v61_0
LSM6DS33_GR1.cpp@7:164a2086348d, 2021-08-06 (annotated)
- Committer:
- gr66
- Date:
- Fri Aug 06 14:52:00 2021 +0000
- Revision:
- 7:164a2086348d
- Parent:
- 6:798481567563
V60
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
gr66 | 6:798481567563 | 1 | #include "LSM6DS33_GR1.h" |
gr66 | 6:798481567563 | 2 | |
gr66 | 6:798481567563 | 3 | LSM6DS33::LSM6DS33(PinName sda, PinName scl, uint8_t xgAddr) : i2c(sda, scl) |
gr66 | 6:798481567563 | 4 | { |
gr66 | 6:798481567563 | 5 | // xgAddress will store the 7-bit I2C address, if using I2C. |
gr66 | 6:798481567563 | 6 | xgAddress = xgAddr; |
gr66 | 6:798481567563 | 7 | |
gr66 | 6:798481567563 | 8 | // init gyro offset |
gr66 | 6:798481567563 | 9 | gx_off=0; |
gr66 | 6:798481567563 | 10 | gy_off=0; |
gr66 | 6:798481567563 | 11 | gz_off=0; |
gr66 | 6:798481567563 | 12 | gxol=0; |
gr66 | 6:798481567563 | 13 | gxoh=0; |
gr66 | 6:798481567563 | 14 | gyol=0; |
gr66 | 6:798481567563 | 15 | gyoh=0; |
gr66 | 6:798481567563 | 16 | gzol=0; |
gr66 | 6:798481567563 | 17 | gzoh=0; |
gr66 | 6:798481567563 | 18 | } |
gr66 | 6:798481567563 | 19 | |
gr66 | 6:798481567563 | 20 | uint16_t LSM6DS33::begin(gyro_scale gScl, accel_scale aScl, |
gr66 | 6:798481567563 | 21 | gyro_odr gODR, accel_odr aODR) |
gr66 | 6:798481567563 | 22 | { |
gr66 | 6:798481567563 | 23 | |
gr66 | 6:798481567563 | 24 | // Store the given scales in class variables. These scale variables |
gr66 | 6:798481567563 | 25 | // are used throughout to calculate the actual g's, DPS,and Gs's. |
gr66 | 6:798481567563 | 26 | gScale = gScl; |
gr66 | 6:798481567563 | 27 | aScale = aScl; |
gr66 | 6:798481567563 | 28 | |
gr66 | 6:798481567563 | 29 | // Once we have the scale values, we can calculate the resolution |
gr66 | 6:798481567563 | 30 | // of each sensor. That's what these functions are for. One for each sensor |
gr66 | 6:798481567563 | 31 | calcgRes(); // Calculate DPS / ADC tick, stored in gRes variable |
gr66 | 6:798481567563 | 32 | calcaRes(); // Calculate g / ADC tick, stored in aRes variable |
gr66 | 6:798481567563 | 33 | |
gr66 | 6:798481567563 | 34 | |
gr66 | 6:798481567563 | 35 | // To verify communication, we can read from the WHO_AM_I register of |
gr66 | 6:798481567563 | 36 | // each device. Store those in a variable so we can return them. |
gr66 | 6:798481567563 | 37 | // The start of the addresses we want to read from |
gr66 | 6:798481567563 | 38 | char cmd[2] = { |
gr66 | 6:798481567563 | 39 | WHO_AM_I_REG, |
gr66 | 6:798481567563 | 40 | 0 |
gr66 | 6:798481567563 | 41 | }; |
gr66 | 6:798481567563 | 42 | |
gr66 | 6:798481567563 | 43 | // Write the address we are going to read from and don't end the transaction |
gr66 | 6:798481567563 | 44 | i2c.write(xgAddress, cmd, 1, true); |
gr66 | 6:798481567563 | 45 | // Read in all the 8 bits of data |
gr66 | 6:798481567563 | 46 | i2c.read(xgAddress, cmd+1, 1); |
gr66 | 6:798481567563 | 47 | uint8_t xgTest = cmd[1]; // Read the accel/gyro WHO_AM_I |
gr66 | 6:798481567563 | 48 | |
gr66 | 6:798481567563 | 49 | // Gyro initialization stuff: |
gr66 | 6:798481567563 | 50 | initGyro(); // This will "turn on" the gyro. Setting up interrupts, etc. |
gr66 | 6:798481567563 | 51 | setGyroODR(gODR); // Set the gyro output data rate and bandwidth. |
gr66 | 6:798481567563 | 52 | setGyroScale(gScale); // Set the gyro range |
gr66 | 6:798481567563 | 53 | |
gr66 | 6:798481567563 | 54 | // Accelerometer initialization stuff: |
gr66 | 6:798481567563 | 55 | initAccel(); // "Turn on" all axes of the accel. Set up interrupts, etc. |
gr66 | 6:798481567563 | 56 | setAccelODR(aODR); // Set the accel data rate. |
gr66 | 6:798481567563 | 57 | setAccelScale(aScale); // Set the accel range. |
gr66 | 6:798481567563 | 58 | |
