VGR
Dependents: VITI_motor_angle_1 VITI_motor_angle_2 VITI_motor_angle_3
LSM9DS1.cpp@8:16e88babd42a, 2017-06-19 (annotated)
- Committer:
- benson516
- Date:
- Mon Jun 19 02:25:48 2017 +0000
- Revision:
- 8:16e88babd42a
- Parent:
- 7:e6e3d320eb6c
- Child:
- 9:33258ebdb817
Fix bugs in setting resolutions
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
beanmachine44 | 0:622e8874902e | 1 | #include "LSM9DS1.h" |
beanmachine44 | 0:622e8874902e | 2 | |
beanmachine44 | 0:622e8874902e | 3 | LSM9DS1::LSM9DS1(PinName sda, PinName scl, uint8_t xgAddr, uint8_t mAddr) : i2c(sda, scl) |
beanmachine44 | 0:622e8874902e | 4 | { |
beanmachine44 | 0:622e8874902e | 5 | // xgAddress and mAddress will store the 7-bit I2C address, if using I2C. |
beanmachine44 | 0:622e8874902e | 6 | xgAddress = xgAddr; |
beanmachine44 | 0:622e8874902e | 7 | mAddress = mAddr; |
beanmachine44 | 0:622e8874902e | 8 | } |
beanmachine44 | 0:622e8874902e | 9 | |
benson516 | 8:16e88babd42a | 10 | bool LSM9DS1::begin(gyro_scale gScl, accel_scale aScl, mag_scale mScl, |
beanmachine44 | 0:622e8874902e | 11 | gyro_odr gODR, accel_odr aODR, mag_odr mODR) |
beanmachine44 | 0:622e8874902e | 12 | { |
beanmachine44 | 0:622e8874902e | 13 | // Store the given scales in class variables. These scale variables |
beanmachine44 | 0:622e8874902e | 14 | // are used throughout to calculate the actual g's, DPS,and Gs's. |
beanmachine44 | 0:622e8874902e | 15 | gScale = gScl; |
beanmachine44 | 0:622e8874902e | 16 | aScale = aScl; |
beanmachine44 | 0:622e8874902e | 17 | mScale = mScl; |
benson516 | 8:16e88babd42a | 18 | |
beanmachine44 | 0:622e8874902e | 19 | // Once we have the scale values, we can calculate the resolution |
beanmachine44 | 0:622e8874902e | 20 | // of each sensor. That's what these functions are for. One for each sensor |
beanmachine44 | 0:622e8874902e | 21 | calcgRes(); // Calculate DPS / ADC tick, stored in gRes variable |
beanmachine44 | 0:622e8874902e | 22 | calcmRes(); // Calculate Gs / ADC tick, stored in mRes variable |
beanmachine44 | 0:622e8874902e | 23 | calcaRes(); // Calculate g / ADC tick, stored in aRes variable |
benson516 | 8:16e88babd42a | 24 | |
benson516 | 8:16e88babd42a | 25 | |
beanmachine44 | 0:622e8874902e | 26 | // To verify communication, we can read from the WHO_AM_I register of |
beanmachine44 | 0:622e8874902e | 27 | // each device. Store those in a variable so we can return them. |
beanmachine44 | 0:622e8874902e | 28 | // The start of the addresses we want to read from |
beanmachine44 | 0:622e8874902e | 29 | char cmd[2] = { |
beanmachine44 | 0:622e8874902e | 30 | WHO_AM_I_XG, |
beanmachine44 | 0:622e8874902e | 31 | 0 |
beanmachine44 | 0:622e8874902e | 32 | }; |
beanmachine44 | 0:622e8874902e | 33 | |
beanmachine44 | 0:622e8874902e | 34 | // Write the address we are going to read from and don't end the transaction |
beanmachine44 | 0:622e8874902e | 35 | i2c.write(xgAddress, cmd, 1, true); |
beanmachine44 | 0:622e8874902e | 36 | // Read in all the 8 bits of data |
beanmachine44 | 0:622e8874902e | 37 | i2c.read(xgAddress, cmd+1, 1); |
beanmachine44 | 0:622e8874902e | 38 | uint8_t xgTest = cmd[1]; // Read the accel/gyro WHO_AM_I |
benson516 | 8:16e88babd42a | 39 | |
beanmachine44 | 0:622e8874902e | 40 | // Reset to the address of the mag who am i |
ChangYuHsuan | 6:28c4b3c8b43d | 41 | cmd[0] = WHO_AM_I_M; |
beanmachine44 | 0:622e8874902e | 42 | // Write the address we are going to read from and don't end the transaction |
beanmachine44 | 0:622e8874902e | 43 | i2c.write(mAddress, cmd, 1, true); |
beanmachine44 | 0:622e8874902e | 44 | // Read in all the 8 bits of data |
beanmachine44 | 0:622e8874902e | 45 | i2c.read(mAddress, cmd+1, 1); |
beanmachine44 | 0:622e8874902e | 46 | uint8_t mTest = cmd[1]; // Read the mag WHO_AM_I |
benson516 | 8:16e88babd42a | 47 | |
ChangYuHsuan | 6:28c4b3c8b43d | 48 | for(int ii = 0; ii < 3; ii++) |
ChangYuHsuan | 6:28c4b3c8b43d | 49 | { |
ChangYuHsuan | 6:28c4b3c8b43d | 50 | gBiasRaw[ii] = 0; |
ChangYuHsuan | 6:28c4b3c8b43d | 51 | aBiasRaw[ii] = 0; |
ChangYuHsuan | 6:28c4b3c8b43d | 52 | gBias[ii] = 0; |
ChangYuHsuan | 6:28c4b3c8b43d | 53 | aBias[ii] = 0; |
ChangYuHsuan | 6:28c4b3c8b43d | 54 | } |
benson516 | 8:16e88babd42a | 55 | autoCalib = false; |
benson516 | 8:16e88babd42a | 56 | |
beanmachine44 | 0:622e8874902e | 57 | // Accelerometer initialization stuff: |
beanmachine44 | 0:622e8874902e | 58 | initAccel(); // "Turn on" all axes of the accel. Set up interrupts, etc. |
beanmachine44 | 0:622e8874902e | 59 | setAccelODR(aODR); // Set the accel data rate. |
beanmachine44 | 0:622e8874902e | 60 | setAccelScale(aScale); // Set the accel range. |
benson516 | 8:16e88babd42a | 61 | |
benson516 | 8:16e88babd42a | 62 | // Gyro initialization stuff: |
benson516 | 8:16e88babd42a | 63 | initGyro(); // This will "turn on" the gyro. Setting up interrupts, etc. |
benson516 | 8:16e88babd42a | 64 | setGyroODR(gODR); // Set the gyro output data rate and bandwidth. |
benson516 | 8:16e88babd42a | 65 | setGyroScale(gScale); // Set the gyro range |
benson516 | 8:16e88babd42a | 66 | |
