v61_0
LSM6DS33_GR1.h
- Committer:
- gr66
- Date:
- 2021-07-06
- Revision:
- 6:798481567563
File content as of revision 6:798481567563:
// 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 //