gr66 | 6:798481567563 | 59 | //set high res timestamp where LSB is 25us |
gr66 | 6:798481567563 | 60 | cmd[0] = WAKE_UP_DUR; |
gr66 | 6:798481567563 | 61 | cmd[1] = 0x10; |
gr66 | 6:798481567563 | 62 | i2c.write(xgAddress, cmd, 2); |
gr66 | 6:798481567563 | 63 | |
gr66 | 6:798481567563 | 64 | |
gr66 | 6:798481567563 | 65 | // Once everything is initialized, return the WHO_AM_I registers we read: |
gr66 | 6:798481567563 | 66 | return xgTest; |
gr66 | 6:798481567563 | 67 | } |
gr66 | 6:798481567563 | 68 | |
gr66 | 6:798481567563 | 69 | void LSM6DS33::initGyro() |
gr66 | 6:798481567563 | 70 | { |
gr66 | 6:798481567563 | 71 | char cmd[2] = { |
gr66 | 6:798481567563 | 72 | CTRL2_G, |
gr66 | 6:798481567563 | 73 | gScale | G_ODR_104 |
gr66 | 6:798481567563 | 74 | }; |
gr66 | 6:798481567563 | 75 | |
gr66 | 6:798481567563 | 76 | // Write the data to the gyro control registers |
gr66 | 6:798481567563 | 77 | i2c.write(xgAddress, cmd, 2); |
gr66 | 6:798481567563 | 78 | } |
gr66 | 6:798481567563 | 79 | |
gr66 | 6:798481567563 | 80 | void LSM6DS33::initAccel() |
gr66 | 6:798481567563 | 81 | { |
gr66 | 6:798481567563 | 82 | char cmd[4] = { |
gr66 | 6:798481567563 | 83 | CTRL1_XL, |
gr66 | 6:798481567563 | 84 | 0x30 |
gr66 | 6:798481567563 | 85 | }; |
gr66 | 6:798481567563 | 86 | |
gr66 | 6:798481567563 | 87 | // Write the data to the accel control registers |
gr66 | 6:798481567563 | 88 | i2c.write(xgAddress, cmd, 2); |
gr66 | 6:798481567563 | 89 | } |
gr66 | 6:798481567563 | 90 | |
gr66 | 6:798481567563 | 91 | void LSM6DS33::initIntr() |
gr66 | 6:798481567563 | 92 | { |
gr66 | 6:798481567563 | 93 | |
gr66 | 6:798481567563 | 94 | } |
gr66 | 6:798481567563 | 95 | //modif gr1 |
gr66 | 6:798481567563 | 96 | void LSM6DS33::readAllraw() |
gr66 | 6:798481567563 | 97 | { |
gr66 | 6:798481567563 | 98 | // The data we are going to read from the temp/gyr/acc/timestamp |
gr66 | 6:798481567563 | 99 | //char data[14];//from 0x20 to 0x42 |
gr66 | 6:798481567563 | 100 | |
gr66 | 6:798481567563 | 101 | char data[14]; |
gr66 | 6:798481567563 | 102 | char tsdata[3]; |
gr66 | 6:798481567563 | 103 | |
gr66 | 6:798481567563 | 104 | i2c.start(); |
gr66 | 6:798481567563 | 105 | i2c.write(xgAddress); |
gr66 | 6:798481567563 | 106 | i2c.write(OUT_TEMP_L); |
gr66 | 6:798481567563 | 107 | i2c.start(); |
gr66 | 6:798481567563 | 108 | i2c.write(xgAddress | 0x1); |
gr66 | 6:798481567563 | 109 | for(int i =0; i<13; i++) { |
gr66 | 6:798481567563 | 110 | data[i]=i2c.read(1); |
gr66 | 6:798481567563 | 111 | } |
gr66 | 6:798481567563 | 112 | data[13]=i2c.read(0); |
gr66 | 6:798481567563 | 113 | i2c.stop(); |
gr66 | 6:798481567563 | 114 | |
gr66 | 6:798481567563 | 115 | // Temperature is a 12-bit signed integer |
gr66 | 7:164a2086348d | 116 | temperature_raw = data[0] | (data[1] << 8); |
gr66 | 6:798481567563 | 117 | gxl = data[2] ; |
gr66 | 6:798481567563 | 118 | gxh =data[3] ; |
gr66 | 6:798481567563 | 119 | gyl = data[4] ; |
gr66 | 6:798481567563 | 120 | gyh= data[5] ; |
gr66 | 6:798481567563 | 121 | gzl = data[6] ; |
gr66 | 6:798481567563 | 122 | gzh=data[7] ; |
gr66 | 6:798481567563 | 123 | axl= data[8] ; |
gr66 | 6:798481567563 | 124 | axh=data[9] ; |
gr66 | 6:798481567563 | 125 | ayl = data[10]; |
gr66 | 6:798481567563 | 126 | ayh=data[11] ; |
gr66 | 6:798481567563 | 127 | azl = data[12] ; |
gr66 | 6:798481567563 | 128 | azh=data[13] ; |
gr66 | 6:798481567563 | 129 | |
gr66 | 6:798481567563 | 130 | //i2c.start(); |
gr66 | 6:798481567563 | 131 | // i2c.write(xgAddress); |
gr66 | 6:798481567563 | 132 | // i2c.write(TIMESTAMP0_REG); |
gr66 | 6:798481567563 | 133 | // i2c.start(); |
gr66 | 6:798481567563 | 134 | // i2c.write(xgAddress | 0x1); |
gr66 | 6:798481567563 | 135 | // for(int i =0; i<3; i++) { |