beanmachine44 | 0:622e8874902e | 67 | // Magnetometer initialization stuff: |
beanmachine44 | 0:622e8874902e | 68 | initMag(); // "Turn on" all axes of the mag. Set up interrupts, etc. |
beanmachine44 | 0:622e8874902e | 69 | setMagODR(mODR); // Set the magnetometer output data rate. |
beanmachine44 | 0:622e8874902e | 70 | setMagScale(mScale); // Set the magnetometer's range. |
benson516 | 8:16e88babd42a | 71 | |
5hel2l2y | 4:7ffcb378cfd4 | 72 | // Interrupt initialization stuff |
5hel2l2y | 3:f96b287c0bf7 | 73 | initIntr(); |
benson516 | 8:16e88babd42a | 74 | |
beanmachine44 | 0:622e8874902e | 75 | // Once everything is initialized, return the WHO_AM_I registers we read: |
benson516 | 8:16e88babd42a | 76 | return ( ((xgTest << 8) | mTest) == (WHO_AM_I_AG_RSP << 8 | WHO_AM_I_M_RSP) ); |
beanmachine44 | 0:622e8874902e | 77 | } |
beanmachine44 | 0:622e8874902e | 78 | |
beanmachine44 | 0:622e8874902e | 79 | void LSM9DS1::initGyro() |
beanmachine44 | 0:622e8874902e | 80 | { |
benson516 | 8:16e88babd42a | 81 | /* |
beanmachine44 | 0:622e8874902e | 82 | char cmd[4] = { |
beanmachine44 | 0:622e8874902e | 83 | CTRL_REG1_G, |
beanmachine44 | 0:622e8874902e | 84 | gScale | G_ODR_119_BW_14, |
beanmachine44 | 0:622e8874902e | 85 | 0, // Default data out and int out |
beanmachine44 | 0:622e8874902e | 86 | 0 // Default power mode and high pass settings |
beanmachine44 | 0:622e8874902e | 87 | }; |
benson516 | 8:16e88babd42a | 88 | */ |
benson516 | 8:16e88babd42a | 89 | |
benson516 | 8:16e88babd42a | 90 | char cmd[4] = { |
benson516 | 8:16e88babd42a | 91 | CTRL_REG1_G, |
benson516 | 8:16e88babd42a | 92 | gScale | G_ODR_119_BW_14, |
benson516 | 8:16e88babd42a | 93 | 0x03, // Data pass througn HPF and LPF2, default int out |
benson516 | 8:16e88babd42a | 94 | 0x80 // Low-power mode, disable high-pass filter, default cut-off frequency |
benson516 | 8:16e88babd42a | 95 | }; |
beanmachine44 | 0:622e8874902e | 96 | |
beanmachine44 | 0:622e8874902e | 97 | // Write the data to the gyro control registers |
beanmachine44 | 0:622e8874902e | 98 | i2c.write(xgAddress, cmd, 4); |
beanmachine44 | 0:622e8874902e | 99 | } |
beanmachine44 | 0:622e8874902e | 100 | |
beanmachine44 | 0:622e8874902e | 101 | void LSM9DS1::initAccel() |
beanmachine44 | 0:622e8874902e | 102 | { |
beanmachine44 | 0:622e8874902e | 103 | char cmd[4] = { |
beanmachine44 | 0:622e8874902e | 104 | CTRL_REG5_XL, |
beanmachine44 | 0:622e8874902e | 105 | 0x38, // Enable all axis and don't decimate data in out Registers |
beanmachine44 | 0:622e8874902e | 106 | (A_ODR_119 << 5) | (aScale << 3) | (A_BW_AUTO_SCALE), // 119 Hz ODR, set scale, and auto BW |
beanmachine44 | 0:622e8874902e | 107 | 0 // Default resolution mode and filtering settings |
beanmachine44 | 0:622e8874902e | 108 | }; |
beanmachine44 | 0:622e8874902e | 109 | |
beanmachine44 | 0:622e8874902e | 110 | // Write the data to the accel control registers |
beanmachine44 | 0:622e8874902e | 111 | i2c.write(xgAddress, cmd, 4); |
beanmachine44 | 0:622e8874902e | 112 | } |
beanmachine44 | 0:622e8874902e | 113 | |
beanmachine44 | 0:622e8874902e | 114 | void LSM9DS1::initMag() |
benson516 | 8:16e88babd42a | 115 | { |
beanmachine44 | 0:622e8874902e | 116 | char cmd[4] = { |
beanmachine44 | 0:622e8874902e | 117 | CTRL_REG1_M, |
beanmachine44 | 0:622e8874902e | 118 | 0x10, // Default data rate, xy axes mode, and temp comp |
beanmachine44 | 0:622e8874902e | 119 | mScale << 5, // Set mag scale |
beanmachine44 | 0:622e8874902e | 120 | 0 // Enable I2C, write only SPI, not LP mode, Continuous conversion mode |
beanmachine44 | 0:622e8874902e | 121 | }; |
beanmachine44 | 0:622e8874902e | 122 | |
beanmachine44 | 0:622e8874902e | 123 | // Write the data to the mag control registers |
beanmachine44 | 0:622e8874902e | 124 | i2c.write(mAddress, cmd, 4); |
beanmachine44 | 0:622e8874902e | 125 | } |
beanmachine44 | 0:622e8874902e | 126 | |
5hel2l2y | 3:f96b287c0bf7 | 127 | void LSM9DS1::initIntr() |
benson516 | 8:16e88babd42a | 128 | { |
5hel2l2y | 3:f96b287c0bf7 | 129 | char cmd[2]; |
5hel2l2y | 4:7ffcb378cfd4 | 130 | uint16_t thresholdG = 500; |
5hel2l2y | 4:7ffcb378cfd4 | 131 | uint8_t durationG = 10; |
5hel2l2y | 4:7ffcb378cfd4 | 132 | uint8_t thresholdX = 20; |
5hel2l2y | 4:7ffcb378cfd4 | 133 | uint8_t durationX = 1; |
5hel2l2y | 4:7ffcb378cfd4 | 134 | uint16_t thresholdM = 10000; |
benson516 | 8:16e88babd42a | 135 | |
5hel2l2y | 4:7ffcb378cfd4 | 136 | // 1. Configure the gyro interrupt generator |
5hel2l2y | 3:f96b287c0bf7 | 137 | cmd[0] = INT_GEN_CFG_G; |
5hel2l2y | 3:f96b287c0bf7 | 138 | cmd[1] = (1 << 5); |
5hel2l2y | 3:f96b287c0bf7 | 139 | i2c.write(xgAddress, cmd, 2); |
5hel2l2y | 4:7ffcb378cfd4 | 140 | // 2. Configure the gyro threshold |
5hel2l2y | 4:7ffcb378cfd4 | 141 | cmd[0] = INT_GEN_THS_ZH_G; |
5hel2l2y | 4:7ffcb378cfd4 | 142 | cmd[1] = (thresholdG & 0x7F00) >> 8; |
5hel2l2y | 3:f96b287c0bf7 | 143 | i2c.write(xgAddress, cmd, 2); |
5hel2l2y | 4:7ffcb378cfd4 | 144 | cmd[0] = INT_GEN_THS_ZL_G; |
5hel2l2y | 4:7ffcb378cfd4 | 145 | cmd[1] = (thresholdG & 0x00FF); |
5hel2l2y | 3:f96b287c0bf7 | 146 | i2c.write(xgAddress, cmd, 2); |
