v61_0
Diff: LSM6DS33_GR1.h
- Revision:
- 6:798481567563
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/LSM6DS33_GR1.h Tue Jul 06 07:12:44 2021 +0000 @@ -0,0 +1,309 @@ +// Based on Eugene Gonzalez's version of LSM9DS1_Demo +// Modified by Sherry Yang for LSM6DS3 sensor +// Modified by Brian Claus for LSM6DS33 sensor +// Modified by Gilles Raynaud +#ifndef _LSM6DS33_H__ +#define _LSM6DS33_H__ + +#include "mbed.h" + +///////////////////////////////////////// +// LSM6DS33 Accel/Gyro (XL/G) Registers // +///////////////////////////////////////// +#define RAM_ACCESS 0x01 +#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 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 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 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_TIMESTAMP_L 0x49 +#define STEP_TIMESTAMP_H 0x4A +#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 LSM6DS33_AG_I2C_ADDR(sa0) ((sa0) ? 0xD6 : 0xD4) + +/** + * LSM6DS33 Class - driver for the 6 DoF IMU + */ +class LSM6DS33 +{ +public: + + /// gyro_scale defines the possible full-scale ranges of the gyroscope: + enum gyro_scale + { + G_SCALE_125DPS = 0x1 , // 00 << 3: +/- 125 degrees per second + G_SCALE_250DPS = 0x0 , // 00 << 3: +/- 250 degrees per second + G_SCALE_500DPS = 0x2 , // 01 << 3: +/- 500 dps + G_SCALE_1000DPS = 0x4 , // 10 << 3: +/- 1000 dps + G_SCALE_2000DPS = 0x6 // 11 << 3: +/- 2000 dps ////GR <<2 au lieu de 3 + }; + + /// 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_400 = 0x0, // 400 Hz + A_BW_200 = 0x1, // 200 Hz + A_BW_100 = 0x2, // 100 Hz + A_BW_50 = 0x3 // 50 Hz + }; + + + + // 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; + int32_t time_raw; + // modif GR1 valeurs brutes en octet + char gxh,gxl, gyh, gyl, gzh, gzl; // x, y, and z axis readings of the gyroscope + char axh,axl, ayh, ayl, azh, azl; // x, y, and z axis readings of the accelerometer + char gxoh,gxol, gyoh, gyol, gzoh, gzol;// offset + + // floating-point values of scaled data in real-world units + double gx, gy, gz; + double gx_off,gy_off,gz_off; + double ax, ay, az; + double temperature_c, temperature_f; // temperature in celcius and fahrenheit + double intr; + double time; + + + /** LSM6DS33 -- LSM6DS33 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) + */ + LSM6DS33(PinName sda, PinName scl, uint8_t xgAddr = LSM6DS33_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_250DPS, + accel_scale aScl = A_SCALE_2G, gyro_odr gODR = G_ODR_104, + accel_odr aODR = A_ODR_104); + // modif GR1 readAllraw + void readAllraw(); + + void readAll(); + + /** 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(). + */ + void 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(). + */ + void 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(). + */ + void readTemp(); + + /** Read Interrupt **/ + void 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. + */ + void 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. + */ + void 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). + */ + void 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). + */ + void setAccelODR(accel_odr aRate); + /** calibration() -- Calculate the offset of the accel and the gyro + */ + void calibration( int16_t iter); + +private: + /** xgAddress store the I2C address + * for each sensor. + */ + uint8_t xgAddress; + + // I2C bus + I2C i2c; + + /** 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. + */ + void initGyro(); + + /** initAccel() -- Sets up the accelerometer to begin reading. + * This function steps through all accelerometer related control registers. + */ + void initAccel(); + + /** Setup Interrupt **/ + void 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 // _LSM6DS33_H //