gr66 | 6:798481567563 | 136 | // tsdata[i]=i2c.read(1); |
gr66 | 6:798481567563 | 137 | // } |
gr66 | 6:798481567563 | 138 | // tsdata[3]=i2c.read(0); |
gr66 | 6:798481567563 | 139 | //i2c.stop(); |
gr66 | 6:798481567563 | 140 | |
gr66 | 6:798481567563 | 141 | // time_raw = tsdata[0] | (tsdata[1] << 8) | (tsdata[2] << 16); |
gr66 | 6:798481567563 | 142 | |
gr66 | 6:798481567563 | 143 | |
gr66 | 7:164a2086348d | 144 | temperature_c = (float)temperature_raw / 16.0 + 25.0; |
gr66 | 6:798481567563 | 145 | // gx = gx_raw * gRes; |
gr66 | 6:798481567563 | 146 | // gy = gy_raw * gRes; |
gr66 | 6:798481567563 | 147 | // gz = gz_raw * gRes; |
gr66 | 6:798481567563 | 148 | // ax = ax_raw * aRes; |
gr66 | 6:798481567563 | 149 | // ay = ay_raw * aRes; |
gr66 | 6:798481567563 | 150 | // az = az_raw * aRes; |
gr66 | 6:798481567563 | 151 | // time = time_raw*(0.000025); |
gr66 | 6:798481567563 | 152 | |
gr66 | 6:798481567563 | 153 | |
gr66 | 6:798481567563 | 154 | } |
gr66 | 6:798481567563 | 155 | //fin modif gr1 |
gr66 | 6:798481567563 | 156 | void LSM6DS33::readAll() |
gr66 | 6:798481567563 | 157 | { |
gr66 | 6:798481567563 | 158 | // The data we are going to read from the temp/gyr/acc/timestamp |
gr66 | 6:798481567563 | 159 | //char data[14];//from 0x20 to 0x42 |
gr66 | 6:798481567563 | 160 | |
gr66 | 6:798481567563 | 161 | char data[14]; |
gr66 | 6:798481567563 | 162 | char tsdata[3]; |
gr66 | 6:798481567563 | 163 | |
gr66 | 6:798481567563 | 164 | i2c.start(); |
gr66 | 6:798481567563 | 165 | i2c.write(xgAddress); |
gr66 | 6:798481567563 | 166 | i2c.write(OUT_TEMP_L); |
gr66 | 6:798481567563 | 167 | i2c.start(); |
gr66 | 6:798481567563 | 168 | i2c.write(xgAddress | 0x1); |
gr66 | 6:798481567563 | 169 | for(int i =0; i<13; i++) { |
gr66 | 6:798481567563 | 170 | data[i]=i2c.read(1); |
gr66 | 6:798481567563 | 171 | } |
gr66 | 6:798481567563 | 172 | data[13]=i2c.read(0); |
gr66 | 6:798481567563 | 173 | i2c.stop(); |
gr66 | 6:798481567563 | 174 | |
gr66 | 6:798481567563 | 175 | // Temperature is a 12-bit signed integer |
gr66 | 6:798481567563 | 176 | temperature_raw = data[0] | (data[1] << 8); |
gr66 | 6:798481567563 | 177 | gx_raw = data[2] | (data[3] << 8); |
gr66 | 6:798481567563 | 178 | gy_raw = data[4] | (data[5] << 8); |
gr66 | 6:798481567563 | 179 | gz_raw = data[6] | (data[7] << 8); |
gr66 | 6:798481567563 | 180 | ax_raw = data[8] | (data[9] << 8); |
gr66 | 6:798481567563 | 181 | ay_raw = data[10] | (data[11] << 8); |
gr66 | 6:798481567563 | 182 | az_raw = data[12] | (data[13] << 8); |
gr66 | 6:798481567563 | 183 | |
gr66 | 6:798481567563 | 184 | i2c.start(); |
gr66 | 6:798481567563 | 185 | i2c.write(xgAddress); |
gr66 | 6:798481567563 | 186 | i2c.write(TIMESTAMP0_REG); |
gr66 | 6:798481567563 | 187 | i2c.start(); |
gr66 | 6:798481567563 | 188 | i2c.write(xgAddress | 0x1); |
gr66 | 6:798481567563 | 189 | for(int i =0; i<3; i++) { |
gr66 | 6:798481567563 | 190 | tsdata[i]=i2c.read(1); |
gr66 | 6:798481567563 | 191 | } |
gr66 | 6:798481567563 | 192 | tsdata[3]=i2c.read(0); |
gr66 | 6:798481567563 | 193 | i2c.stop(); |
gr66 | 6:798481567563 | 194 | |
gr66 | 6:798481567563 | 195 | time_raw = tsdata[0] | (tsdata[1] << 8) | (tsdata[2] << 16); |
gr66 | 6:798481567563 | 196 | |
gr66 | 6:798481567563 | 197 | |
gr66 | 6:798481567563 | 198 | temperature_c = (float)temperature_raw / 16.0 + 25.0; |
gr66 | 6:798481567563 | 199 | gx = gx_raw * gRes; |
gr66 | 6:798481567563 | 200 | gy = gy_raw * gRes; |
gr66 | 6:798481567563 | 201 | gz = gz_raw * gRes; |
gr66 | 6:798481567563 | 202 | ax = ax_raw * aRes; |
gr66 | 6:798481567563 | 203 | ay = ay_raw * aRes; |
gr66 | 6:798481567563 | 204 | az = az_raw * aRes; |
gr66 | 6:798481567563 | 205 | time = time_raw*(0.000025); |
gr66 | 6:798481567563 | 206 | |