5hel2l2y | 3:f96b287c0bf7 | 147 | cmd[0] = INT_GEN_DUR_G; |
5hel2l2y | 4:7ffcb378cfd4 | 148 | cmd[1] = (durationG & 0x7F) | 0x80; |
5hel2l2y | 3:f96b287c0bf7 | 149 | i2c.write(xgAddress, cmd, 2); |
benson516 | 8:16e88babd42a | 150 | |
5hel2l2y | 4:7ffcb378cfd4 | 151 | // 3. Configure accelerometer interrupt generator |
5hel2l2y | 3:f96b287c0bf7 | 152 | cmd[0] = INT_GEN_CFG_XL; |
5hel2l2y | 3:f96b287c0bf7 | 153 | cmd[1] = (1 << 1); |
5hel2l2y | 3:f96b287c0bf7 | 154 | i2c.write(xgAddress, cmd, 2); |
5hel2l2y | 4:7ffcb378cfd4 | 155 | // 4. Configure accelerometer threshold |
5hel2l2y | 4:7ffcb378cfd4 | 156 | cmd[0] = INT_GEN_THS_X_XL; |
5hel2l2y | 4:7ffcb378cfd4 | 157 | cmd[1] = thresholdX; |
5hel2l2y | 3:f96b287c0bf7 | 158 | i2c.write(xgAddress, cmd, 2); |
5hel2l2y | 3:f96b287c0bf7 | 159 | cmd[0] = INT_GEN_DUR_XL; |
5hel2l2y | 4:7ffcb378cfd4 | 160 | cmd[1] = (durationX & 0x7F); |
5hel2l2y | 3:f96b287c0bf7 | 161 | i2c.write(xgAddress, cmd, 2); |
benson516 | 8:16e88babd42a | 162 | |
5hel2l2y | 4:7ffcb378cfd4 | 163 | // 5. Configure INT1 - assign it to gyro interrupt |
5hel2l2y | 3:f96b287c0bf7 | 164 | cmd[0] = INT1_CTRL; |
5hel2l2y | 4:7ffcb378cfd4 | 165 | // cmd[1] = 0xC0; |
5hel2l2y | 3:f96b287c0bf7 | 166 | cmd[1] = (1 << 7) | (1 << 6); |
5hel2l2y | 3:f96b287c0bf7 | 167 | i2c.write(xgAddress, cmd, 2); |
5hel2l2y | 3:f96b287c0bf7 | 168 | cmd[0] = CTRL_REG8; |
5hel2l2y | 4:7ffcb378cfd4 | 169 | // cmd[1] = 0x04; |
5hel2l2y | 4:7ffcb378cfd4 | 170 | cmd[1] = (1 << 2) | (1 << 5) | (1 << 4); |
5hel2l2y | 3:f96b287c0bf7 | 171 | i2c.write(xgAddress, cmd, 2); |
benson516 | 8:16e88babd42a | 172 | |
5hel2l2y | 4:7ffcb378cfd4 | 173 | // Configure interrupt 2 to fire whenever new accelerometer |
5hel2l2y | 4:7ffcb378cfd4 | 174 | // or gyroscope data is available. |
5hel2l2y | 3:f96b287c0bf7 | 175 | cmd[0] = INT2_CTRL; |
5hel2l2y | 3:f96b287c0bf7 | 176 | cmd[1] = (1 << 0) | (1 << 1); |
5hel2l2y | 3:f96b287c0bf7 | 177 | i2c.write(xgAddress, cmd, 2); |
5hel2l2y | 3:f96b287c0bf7 | 178 | cmd[0] = CTRL_REG8; |
5hel2l2y | 4:7ffcb378cfd4 | 179 | cmd[1] = (1 << 2) | (1 << 5) | (1 << 4); |
5hel2l2y | 3:f96b287c0bf7 | 180 | i2c.write(xgAddress, cmd, 2); |
benson516 | 8:16e88babd42a | 181 | |
5hel2l2y | 4:7ffcb378cfd4 | 182 | // Configure magnetometer interrupt |
5hel2l2y | 3:f96b287c0bf7 | 183 | cmd[0] = INT_CFG_M; |
5hel2l2y | 4:7ffcb378cfd4 | 184 | cmd[1] = (1 << 7) | (1 << 0); |
5hel2l2y | 3:f96b287c0bf7 | 185 | i2c.write(xgAddress, cmd, 2); |
benson516 | 8:16e88babd42a | 186 | |
5hel2l2y | 4:7ffcb378cfd4 | 187 | // Configure magnetometer threshold |
5hel2l2y | 3:f96b287c0bf7 | 188 | cmd[0] = INT_THS_H_M; |
5hel2l2y | 4:7ffcb378cfd4 | 189 | cmd[1] = uint8_t((thresholdM & 0x7F00) >> 8); |
5hel2l2y | 3:f96b287c0bf7 | 190 | i2c.write(xgAddress, cmd, 2); |
5hel2l2y | 3:f96b287c0bf7 | 191 | cmd[0] = INT_THS_L_M; |
5hel2l2y | 4:7ffcb378cfd4 | 192 | cmd[1] = uint8_t(thresholdM & 0x00FF); |
5hel2l2y | 3:f96b287c0bf7 | 193 | i2c.write(xgAddress, cmd, 2); |
5hel2l2y | 3:f96b287c0bf7 | 194 | } |
5hel2l2y | 3:f96b287c0bf7 | 195 | |
ChangYuHsuan | 6:28c4b3c8b43d | 196 | void LSM9DS1::calibration() |
ChangYuHsuan | 6:28c4b3c8b43d | 197 | { |
benson516 | 8:16e88babd42a | 198 | |
ChangYuHsuan | 6:28c4b3c8b43d | 199 | uint16_t samples = 0; |
ChangYuHsuan | 6:28c4b3c8b43d | 200 | int32_t aBiasRawTemp[3] = {0, 0, 0}; |
ChangYuHsuan | 6:28c4b3c8b43d | 201 | int32_t gBiasRawTemp[3] = {0, 0, 0}; |
benson516 | 8:16e88babd42a | 202 | int32_t gDeltaBiasRaw[3] = {0, 0, 0}; |
benson516 | 8:16e88babd42a | 203 | |
benson516 | 8:16e88babd42a | 204 | // Turn off the autoCalib first to get the raw data |
benson516 | 8:16e88babd42a | 205 | autoCalib = false; |
benson516 | 8:16e88babd42a | 206 | |
benson516 | 8:16e88babd42a | 207 | while(samples < 200) |
ChangYuHsuan | 6:28c4b3c8b43d | 208 | { |
ChangYuHsuan | 6:28c4b3c8b43d | 209 | readGyro(); |
ChangYuHsuan | 6:28c4b3c8b43d | 210 | gBiasRawTemp[0] += gx_raw; |
ChangYuHsuan | 6:28c4b3c8b43d | 211 | gBiasRawTemp[1] += gy_raw; |
ChangYuHsuan | 6:28c4b3c8b43d | 212 | gBiasRawTemp[2] += gz_raw; |
benson516 | 8:16e88babd42a | 213 | /* |
ChangYuHsuan | 6:28c4b3c8b43d | 214 | readAccel(); |
ChangYuHsuan | 6:28c4b3c8b43d | 215 | aBiasRawTemp[0] += ax_raw; |
ChangYuHsuan | 6:28c4b3c8b43d | 216 | aBiasRawTemp[1] += ay_raw; |
ChangYuHsuan | 6:28c4b3c8b43d | 217 | aBiasRawTemp[2] += az_raw; |
benson516 | 8:16e88babd42a | 218 | */ |
benson516 | 8:16e88babd42a | 219 | wait_ms(1); // 1 ms |
benson516 | 8:16e88babd42a | 220 | samples++; |
ChangYuHsuan | 6:28c4b3c8b43d | 221 | } |
benson516 | 8:16e88babd42a | 222 | |
benson516 | 8:16e88babd42a | 223 | // |
ChangYuHsuan | 6:28c4b3c8b43d | 224 | for(int ii = 0; ii < 3; ii++) |
ChangYuHsuan | 6:28c4b3c8b43d | 225 | { |
ChangYuHsuan | 6:28c4b3c8b43d | 226 | gBiasRaw[ii] = gBiasRawTemp[ii] / samples; |
benson516 | 8:16e88babd42a | 227 | // aBiasRaw[ii] = aBiasRawTemp[ii] / samples; |
benson516 | 8:16e88babd42a | 228 | aBiasRaw[ii] = 0; |
benson516 | 8:16e88babd42a | 229 | |
benson516 | 8:16e88babd42a | 230 | /* |
ChangYuHsuan | 6:28c4b3c8b43d | 231 | gBias[ii] = gBiasRaw[ii] * gRes; |
