScl);
00243     
00244     /**  setGyroODR() -- Set the output data rate and bandwidth of the gyroscope
00245     *  Input:
00246     *   - gRate = The desired output rate and cutoff frequency of the gyro.
00247     *       Must be a value from the gyro_odr enum (check above).
00248     */
00249     void setGyroODR(gyro_odr gRate);
00250     
00251     /**  setAccelODR() -- Set the output data rate of the accelerometer
00252     *  Input:
00253     *   - aRate = The desired output rate of the accel.
00254     *       Must be a value from the accel_odr enum (check above).
00255     */
00256     void setAccelODR(accel_odr aRate);
00257 
00258 
00259 private:    
00260     /**  xgAddress store the I2C address
00261     *  for each sensor.
00262     */
00263     uint8_t xgAddress;
00264     
00265     // I2C bus
00266     I2C i2c;
00267 
00268     /**  gScale, and aScale store the current scale range for each 
00269     *  sensor. Should be updated whenever that value changes.
00270     */
00271     gyro_scale gScale;
00272     accel_scale aScale;
00273     
00274     /**  gRes, and aRes store the current resolution for each sensor. 
00275     *  Units of these values would be DPS (or g's or Gs's) per ADC tick.
00276     *  This value is calculated as (sensor scale) / (2^15).
00277     */
00278     float gRes, aRes;
00279     
00280     /**  initGyro() -- Sets up the gyroscope to begin reading.
00281     *  This function steps through all three gyroscope control registers.
00282     */
00283     void initGyro();
00284     
00285     /**  initAccel() -- Sets up the accelerometer to begin reading.
00286     *  This function steps through all accelerometer related control registers.
00287     */
00288     void initAccel();
00289     
00290     /** Setup Interrupt **/
00291     void initIntr();
00292     
00293     /**  calcgRes() -- Calculate the resolution of the gyroscope.
00294     *  This function will set the value of the gRes variable. gScale must
00295     *  be set prior to calling this function.
00296     */
00297     void calcgRes();
00298     
00299     /**  calcaRes() -- Calculate the resolution of the accelerometer.
00300     *  This function will set the value of the aRes variable. aScale must
00301     *  be set prior to calling this function.
00302     */
00303     void calcaRes();
00304 };
00305 
00306 #endif // _LSM6DS3_H //
00307