gr66 | 6:798481567563 | 207 | |
gr66 | 6:798481567563 | 208 | } |
gr66 | 6:798481567563 | 209 | |
gr66 | 6:798481567563 | 210 | |
gr66 | 6:798481567563 | 211 | void LSM6DS33::readAccel() |
gr66 | 6:798481567563 | 212 | { |
gr66 | 6:798481567563 | 213 | // The data we are going to read from the accel |
gr66 | 6:798481567563 | 214 | char data[6]; |
gr66 | 6:798481567563 | 215 | |
gr66 | 6:798481567563 | 216 | // Set addresses |
gr66 | 6:798481567563 | 217 | char subAddressXL = OUTX_L_XL; |
gr66 | 6:798481567563 | 218 | char subAddressXH = OUTX_H_XL; |
gr66 | 6:798481567563 | 219 | char subAddressYL = OUTY_L_XL; |
gr66 | 6:798481567563 | 220 | char subAddressYH = OUTY_H_XL; |
gr66 | 6:798481567563 | 221 | char subAddressZL = OUTZ_L_XL; |
gr66 | 6:798481567563 | 222 | char subAddressZH = OUTZ_H_XL; |
gr66 | 6:798481567563 | 223 | |
gr66 | 6:798481567563 | 224 | // Write the address we are going to read from and don't end the transaction |
gr66 | 6:798481567563 | 225 | i2c.write(xgAddress, &subAddressXL, 1, true); |
gr66 | 6:798481567563 | 226 | // Read in register containing the axes data and alocated to the correct index |
gr66 | 6:798481567563 | 227 | i2c.read(xgAddress, data, 1); |
gr66 | 6:798481567563 | 228 | |
gr66 | 6:798481567563 | 229 | i2c.write(xgAddress, &subAddressXH, 1, true); |
gr66 | 6:798481567563 | 230 | i2c.read(xgAddress, (data + 1), 1); |
gr66 | 6:798481567563 | 231 | i2c.write(xgAddress, &subAddressYL, 1, true); |
gr66 | 6:798481567563 | 232 | i2c.read(xgAddress, (data + 2), 1); |
gr66 | 6:798481567563 | 233 | i2c.write(xgAddress, &subAddressYH, 1, true); |
gr66 | 6:798481567563 | 234 | i2c.read(xgAddress, (data + 3), 1); |
gr66 | 6:798481567563 | 235 | i2c.write(xgAddress, &subAddressZL, 1, true); |
gr66 | 6:798481567563 | 236 | i2c.read(xgAddress, (data + 4), 1); |
gr66 | 6:798481567563 | 237 | i2c.write(xgAddress, &subAddressZH, 1, true); |
gr66 | 6:798481567563 | 238 | i2c.read(xgAddress, (data + 5), 1); |
gr66 | 6:798481567563 | 239 | |
gr66 | 6:798481567563 | 240 | // Reassemble the data and convert to g |
gr66 | 6:798481567563 | 241 | ax_raw = data[0] | (data[1] << 8); |
gr66 | 6:798481567563 | 242 | ay_raw = data[2] | (data[3] << 8); |
gr66 | 6:798481567563 | 243 | az_raw = data[4] | (data[5] << 8); |
gr66 | 6:798481567563 | 244 | ax = ax_raw * aRes; |
gr66 | 6:798481567563 | 245 | ay = ay_raw * aRes; |
gr66 | 6:798481567563 | 246 | az = az_raw * aRes; |
gr66 | 6:798481567563 | 247 | //gr |
gr66 | 6:798481567563 | 248 | axl= data[0] ; |
gr66 | 6:798481567563 | 249 | axh=data[1] ; |
gr66 | 6:798481567563 | 250 | ayl = data[2]; |
gr66 | 6:798481567563 | 251 | ayh=data[3] ; |
gr66 | 6:798481567563 | 252 | azl = data[4] ; |
gr66 | 6:798481567563 | 253 | azh=data[5] ; |
gr66 | 6:798481567563 | 254 | } |
gr66 | 6:798481567563 | 255 | |
gr66 | 6:798481567563 | 256 | void LSM6DS33::readIntr() |
gr66 | 6:798481567563 | 257 | { |
gr66 | 6:798481567563 | 258 | char data[1]; |
gr66 | 6:798481567563 | 259 | char subAddress = TAP_SRC; |
gr66 | 6:798481567563 | 260 | |
gr66 | 6:798481567563 | 261 | i2c.write(xgAddress, &subAddress, 1, true); |
gr66 | 6:798481567563 | 262 | i2c.read(xgAddress, data, 1); |
gr66 | 6:798481567563 | 263 | |
gr66 | 6:798481567563 | 264 | intr = (float)data[0]; |
gr66 | 6:798481567563 | 265 | } |
gr66 | 6:798481567563 | 266 | |
gr66 | 6:798481567563 | 267 | void LSM6DS33::readTemp() |
gr66 | 6:798481567563 | 268 | { |
gr66 | 6:798481567563 | 269 | // The data we are going to read from the temp |
gr66 | 6:798481567563 | 270 | char data[2]; |
gr66 | 6:798481567563 | 271 | |
gr66 | 6:798481567563 | 272 | // Set addresses |
gr66 | 6:798481567563 | 273 | char subAddressL = OUT_TEMP_L; |
gr66 | 6:798481567563 | 274 | char subAddressH = OUT_TEMP_H; |