benson516 | 8:16e88babd42a | 232 | aBias[ii] = aBiasRaw[ii] * aRes; |
benson516 | 8:16e88babd42a | 233 | */ |
benson516 | 8:16e88babd42a | 234 | gBiasRawTemp[ii] = 0; |
ChangYuHsuan | 6:28c4b3c8b43d | 235 | } |
benson516 | 8:16e88babd42a | 236 | |
benson516 | 8:16e88babd42a | 237 | // Re-calculate the bias |
benson516 | 8:16e88babd42a | 238 | int bound_bias = 10; |
benson516 | 8:16e88babd42a | 239 | int32_t samples_axis[3] = {0, 0, 0}; |
benson516 | 8:16e88babd42a | 240 | for (size_t i = 0; i < 500; ++i){ |
benson516 | 8:16e88babd42a | 241 | readGyro(); |
benson516 | 8:16e88babd42a | 242 | gDeltaBiasRaw[0] = gx_raw - gBiasRaw[0]; |
benson516 | 8:16e88babd42a | 243 | gDeltaBiasRaw[1] = gy_raw - gBiasRaw[1]; |
benson516 | 8:16e88babd42a | 244 | gDeltaBiasRaw[2] = gz_raw - gBiasRaw[2]; |
benson516 | 8:16e88babd42a | 245 | for (size_t k = 0; k < 3; ++k){ |
benson516 | 8:16e88babd42a | 246 | if (gDeltaBiasRaw[k] >= -bound_bias && gDeltaBiasRaw[k] <= bound_bias){ |
benson516 | 8:16e88babd42a | 247 | gBiasRawTemp[k] += gDeltaBiasRaw[k] + gBiasRaw[k]; |
benson516 | 8:16e88babd42a | 248 | samples_axis[k]++; |
benson516 | 8:16e88babd42a | 249 | } |
benson516 | 8:16e88babd42a | 250 | } |
benson516 | 8:16e88babd42a | 251 | // |
benson516 | 8:16e88babd42a | 252 | wait_ms(1); // 1 ms |
benson516 | 8:16e88babd42a | 253 | } |
benson516 | 8:16e88babd42a | 254 | |
benson516 | 8:16e88babd42a | 255 | // |
benson516 | 8:16e88babd42a | 256 | for(int ii = 0; ii < 3; ii++) |
benson516 | 8:16e88babd42a | 257 | { |
benson516 | 8:16e88babd42a | 258 | gBiasRaw[ii] = gBiasRawTemp[ii] / samples_axis[ii]; |
benson516 | 8:16e88babd42a | 259 | // aBiasRaw[ii] = aBiasRawTemp[ii] / samples; |
benson516 | 8:16e88babd42a | 260 | aBiasRaw[ii] = 0; |
benson516 | 8:16e88babd42a | 261 | |
benson516 | 8:16e88babd42a | 262 | gBias[ii] = gBiasRaw[ii] * gRes; |
benson516 | 8:16e88babd42a | 263 | aBias[ii] = aBiasRaw[ii] * aRes; |
benson516 | 8:16e88babd42a | 264 | } |
benson516 | 8:16e88babd42a | 265 | |
benson516 | 8:16e88babd42a | 266 | // Turn on the autoCalib |
ChangYuHsuan | 6:28c4b3c8b43d | 267 | autoCalib = true; |
ChangYuHsuan | 6:28c4b3c8b43d | 268 | } |
ChangYuHsuan | 6:28c4b3c8b43d | 269 | |
beanmachine44 | 0:622e8874902e | 270 | void LSM9DS1::readAccel() |
beanmachine44 | 0:622e8874902e | 271 | { |
beanmachine44 | 0:622e8874902e | 272 | // The data we are going to read from the accel |
beanmachine44 | 0:622e8874902e | 273 | char data[6]; |
beanmachine44 | 0:622e8874902e | 274 | |
beanmachine44 | 0:622e8874902e | 275 | // The start of the addresses we want to read from |
beanmachine44 | 0:622e8874902e | 276 | char subAddress = OUT_X_L_XL; |
beanmachine44 | 0:622e8874902e | 277 | |
beanmachine44 | 0:622e8874902e | 278 | // Write the address we are going to read from and don't end the transaction |
beanmachine44 | 0:622e8874902e | 279 | i2c.write(xgAddress, &subAddress, 1, true); |
beanmachine44 | 0:622e8874902e | 280 | // Read in all 8 bit registers containing the axes data |
beanmachine44 | 0:622e8874902e | 281 | i2c.read(xgAddress, data, 6); |
beanmachine44 | 0:622e8874902e | 282 | |
beanmachine44 | 0:622e8874902e | 283 | // Reassemble the data and convert to g |
beanmachine44 | 0:622e8874902e | 284 | ax_raw = data[0] | (data[1] << 8); |
beanmachine44 | 0:622e8874902e | 285 | ay_raw = data[2] | (data[3] << 8); |
beanmachine44 | 0:622e8874902e | 286 | az_raw = data[4] | (data[5] << 8); |
benson516 | 8:16e88babd42a | 287 | |
benson516 | 8:16e88babd42a | 288 | // |
benson516 | 8:16e88babd42a | 289 | if(autoCalib) |
ChangYuHsuan | 6:28c4b3c8b43d | 290 | { |
ChangYuHsuan | 6:28c4b3c8b43d | 291 | ax_raw -= aBiasRaw[0]; |
ChangYuHsuan | 6:28c4b3c8b43d | 292 | ay_raw -= aBiasRaw[1]; |
ChangYuHsuan | 6:28c4b3c8b43d | 293 | az_raw -= aBiasRaw[2]; |
ChangYuHsuan | 6:28c4b3c8b43d | 294 | } |
benson516 | 8:16e88babd42a | 295 | // |
benson516 | 8:16e88babd42a | 296 | ax = ax_raw * aRes; |
benson516 | 8:16e88babd42a | 297 | ay = ay_raw * aRes; |
benson516 | 8:16e88babd42a | 298 | az = az_raw * aRes; |
beanmachine44 | 0:622e8874902e | 299 | } |
beanmachine44 | 0:622e8874902e | 300 | |
beanmachine44 | 0:622e8874902e | 301 | void LSM9DS1::readMag() |
beanmachine44 | 0:622e8874902e | 302 | { |
beanmachine44 | 0:622e8874902e | 303 | // The data we are going to read from the mag |
beanmachine44 | 0:622e8874902e | 304 | char data[6]; |
beanmachine44 | 0:622e8874902e | 305 | |
beanmachine44 | 0:622e8874902e | 306 | // The start of the addresses we want to read from |
beanmachine44 | 0:622e8874902e | 307 | char subAddress = OUT_X_L_M; |
beanmachine44 | 0:622e8874902e | 308 | |
beanmachine44 | 0:622e8874902e | 309 | // Write the address we are going to read from and don't end the transaction |
beanmachine44 | 0:622e8874902e | 310 | i2c.write(mAddress, &subAddress, 1, true); |
beanmachine44 | 0:622e8874902e | 311 | // Read in all 8 bit registers containing the axes data |
beanmachine44 | 0:622e8874902e | 312 | i2c.read(mAddress, data, 6); |
beanmachine44 | 0:622e8874902e | 313 | |
beanmachine44 | 0:622e8874902e | 314 | // Reassemble the data and convert to degrees |
beanmachine44 | 0:622e8874902e | 315 | mx_raw = data[0] | (data[1] << 8); |
beanmachine44 | 0:622e8874902e | 316 | my_raw = data[2] | (data[3] << 8); |
beanmachine44 | 0:622e8874902e | 317 | mz_raw = data[4] | (data[5] << 8); |
beanmachine44 | 0:622e8874902e | 318 | mx = mx_raw * mRes; |
beanmachine44 | 0:622e8874902e | 319 | my = my_raw * mRes; |
beanmachine44 | 0:622e8874902e | 320 | mz = mz_raw * mRes; |
beanmachine44 | 0:622e8874902e | 321 | } |
beanmachine44 | 0:622e8874902e | 322 | |
5hel2l2y | 3:f96b287c0bf7 | 323 | void LSM9DS1::readIntr() |
5hel2l2y | 3:f96b287c0bf7 | 324 | { |
5hel2l2y | 3:f96b287c0bf7 | 325 | char data[1]; |
5hel2l2y | 3:f96b287c0bf7 | 326 | char subAddress = INT_GEN_SRC_G; |
5hel2l2y | 3:f96b287c0bf7 | 327 | |
5hel2l2y | 3:f96b287c0bf7 | 328 | i2c.write(xgAddress, &subAddress, 1, true); |
5hel2l2y | 3:f96b287c0bf7 | 329 | i2c.read(xgAddress, data, 1); |
5hel2l2y | 3:f96b287c0bf7 | 330 | |
5hel2l2y | 3:f96b287c0bf7 | 331 | intr = (float)data[0]; |
5hel2l2y | 3:f96b287c0bf7 | 332 | } |
5hel2l2y | 3:f96b287c0bf7 | 333 | |
beanmachine44 | 0:622e8874902e | 334 | void LSM9DS1::readTemp() |
beanmachine44 | 0:622e8874902e | 335 | { |
beanmachine44 | 0:622e8874902e | 336 | // The data we are going to read from the temp |
beanmachine44 | 0:622e8874902e | 337 | char data[2]; |
beanmachine44 | 0:622e8874902e | 338 | |
beanmachine44 | 0:622e8874902e | 339 | // The start of the addresses we want to read from |
beanmachine44 | 0:622e8874902e | 340 | char subAddress = OUT_TEMP_L; |
beanmachine44 | 0:622e8874902e | 341 | |
beanmachine44 | 0:622e8874902e | 342 | // Write the address we are going to read from and don't end the transaction |
beanmachine44 | 0:622e8874902e | 343 | i2c.write(xgAddress, &subAddress, 1, true); |
beanmachine44 | 0:622e8874902e | 344 | // Read in all 8 bit registers containing the axes data |
beanmachine44 | 0:622e8874902e | 345 | i2c.read(xgAddress, data, 2); |
beanmachine44 | 0:622e8874902e | 346 | |
benson516 | 8:16e88babd42a | 347 | // Temperature is a 12-bit signed integer |
beanmachine44 | 0:622e8874902e | 348 | temperature_raw = data[0] | (data[1] << 8); |
beanmachine44 | 0:622e8874902e | 349 | |
beanmachine44 | 0:622e8874902e | 350 | temperature_c = (float)temperature_raw / 8.0 + 25; |
beanmachine44 | 0:622e8874902e | 351 | temperature_f = temperature_c * 1.8 + 32; |
beanmachine44 | 0:622e8874902e | 352 | } |
beanmachine44 | 0:622e8874902e | 353 | |
beanmachine44 | 0:622e8874902e | 354 | void LSM9DS1::readGyro() |
beanmachine44 | 0:622e8874902e | 355 | { |
beanmachine44 | 0:622e8874902e | 356 | // The data we are going to read from the gyro |
beanmachine44 | 0:622e8874902e | 357 | char data[6]; |
beanmachine44 | 0:622e8874902e | 358 | |
beanmachine44 | 0:622e8874902e | 359 | // The start of the addresses we want to read from |
beanmachine44 | 0:622e8874902e | 360 | char subAddress = OUT_X_L_G; |
beanmachine44 | 0:622e8874902e | 361 | |
beanmachine44 | 0:622e8874902e | 362 | // Write the address we are going to read from and don't end the transaction |
beanmachine44 | 0:622e8874902e | 363 | i2c.write(xgAddress, &subAddress, 1, true); |
ChangYuHsuan | 7:e6e3d320eb6c | 364 | // i2c.write(xgAddress, &subAddress, 1); |
beanmachine44 | 0:622e8874902e | 365 | // Read in all 8 bit registers containing the axes data |
beanmachine44 | 0:622e8874902e | 366 | i2c.read(xgAddress, data, 6); |
beanmachine44 | 0:622e8874902e | 367 | |
beanmachine44 | 0:622e8874902e | 368 | // Reassemble the data and convert to degrees/sec |
beanmachine44 | 0:622e8874902e | 369 | gx_raw = data[0] | (data[1] << 8); |
beanmachine44 | 0:622e8874902e | 370 | gy_raw = data[2] | (data[3] << 8); |
beanmachine44 | 0:622e8874902e | 371 | gz_raw = data[4] | (data[5] << 8); |
benson516 | 8:16e88babd42a | 372 | |
benson516 | 8:16e88babd42a | 373 | // |
benson516 | 8:16e88babd42a | 374 | if(autoCalib) |
ChangYuHsuan | 6:28c4b3c8b43d | 375 | { |
ChangYuHsuan | 6:28c4b3c8b43d | 376 | gx_raw -= gBiasRaw[0]; |
ChangYuHsuan | 6:28c4b3c8b43d | 377 | gy_raw -= gBiasRaw[1]; |
ChangYuHsuan | 6:28c4b3c8b43d | 378 | gz_raw -= gBiasRaw[2]; |
ChangYuHsuan | 6:28c4b3c8b43d | 379 | } |
benson516 | 8:16e88babd42a | 380 | // |
benson516 | 8:16e88babd42a | 381 | gx = gx_raw * gRes; |
benson516 | 8:16e88babd42a | 382 | gy = gy_raw * gRes; |
benson516 | 8:16e88babd42a | 383 | gz = gz_raw * gRes; |
benson516 | 8:16e88babd42a | 384 | |
beanmachine44 | 0:622e8874902e | 385 | } |
beanmachine44 | 0:622e8874902e | 386 | |
beanmachine44 | 0:622e8874902e | 387 | void LSM9DS1::setGyroScale(gyro_scale gScl) |
beanmachine44 | 0:622e8874902e | 388 | { |
beanmachine44 | 0:622e8874902e | 389 | // The start of the addresses we want to read from |
beanmachine44 | 0:622e8874902e | 390 | char cmd[2] = { |
beanmachine44 | 0:622e8874902e | 391 | CTRL_REG1_G, |
beanmachine44 | 0:622e8874902e | 392 | 0 |
beanmachine44 | 0:622e8874902e | 393 | }; |
beanmachine44 | 0:622e8874902e | 394 | |
beanmachine44 | 0:622e8874902e | 395 | // Write the address we are going to read from and don't end the transaction |