gr66 | 6:798481567563 | 275 | |
gr66 | 6:798481567563 | 276 | // Write the address we are going to read from and don't end the transaction |
gr66 | 6:798481567563 | 277 | i2c.write(xgAddress, &subAddressL, 1, true); |
gr66 | 6:798481567563 | 278 | // Read in register containing the temperature data and alocated to the correct index |
gr66 | 6:798481567563 | 279 | i2c.read(xgAddress, data, 1); |
gr66 | 6:798481567563 | 280 | |
gr66 | 6:798481567563 | 281 | i2c.write(xgAddress, &subAddressH, 1, true); |
gr66 | 6:798481567563 | 282 | i2c.read(xgAddress, (data + 1), 1); |
gr66 | 6:798481567563 | 283 | |
gr66 | 6:798481567563 | 284 | // Temperature is a 12-bit signed integer |
gr66 | 6:798481567563 | 285 | temperature_raw = data[0] | (data[1] << 8); |
gr66 | 6:798481567563 | 286 | |
gr66 | 6:798481567563 | 287 | temperature_c = (float)temperature_raw / 16.0 + 25.0; |
gr66 | 6:798481567563 | 288 | temperature_f = temperature_c * 1.8 + 32.0; |
gr66 | 6:798481567563 | 289 | } |
gr66 | 6:798481567563 | 290 | |
gr66 | 6:798481567563 | 291 | |
gr66 | 6:798481567563 | 292 | void LSM6DS33::readGyro() |
gr66 | 6:798481567563 | 293 | { |
gr66 | 6:798481567563 | 294 | // The data we are going to read from the gyro |
gr66 | 6:798481567563 | 295 | char data[6]; |
gr66 | 6:798481567563 | 296 | |
gr66 | 6:798481567563 | 297 | // Set addresses |
gr66 | 6:798481567563 | 298 | char subAddressXL = OUTX_L_G; |
gr66 | 6:798481567563 | 299 | char subAddressXH = OUTX_H_G; |
gr66 | 6:798481567563 | 300 | char subAddressYL = OUTY_L_G; |
gr66 | 6:798481567563 | 301 | char subAddressYH = OUTY_H_G; |
gr66 | 6:798481567563 | 302 | char subAddressZL = OUTZ_L_G; |
gr66 | 6:798481567563 | 303 | char subAddressZH = OUTZ_H_G; |
gr66 | 6:798481567563 | 304 | |
gr66 | 6:798481567563 | 305 | // Write the address we are going to read from and don't end the transaction |
gr66 | 6:798481567563 | 306 | i2c.write(xgAddress, &subAddressXL, 1, true); |
gr66 | 6:798481567563 | 307 | // Read in register containing the axes data and alocated to the correct index |
gr66 | 6:798481567563 | 308 | i2c.read(xgAddress, data, 1); |
gr66 | 6:798481567563 | 309 | |
gr66 | 6:798481567563 | 310 | i2c.write(xgAddress, &subAddressXH, 1, true); |
gr66 | 6:798481567563 | 311 | i2c.read(xgAddress, (data + 1), 1); |
gr66 | 6:798481567563 | 312 | i2c.write(xgAddress, &subAddressYL, 1, true); |
gr66 | 6:798481567563 | 313 | i2c.read(xgAddress, (data + 2), 1); |
gr66 | 6:798481567563 | 314 | i2c.write(xgAddress, &subAddressYH, 1, true); |
gr66 | 6:798481567563 | 315 | i2c.read(xgAddress, (data + 3), 1); |
gr66 | 6:798481567563 | 316 | i2c.write(xgAddress, &subAddressZL, 1, true); |
gr66 | 6:798481567563 | 317 | i2c.read(xgAddress, (data + 4), 1); |
gr66 | 6:798481567563 | 318 | i2c.write(xgAddress, &subAddressZH, 1, true); |
gr66 | 6:798481567563 | 319 | i2c.read(xgAddress, (data + 5), 1); |
gr66 | 6:798481567563 | 320 | |
gr66 | 6:798481567563 | 321 | // Reassemble the data and convert to degrees/sec |
gr66 | 6:798481567563 | 322 | gx_raw = data[0] | (data[1] << 8); |
gr66 | 6:798481567563 | 323 | gy_raw = data[2] | (data[3] << 8); |
gr66 | 6:798481567563 | 324 | gz_raw = data[4] | (data[5] << 8); |
gr66 | 6:798481567563 | 325 | gx = gx_raw * gRes; |
gr66 | 6:798481567563 | 326 | gy = gy_raw * gRes; |
gr66 | 6:798481567563 | 327 | gz = gz_raw * gRes; |
gr66 | 6:798481567563 | 328 | // gr |
gr66 | 6:798481567563 | 329 | gxl = data[0] ; |
gr66 | 6:798481567563 | 330 | gxh =data[1] ; |
gr66 | 6:798481567563 | 331 | gyl = data[2] ; |
gr66 | 6:798481567563 | 332 | gyh= data[3] ; |
gr66 | 6:798481567563 | 333 | gzl = data[4] ; |
gr66 | 6:798481567563 | 334 | gzh=data[5] ; |
gr66 | 6:798481567563 | 335 | } |
gr66 | 6:798481567563 | 336 | |