beanmachine44 | 0:622e8874902e | 396 | i2c.write(xgAddress, cmd, 1, true); |
beanmachine44 | 0:622e8874902e | 397 | // Read in all the 8 bits of data |
beanmachine44 | 0:622e8874902e | 398 | i2c.read(xgAddress, cmd+1, 1); |
beanmachine44 | 0:622e8874902e | 399 | |
beanmachine44 | 0:622e8874902e | 400 | // Then mask out the gyro scale bits: |
beanmachine44 | 0:622e8874902e | 401 | cmd[1] &= 0xFF^(0x3 << 3); |
beanmachine44 | 0:622e8874902e | 402 | // Then shift in our new scale bits: |
beanmachine44 | 0:622e8874902e | 403 | cmd[1] |= gScl << 3; |
beanmachine44 | 0:622e8874902e | 404 | |
beanmachine44 | 0:622e8874902e | 405 | // Write the gyroscale out to the gyro |
beanmachine44 | 0:622e8874902e | 406 | i2c.write(xgAddress, cmd, 2); |
benson516 | 8:16e88babd42a | 407 | |
beanmachine44 | 0:622e8874902e | 408 | // We've updated the sensor, but we also need to update our class variables |
beanmachine44 | 0:622e8874902e | 409 | // First update gScale: |
beanmachine44 | 0:622e8874902e | 410 | gScale = gScl; |
beanmachine44 | 0:622e8874902e | 411 | // Then calculate a new gRes, which relies on gScale being set correctly: |
beanmachine44 | 0:622e8874902e | 412 | calcgRes(); |
beanmachine44 | 0:622e8874902e | 413 | } |
beanmachine44 | 0:622e8874902e | 414 | |
beanmachine44 | 0:622e8874902e | 415 | void LSM9DS1::setAccelScale(accel_scale aScl) |
beanmachine44 | 0:622e8874902e | 416 | { |
beanmachine44 | 0:622e8874902e | 417 | // The start of the addresses we want to read from |
beanmachine44 | 0:622e8874902e | 418 | char cmd[2] = { |
beanmachine44 | 0:622e8874902e | 419 | CTRL_REG6_XL, |
beanmachine44 | 0:622e8874902e | 420 | 0 |
beanmachine44 | 0:622e8874902e | 421 | }; |
beanmachine44 | 0:622e8874902e | 422 | |
beanmachine44 | 0:622e8874902e | 423 | // Write the address we are going to read from and don't end the transaction |
beanmachine44 | 0:622e8874902e | 424 | i2c.write(xgAddress, cmd, 1, true); |
beanmachine44 | 0:622e8874902e | 425 | // Read in all the 8 bits of data |
beanmachine44 | 0:622e8874902e | 426 | i2c.read(xgAddress, cmd+1, 1); |
beanmachine44 | 0:622e8874902e | 427 | |
beanmachine44 | 0:622e8874902e | 428 | // Then mask out the accel scale bits: |
beanmachine44 | 0:622e8874902e | 429 | cmd[1] &= 0xFF^(0x3 << 3); |
beanmachine44 | 0:622e8874902e | 430 | // Then shift in our new scale bits: |
beanmachine44 | 0:622e8874902e | 431 | cmd[1] |= aScl << 3; |
beanmachine44 | 0:622e8874902e | 432 | |
beanmachine44 | 0:622e8874902e | 433 | // Write the accelscale out to the accel |
beanmachine44 | 0:622e8874902e | 434 | i2c.write(xgAddress, cmd, 2); |
benson516 | 8:16e88babd42a | 435 | |
beanmachine44 | 0:622e8874902e | 436 | // We've updated the sensor, but we also need to update our class variables |
beanmachine44 | 0:622e8874902e | 437 | // First update aScale: |
beanmachine44 | 0:622e8874902e | 438 | aScale = aScl; |
beanmachine44 | 0:622e8874902e | 439 | // Then calculate a new aRes, which relies on aScale being set correctly: |
beanmachine44 | 0:622e8874902e | 440 | calcaRes(); |
beanmachine44 | 0:622e8874902e | 441 | } |
beanmachine44 | 0:622e8874902e | 442 | |
beanmachine44 | 0:622e8874902e | 443 | void LSM9DS1::setMagScale(mag_scale mScl) |
beanmachine44 | 0:622e8874902e | 444 | { |
beanmachine44 | 0:622e8874902e | 445 | // The start of the addresses we want to read from |
beanmachine44 | 0:622e8874902e | 446 | char cmd[2] = { |
beanmachine44 | 0:622e8874902e | 447 | CTRL_REG2_M, |
beanmachine44 | 0:622e8874902e | 448 | 0 |
beanmachine44 | 0:622e8874902e | 449 | }; |
beanmachine44 | 0:622e8874902e | 450 | |
beanmachine44 | 0:622e8874902e | 451 | // Write the address we are going to read from and don't end the transaction |
beanmachine44 | 0:622e8874902e | 452 | i2c.write(mAddress, cmd, 1, true); |
beanmachine44 | 0:622e8874902e | 453 | // Read in all the 8 bits of data |
beanmachine44 | 0:622e8874902e | 454 | i2c.read(mAddress, cmd+1, 1); |
beanmachine44 | 0:622e8874902e | 455 | |
beanmachine44 | 0:622e8874902e | 456 | // Then mask out the mag scale bits: |
beanmachine44 | 0:622e8874902e | 457 | cmd[1] &= 0xFF^(0x3 << 5); |
beanmachine44 | 0:622e8874902e | 458 | // Then shift in our new scale bits: |
beanmachine44 | 0:622e8874902e | 459 | cmd[1] |= mScl << 5; |
beanmachine44 | 0:622e8874902e | 460 | |
beanmachine44 | 0:622e8874902e | 461 | // Write the magscale out to the mag |
beanmachine44 | 0:622e8874902e | 462 | i2c.write(mAddress, cmd, 2); |
benson516 | 8:16e88babd42a | 463 | |
beanmachine44 | 0:622e8874902e | 464 | // We've updated the sensor, but we also need to update our class variables |
beanmachine44 | 0:622e8874902e | 465 | // First update mScale: |
beanmachine44 | 0:622e8874902e | 466 | mScale = mScl; |
beanmachine44 | 0:622e8874902e | 467 | // Then calculate a new mRes, which relies on mScale being set correctly: |
beanmachine44 | 0:622e8874902e | 468 | calcmRes(); |
beanmachine44 | 0:622e8874902e | 469 | } |
beanmachine44 | 0:622e8874902e | 470 | |
beanmachine44 | 0:622e8874902e | 471 | void LSM9DS1::setGyroODR(gyro_odr gRate) |
beanmachine44 | 0:622e8874902e | 472 | { |