gr66 | 6:798481567563 | 337 | void LSM6DS33::setGyroScale(gyro_scale gScl) |
gr66 | 6:798481567563 | 338 | { |
gr66 | 6:798481567563 | 339 | // The start of the addresses we want to read from |
gr66 | 6:798481567563 | 340 | char cmd[2] = { |
gr66 | 6:798481567563 | 341 | CTRL2_G, |
gr66 | 6:798481567563 | 342 | 0 |
gr66 | 6:798481567563 | 343 | }; |
gr66 | 6:798481567563 | 344 | |
gr66 | 6:798481567563 | 345 | // Write the address we are going to read from and don't end the transaction |
gr66 | 6:798481567563 | 346 | i2c.write(xgAddress, cmd, 1, true); |
gr66 | 6:798481567563 | 347 | // Read in all the 8 bits of data |
gr66 | 6:798481567563 | 348 | i2c.read(xgAddress, cmd+1, 1); |
gr66 | 6:798481567563 | 349 | |
gr66 | 6:798481567563 | 350 | // Then mask out the gyro scale bits: |
gr66 | 6:798481567563 | 351 | cmd[1] &= 0xFF^(0x7 << 1); //// << 2 au lieu de 3 |
gr66 | 6:798481567563 | 352 | // Then shift in our new scale bits: |
gr66 | 6:798481567563 | 353 | cmd[1] |= gScl << 1; //// << 0 au lieu de 3 |
gr66 | 6:798481567563 | 354 | |
gr66 | 6:798481567563 | 355 | // Write the gyroscale out to the gyro |
gr66 | 6:798481567563 | 356 | i2c.write(xgAddress, cmd, 2); |
gr66 | 6:798481567563 | 357 | |
gr66 | 6:798481567563 | 358 | // We've updated the sensor, but we also need to update our class variables |
gr66 | 6:798481567563 | 359 | // First update gScale: |
gr66 | 6:798481567563 | 360 | gScale = gScl; |
gr66 | 6:798481567563 | 361 | // Then calculate a new gRes, which relies on gScale being set correctly: |
gr66 | 6:798481567563 | 362 | calcgRes(); |
gr66 | 6:798481567563 | 363 | } |
gr66 | 6:798481567563 | 364 | |
gr66 | 6:798481567563 | 365 | void LSM6DS33::setAccelScale(accel_scale aScl) |
gr66 | 6:798481567563 | 366 | { |
gr66 | 6:798481567563 | 367 | // The start of the addresses we want to read from |
gr66 | 6:798481567563 | 368 | char cmd[2] = { |
gr66 | 6:798481567563 | 369 | CTRL1_XL, |
gr66 | 6:798481567563 | 370 | 0 |
gr66 | 6:798481567563 | 371 | }; |
gr66 | 6:798481567563 | 372 | |
gr66 | 6:798481567563 | 373 | // Write the address we are going to read from and don't end the transaction |
gr66 | 6:798481567563 | 374 | i2c.write(xgAddress, cmd, 1, true); |
gr66 | 6:798481567563 | 375 | // Read in all the 8 bits of data |
gr66 | 6:798481567563 | 376 | i2c.read(xgAddress, cmd+1, 1); |
gr66 | 6:798481567563 | 377 | |
gr66 | 6:798481567563 | 378 | // Then mask out the accel scale bits: |
gr66 | 6:798481567563 | 379 | cmd[1] &= 0xFF^(0x3 << 2); //// gr 2 au lieu de 3 mise a zero des bits 3 et 4 |
gr66 | 6:798481567563 | 380 | // Then shift in our new scale bits: |
gr66 | 6:798481567563 | 381 | cmd[1] |= aScl << 2; //// gr 2 au lieu de 3 |
gr66 | 6:798481567563 | 382 | |
gr66 | 6:798481567563 | 383 | // Write the accelscale out to the accel |
gr66 | 6:798481567563 | 384 | i2c.write(xgAddress, cmd, 2); |
gr66 | 6:798481567563 | 385 | |
gr66 | 6:798481567563 | 386 | // We've updated the sensor, but we also need to update our class variables |
gr66 | 6:798481567563 | 387 | // First update aScale: |
gr66 | 6:798481567563 | 388 | aScale = aScl; |
gr66 | 6:798481567563 | 389 | // Then calculate a new aRes, which relies on aScale being set correctly: |
gr66 | 6:798481567563 | 390 | calcaRes(); |
gr66 | 6:798481567563 | 391 | } |
gr66 | 6:798481567563 | 392 | |
gr66 | 6:798481567563 | 393 | void LSM6DS33::setGyroODR(gyro_odr gRate) |
gr66 | 6:798481567563 | 394 | { |
gr66 | 6:798481567563 | 395 | // The start of the addresses we want to read from |
gr66 | 6:798481567563 | 396 | char cmd[2] = { |
gr66 | 6:798481567563 | 397 | CTRL2_G, |
gr66 | 6:798481567563 | 398 | 0 |
gr66 | 6:798481567563 | 399 | }; |
gr66 | 6:798481567563 | 400 | |
gr66 | 6:798481567563 | 401 | // Set low power based on ODR, else keep sensor on high performance |
gr66 | 6:798481567563 | 402 | if(gRate == G_ODR_13_BW_0 | gRate == G_ODR_26_BW_2 | gRate == G_ODR_52_BW_16) { |
gr66 | 6:798481567563 | 403 | char cmdLow[2] = { |
gr66 | 6:798481567563 | 404 | CTRL7_G, |
gr66 | 6:798481567563 | 405 | 1 |
gr66 | 6:798481567563 | 406 | }; |
gr66 | 6:798481567563 | 407 | |
gr66 | 6:798481567563 | 408 | i2c.write(xgAddress, cmdLow, 2); |
gr66 | 6:798481567563 | 409 | } else { |
gr66 | 6:798481567563 | 410 | char cmdLow[2] = { |
gr66 | 6:798481567563 | 411 | CTRL7_G, |
gr66 | 6:798481567563 | 412 | 0 |
gr66 | 6:798481567563 | 413 | }; |
gr66 | 6:798481567563 | 414 | |
gr66 | 6:798481567563 | 415 | i2c.write(xgAddress, cmdLow, 2); |
gr66 | 6:798481567563 | 416 | } |
gr66 | 6:798481567563 | 417 | |
gr66 | 6:798481567563 | 418 | // Write the address we are going to read from and don't end the transaction |
gr66 | 6:798481567563 | 419 | i2c.write(xgAddress, cmd, 1, true); |
gr66 | 6:798481567563 | 420 | // Read in all the 8 bits of data |
gr66 | 6:798481567563 | 421 | i2c.read(xgAddress, cmd+1, 1); |
gr66 | 6:798481567563 | 422 | |
gr66 | 6:798481567563 | 423 | // Then mask out the gyro odr bits: |
gr66 | 6:798481567563 | 424 | cmd[1] &= 0xFF^(0xF << 4); |
gr66 | 6:798481567563 | 425 | // Then shift in our new odr bits: |
gr66 | 6:798481567563 | 426 | cmd[1] |= gRate; |
gr66 | 6:798481567563 | 427 | |
gr66 | 6:798481567563 | 428 | // Write the gyroodr out to the gyro |
gr66 | 6:798481567563 | 429 | i2c.write(xgAddress, cmd, 2); |
gr66 | 6:798481567563 | 430 | } |
gr66 | 6:798481567563 | 431 | |
gr66 | 6:798481567563 | 432 | void LSM6DS33::setAccelODR(accel_odr aRate) |
gr66 | 6:798481567563 | 433 | { |
gr66 | 6:798481567563 | 434 | // The start of the addresses we want to read from |
gr66 | 6:798481567563 | 435 | char cmd[2] = { |
gr66 | 6:798481567563 | 436 | CTRL1_XL, |
gr66 | 6:798481567563 | 437 | 0 |
gr66 | 6:798481567563 | 438 | }; |
gr66 | 6:798481567563 | 439 | |
gr66 | 6:798481567563 | 440 | // Set low power based on ODR, else keep sensor on high performance |
gr66 | 6:798481567563 | 441 | if(aRate == A_ODR_13 | aRate == A_ODR_26 | aRate == A_ODR_52) { |
gr66 | 6:798481567563 | 442 | char cmdLow[2] = { |
gr66 | 6:798481567563 | 443 | CTRL6_C, |
gr66 | 6:798481567563 | 444 | 1 |
gr66 | 6:798481567563 | 445 | }; |
gr66 | 6:798481567563 | 446 | |
gr66 | 6:798481567563 | 447 | i2c.write(xgAddress, cmdLow, 2); |
gr66 | 6:798481567563 | 448 | } else { |
gr66 | 6:798481567563 | 449 | char cmdLow[2] = { |
gr66 | 6:798481567563 | 450 | CTRL6_C, |
gr66 | 6:798481567563 | 451 | 0 |
gr66 | 6:798481567563 | 452 | }; |
gr66 | 6:798481567563 | 453 | |
gr66 | 6:798481567563 | 454 | i2c.write(xgAddress, cmdLow, 2); |
gr66 | 6:798481567563 | 455 | } |
gr66 | 6:798481567563 | 456 | |
gr66 | 6:798481567563 | 457 | // Write the address we are going to read from and don't end the transaction |
gr66 | 6:798481567563 | 458 | i2c.write(xgAddress, cmd, 1, true); |
gr66 | 6:798481567563 | 459 | // Read in all the 8 bits of data |
gr66 | 6:798481567563 | 460 | i2c.read(xgAddress, cmd+1, 1); |
gr66 | 6:798481567563 | 461 | |
gr66 | 6:798481567563 | 462 | // Then mask out the accel odr bits: |
gr66 | 6:798481567563 | 463 | cmd[1] &= 0xFF^(0xF << 4); // gr erreur ?? |
gr66 | 6:798481567563 | 464 | // Then shift in our new odr bits: |
gr66 | 6:798481567563 | 465 | cmd[1] |= aRate << 4; // gr erreur |
gr66 | 6:798481567563 | 466 | |
gr66 | 6:798481567563 | 467 | // Write the accelodr out to the accel |
gr66 | 6:798481567563 | 468 | i2c.write(xgAddress, cmd, 2); |
gr66 | 6:798481567563 | 469 | } |
gr66 | 6:798481567563 | 470 | |
gr66 | 6:798481567563 | 471 | void LSM6DS33::calcgRes() |