5hel2l2y | 2:ac3b69ccd3dd | 473 | char cmd[2]; |
5hel2l2y | 2:ac3b69ccd3dd | 474 | char cmdLow[2]; |
benson516 | 8:16e88babd42a | 475 | |
benson516 | 8:16e88babd42a | 476 | // Enable the low-power mode |
5hel2l2y | 2:ac3b69ccd3dd | 477 | if(gRate == G_ODR_15_BW_0 | gRate == G_ODR_60_BW_16 | gRate == G_ODR_119_BW_14 | gRate == G_ODR_119_BW_31) { |
5hel2l2y | 2:ac3b69ccd3dd | 478 | cmdLow[0] = CTRL_REG3_G; |
benson516 | 8:16e88babd42a | 479 | cmdLow[1] = 1<<7; // LP_mode |
benson516 | 8:16e88babd42a | 480 | |
5hel2l2y | 2:ac3b69ccd3dd | 481 | i2c.write(xgAddress, cmdLow, 2); |
5hel2l2y | 2:ac3b69ccd3dd | 482 | } |
benson516 | 8:16e88babd42a | 483 | |
beanmachine44 | 0:622e8874902e | 484 | // The start of the addresses we want to read from |
5hel2l2y | 2:ac3b69ccd3dd | 485 | cmd[0] = CTRL_REG1_G; |
5hel2l2y | 2:ac3b69ccd3dd | 486 | cmd[1] = 0; |
beanmachine44 | 0:622e8874902e | 487 | |
beanmachine44 | 0:622e8874902e | 488 | // Write the address we are going to read from and don't end the transaction |
beanmachine44 | 0:622e8874902e | 489 | i2c.write(xgAddress, cmd, 1, true); |
beanmachine44 | 0:622e8874902e | 490 | // Read in all the 8 bits of data |
beanmachine44 | 0:622e8874902e | 491 | i2c.read(xgAddress, cmd+1, 1); |
beanmachine44 | 0:622e8874902e | 492 | |
beanmachine44 | 0:622e8874902e | 493 | // Then mask out the gyro odr bits: |
beanmachine44 | 0:622e8874902e | 494 | cmd[1] &= (0x3 << 3); |
beanmachine44 | 0:622e8874902e | 495 | // Then shift in our new odr bits: |
beanmachine44 | 0:622e8874902e | 496 | cmd[1] |= gRate; |
beanmachine44 | 0:622e8874902e | 497 | |
beanmachine44 | 0:622e8874902e | 498 | // Write the gyroodr out to the gyro |
beanmachine44 | 0:622e8874902e | 499 | i2c.write(xgAddress, cmd, 2); |
beanmachine44 | 0:622e8874902e | 500 | } |
beanmachine44 | 0:622e8874902e | 501 | |
beanmachine44 | 0:622e8874902e | 502 | void LSM9DS1::setAccelODR(accel_odr aRate) |
beanmachine44 | 0:622e8874902e | 503 | { |
beanmachine44 | 0:622e8874902e | 504 | // The start of the addresses we want to read from |
beanmachine44 | 0:622e8874902e | 505 | char cmd[2] = { |
beanmachine44 | 0:622e8874902e | 506 | CTRL_REG6_XL, |
beanmachine44 | 0:622e8874902e | 507 | 0 |
beanmachine44 | 0:622e8874902e | 508 | }; |
beanmachine44 | 0:622e8874902e | 509 | |
beanmachine44 | 0:622e8874902e | 510 | // Write the address we are going to read from and don't end the transaction |
beanmachine44 | 0:622e8874902e | 511 | i2c.write(xgAddress, cmd, 1, true); |
beanmachine44 | 0:622e8874902e | 512 | // Read in all the 8 bits of data |
beanmachine44 | 0:622e8874902e | 513 | i2c.read(xgAddress, cmd+1, 1); |
beanmachine44 | 0:622e8874902e | 514 | |
beanmachine44 | 0:622e8874902e | 515 | // Then mask out the accel odr bits: |
beanmachine44 | 0:622e8874902e | 516 | cmd[1] &= 0xFF^(0x7 << 5); |
beanmachine44 | 0:622e8874902e | 517 | // Then shift in our new odr bits: |
beanmachine44 | 0:622e8874902e | 518 | cmd[1] |= aRate << 5; |
beanmachine44 | 0:622e8874902e | 519 | |
beanmachine44 | 0:622e8874902e | 520 | // Write the accelodr out to the accel |
beanmachine44 | 0:622e8874902e | 521 | i2c.write(xgAddress, cmd, 2); |
beanmachine44 | 0:622e8874902e | 522 | } |
beanmachine44 | 0:622e8874902e | 523 | |
beanmachine44 | 0:622e8874902e | 524 | void LSM9DS1::setMagODR(mag_odr mRate) |
beanmachine44 | 0:622e8874902e | 525 | { |
beanmachine44 | 0:622e8874902e | 526 | // The start of the addresses we want to read from |
beanmachine44 | 0:622e8874902e | 527 | char cmd[2] = { |
beanmachine44 | 0:622e8874902e | 528 | CTRL_REG1_M, |
beanmachine44 | 0:622e8874902e | 529 | 0 |
beanmachine44 | 0:622e8874902e | 530 | }; |
beanmachine44 | 0:622e8874902e | 531 | |
beanmachine44 | 0:622e8874902e | 532 | // Write the address we are going to read from and don't end the transaction |
beanmachine44 | 0:622e8874902e | 533 | i2c.write(mAddress, cmd, 1, true); |
beanmachine44 | 0:622e8874902e | 534 | // Read in all the 8 bits of data |
beanmachine44 | 0:622e8874902e | 535 | i2c.read(mAddress, cmd+1, 1); |
beanmachine44 | 0:622e8874902e | 536 | |
beanmachine44 | 0:622e8874902e | 537 | // Then mask out the mag odr bits: |
beanmachine44 | 0:622e8874902e | 538 | cmd[1] &= 0xFF^(0x7 << 2); |
beanmachine44 | 0:622e8874902e | 539 | // Then shift in our new odr bits: |
beanmachine44 | 0:622e8874902e | 540 | cmd[1] |= mRate << 2; |
beanmachine44 | 0:622e8874902e | 541 | |
beanmachine44 | 0:622e8874902e | 542 | // Write the magodr out to the mag |
beanmachine44 | 0:622e8874902e | 543 | i2c.write(mAddress, cmd, 2); |
beanmachine44 | 0:622e8874902e | 544 | } |
beanmachine44 | 0:622e8874902e | 545 | |
beanmachine44 | 0:622e8874902e | 546 | void LSM9DS1::calcgRes() |
beanmachine44 | 0:622e8874902e | 547 | { |
beanmachine44 | 0:622e8874902e | 548 | // Possible gyro scales (and their register bit settings) are: |
beanmachine44 | 0:622e8874902e | 549 | // 245 DPS (00), 500 DPS (01), 2000 DPS (10). |
beanmachine44 | 0:622e8874902e | 550 | switch (gScale) |
beanmachine44 | 0:622e8874902e | 551 | { |
beanmachine44 | 0:622e8874902e | 552 | case G_SCALE_245DPS: |