gr66 | 6:798481567563 | 472 | { |
gr66 | 6:798481567563 | 473 | // Possible gyro scales (and their register bit settings) are: |
gr66 | 6:798481567563 | 474 | // 125 DPS , 245 DPS (00), 500 DPS (01), 2000 DPS (10). |
gr66 | 6:798481567563 | 475 | switch (gScale) { |
gr66 | 6:798481567563 | 476 | case G_SCALE_125DPS: |
gr66 | 6:798481567563 | 477 | gRes = 125.0 / 32768.0; |
gr66 | 6:798481567563 | 478 | break; |
gr66 | 6:798481567563 | 479 | case G_SCALE_250DPS: |
gr66 | 6:798481567563 | 480 | gRes = 250.0 / 32768.0; |
gr66 | 6:798481567563 | 481 | break; |
gr66 | 6:798481567563 | 482 | case G_SCALE_500DPS: |
gr66 | 6:798481567563 | 483 | gRes = 500.0 / 32768.0; |
gr66 | 6:798481567563 | 484 | break; |
gr66 | 6:798481567563 | 485 | case G_SCALE_1000DPS: |
gr66 | 6:798481567563 | 486 | gRes = 1000.0 / 32768.0; |
gr66 | 6:798481567563 | 487 | break; |
gr66 | 6:798481567563 | 488 | case G_SCALE_2000DPS: |
gr66 | 6:798481567563 | 489 | gRes = 2000.0 / 32768.0; |
gr66 | 6:798481567563 | 490 | break; |
gr66 | 6:798481567563 | 491 | } |
gr66 | 6:798481567563 | 492 | } |
gr66 | 6:798481567563 | 493 | |
gr66 | 6:798481567563 | 494 | void LSM6DS33::calcaRes() |
gr66 | 6:798481567563 | 495 | { |
gr66 | 6:798481567563 | 496 | // Possible accelerometer scales (and their register bit settings) are: |
gr66 | 6:798481567563 | 497 | // 2 g (000), 4g (001), 6g (010) 8g (011), 16g (100). |
gr66 | 6:798481567563 | 498 | switch (aScale) { |
gr66 | 6:798481567563 | 499 | case A_SCALE_2G: |
gr66 | 6:798481567563 | 500 | aRes = 2.0 / 32768.0; |
gr66 | 6:798481567563 | 501 | break; |
gr66 | 6:798481567563 | 502 | case A_SCALE_4G: |
gr66 | 6:798481567563 | 503 | aRes = 4.0 / 32768.0; |
gr66 | 6:798481567563 | 504 | break; |
gr66 | 6:798481567563 | 505 | case A_SCALE_8G: |
gr66 | 6:798481567563 | 506 | aRes = 8.0 / 32768.0; |
gr66 | 6:798481567563 | 507 | break; |
gr66 | 6:798481567563 | 508 | case A_SCALE_16G: |
gr66 | 6:798481567563 | 509 | aRes = 16.0 / 32768.0; |
gr66 | 6:798481567563 | 510 | break; |
gr66 | 6:798481567563 | 511 | } |
gr66 | 6:798481567563 | 512 | } |
gr66 | 6:798481567563 | 513 | void LSM6DS33::calibration( int16_t iter) |
gr66 | 6:798481567563 | 514 | { |
gr66 | 6:798481567563 | 515 | int32_t gxoll=0,gyoll=0,gzoll=0; |
gr66 | 6:798481567563 | 516 | for(int ii=0; ii<iter; ii++) { |
gr66 | 6:798481567563 | 517 | this->readGyro(); |
gr66 | 6:798481567563 | 518 | gx_off=gx_off+gx; |
gr66 | 6:798481567563 | 519 | gy_off=gy_off+gy; |
gr66 | 6:798481567563 | 520 | gz_off=gz_off+gz; |
gr66 | 6:798481567563 | 521 | // |
gr66 | 6:798481567563 | 522 | |
gr66 | 6:798481567563 | 523 | gxoll=gxoll+(int32_t)gx_raw; |
gr66 | 6:798481567563 | 524 | gyoll=gyoll+(int32_t)gy_raw; |
gr66 | 6:798481567563 | 525 | gzoll=gzoll+(int32_t)gz_raw; |
gr66 | 6:798481567563 | 526 | |
gr66 | 6:798481567563 | 527 | |
gr66 | 6:798481567563 | 528 | //wait(0.01); |
gr66 | 6:798481567563 | 529 | } |
gr66 | 6:798481567563 | 530 | gx_off=gx_off/iter; |
gr66 | 6:798481567563 | 531 | gy_off=gy_off/iter; |
gr66 | 6:798481567563 | 532 | gz_off=gz_off/iter; |
gr66 | 6:798481567563 | 533 | // |
gr66 | 6:798481567563 | 534 | gxoll=gxoll/iter; |
gr66 | 6:798481567563 | 535 | gyoll=gyoll/iter; |
gr66 | 6:798481567563 | 536 | gzoll=gzoll/iter; |
gr66 | 6:798481567563 | 537 | |
gr66 | 6:798481567563 | 538 | // |
gr66 | 6:798481567563 | 539 | gxol=(gxoll&0x00FF); |
gr66 | 6:798481567563 | 540 | gxoh=(gxoll>>8); |
gr66 | 6:798481567563 | 541 | gyol=(gyoll&0x00FF); |
gr66 | 6:798481567563 | 542 | gyoh=(gyoll>>8); |
gr66 | 6:798481567563 | 543 | gzol=(gzoll&0x00FF); |
gr66 | 6:798481567563 | 544 | gzoh=(gzoll>>8); |
gr66 | 6:798481567563 | 545 | |
gr66 | 6:798481567563 | 546 | } |
gr66 | 6:798481567563 | 547 |