benson516 | 8:16e88babd42a | 553 | // gRes = 245.0 / 32768.0; |
benson516 | 8:16e88babd42a | 554 | gRes = 8.75*0.001; // deg./sec. |
beanmachine44 | 0:622e8874902e | 555 | break; |
beanmachine44 | 0:622e8874902e | 556 | case G_SCALE_500DPS: |
benson516 | 8:16e88babd42a | 557 | // gRes = 500.0 / 32768.0; |
benson516 | 8:16e88babd42a | 558 | gRes = 17.50*0.001; // deg./sec. |
beanmachine44 | 0:622e8874902e | 559 | break; |
beanmachine44 | 0:622e8874902e | 560 | case G_SCALE_2000DPS: |
benson516 | 8:16e88babd42a | 561 | // gRes = 2000.0 / 32768.0; |
benson516 | 8:16e88babd42a | 562 | gRes = 70.0*0.001; // deg./sec. |
beanmachine44 | 0:622e8874902e | 563 | break; |
beanmachine44 | 0:622e8874902e | 564 | } |
beanmachine44 | 0:622e8874902e | 565 | } |
beanmachine44 | 0:622e8874902e | 566 | |
beanmachine44 | 0:622e8874902e | 567 | void LSM9DS1::calcaRes() |
beanmachine44 | 0:622e8874902e | 568 | { |
beanmachine44 | 0:622e8874902e | 569 | // Possible accelerometer scales (and their register bit settings) are: |
beanmachine44 | 0:622e8874902e | 570 | // 2 g (000), 4g (001), 6g (010) 8g (011), 16g (100). |
beanmachine44 | 0:622e8874902e | 571 | switch (aScale) |
beanmachine44 | 0:622e8874902e | 572 | { |
beanmachine44 | 0:622e8874902e | 573 | case A_SCALE_2G: |
beanmachine44 | 0:622e8874902e | 574 | aRes = 2.0 / 32768.0; |
beanmachine44 | 0:622e8874902e | 575 | break; |
beanmachine44 | 0:622e8874902e | 576 | case A_SCALE_4G: |
beanmachine44 | 0:622e8874902e | 577 | aRes = 4.0 / 32768.0; |
beanmachine44 | 0:622e8874902e | 578 | break; |
beanmachine44 | 0:622e8874902e | 579 | case A_SCALE_8G: |
beanmachine44 | 0:622e8874902e | 580 | aRes = 8.0 / 32768.0; |
beanmachine44 | 0:622e8874902e | 581 | break; |
beanmachine44 | 0:622e8874902e | 582 | case A_SCALE_16G: |
benson516 | 8:16e88babd42a | 583 | // aRes = 16.0 / 32768.0; |
benson516 | 8:16e88babd42a | 584 | aRes = 0.732*0.001; // g (gravity) |
beanmachine44 | 0:622e8874902e | 585 | break; |
beanmachine44 | 0:622e8874902e | 586 | } |
beanmachine44 | 0:622e8874902e | 587 | } |
beanmachine44 | 0:622e8874902e | 588 | |
beanmachine44 | 0:622e8874902e | 589 | void LSM9DS1::calcmRes() |
beanmachine44 | 0:622e8874902e | 590 | { |
beanmachine44 | 0:622e8874902e | 591 | // Possible magnetometer scales (and their register bit settings) are: |
benson516 | 8:16e88babd42a | 592 | // 2 Gs (00), 4 Gs (01), 8 Gs (10) 12 Gs (11). |
beanmachine44 | 0:622e8874902e | 593 | switch (mScale) |
beanmachine44 | 0:622e8874902e | 594 | { |
beanmachine44 | 0:622e8874902e | 595 | case M_SCALE_4GS: |
benson516 | 8:16e88babd42a | 596 | // mRes = 4.0 / 32768.0; |
benson516 | 8:16e88babd42a | 597 | mRes = 0.14*0.001; // gauss |
beanmachine44 | 0:622e8874902e | 598 | break; |
beanmachine44 | 0:622e8874902e | 599 | case M_SCALE_8GS: |
benson516 | 8:16e88babd42a | 600 | // mRes = 8.0 / 32768.0; |
benson516 | 8:16e88babd42a | 601 | mRes = 0.29*0.001; // gauss |
beanmachine44 | 0:622e8874902e | 602 | break; |
beanmachine44 | 0:622e8874902e | 603 | case M_SCALE_12GS: |
benson516 | 8:16e88babd42a | 604 | // mRes = 12.0 / 32768.0; |
benson516 | 8:16e88babd42a | 605 | mRes = 0.43*0.001; // gauss |
beanmachine44 | 0:622e8874902e | 606 | break; |
beanmachine44 | 0:622e8874902e | 607 | case M_SCALE_16GS: |
benson516 | 8:16e88babd42a | 608 | // mRes = 16.0 / 32768.0; |
benson516 | 8:16e88babd42a | 609 | mRes = 0.58*0.001; // gauss |
beanmachine44 | 0:622e8874902e | 610 | break; |
beanmachine44 | 0:622e8874902e | 611 | } |
ChangYuHsuan | 6:28c4b3c8b43d | 612 | } |
ChangYuHsuan | 6:28c4b3c8b43d | 613 | |
ChangYuHsuan | 6:28c4b3c8b43d | 614 | |
ChangYuHsuan | 6:28c4b3c8b43d | 615 | /* |
ChangYuHsuan | 6:28c4b3c8b43d | 616 | void LSM9DS1::enableXgFIFO(bool enable) |
ChangYuHsuan | 6:28c4b3c8b43d | 617 | { |
ChangYuHsuan | 6:28c4b3c8b43d | 618 | char cmd[2] = {CTRL_REG9, 0}; |
benson516 | 8:16e88babd42a | 619 | |
ChangYuHsuan | 6:28c4b3c8b43d | 620 | i2c.write(xgAddress, cmd, 1); |
ChangYuHsuan | 6:28c4b3c8b43d | 621 | cmd[1] = i2c.read(CTRL_REG9); |
benson516 | 8:16e88babd42a | 622 | |
ChangYuHsuan | 6:28c4b3c8b43d | 623 | if (enable) cmd[1] |= (1<<1); |
ChangYuHsuan | 6:28c4b3c8b43d | 624 | else cmd[1] &= ~(1<<1); |
benson516 | 8:16e88babd42a | 625 | |
ChangYuHsuan | 6:28c4b3c8b43d | 626 | i2c.write(xgAddress, cmd, 2); |
ChangYuHsuan | 6:28c4b3c8b43d | 627 | } |
ChangYuHsuan | 6:28c4b3c8b43d | 628 | |
ChangYuHsuan | 6:28c4b3c8b43d | 629 | void LSM9DS1::setXgFIFO(uint8_t fifoMode, uint8_t fifoThs) |
ChangYuHsuan | 6:28c4b3c8b43d | 630 | { |
ChangYuHsuan | 6:28c4b3c8b43d | 631 | // Limit threshold - 0x1F (31) is the maximum. If more than that was asked |
ChangYuHsuan | 6:28c4b3c8b43d | 632 | // limit it to the maximum. |
ChangYuHsuan | 6:28c4b3c8b43d | 633 | char cmd[2] = {FIFO_CTRL, 0}; |
ChangYuHsuan | 6:28c4b3c8b43d | 634 | uint8_t threshold = fifoThs <= 0x1F ? fifoThs : 0x1F; |
ChangYuHsuan | 6:28c4b3c8b43d | 635 | cmd[1] = ((fifoMode & 0x7) << 5) | (threshold & 0x1F); |
ChangYuHsuan | 6:28c4b3c8b43d | 636 | i2c.write(xgAddress, cmd, 2); |
ChangYuHsuan | 6:28c4b3c8b43d | 637 | } |
benson516 | 8:16e88babd42a | 638 | */ |