Toyoshi Yoshimoto / LSM9DS1_2

jm6wud

LSM9DS1.h@0:67431d0a9143, 2021-01-03 (annotated)

Committer:
jm6wud
Date:
Sun Jan 03 15:48:10 2021 +0000
Revision:
0:67431d0a9143
jm6wud

Who changed what in which revision?

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jm6wud 0:67431d0a9143 1 // Most of the Credit goes to jimblom
jm6wud 0:67431d0a9143 2 // Modifications by Allen Wild
jm6wud 0:67431d0a9143 3 #ifndef _LSM9DS1_H__
jm6wud 0:67431d0a9143 4 #define _LSM9DS1_H__
jm6wud 0:67431d0a9143 5
jm6wud 0:67431d0a9143 6 #include "mbed.h"
jm6wud 0:67431d0a9143 7
jm6wud 0:67431d0a9143 8 /////////////////////////////////////////
jm6wud 0:67431d0a9143 9 // LSM9DS1 Accel/Gyro (XL/G) Registers //
jm6wud 0:67431d0a9143 10 /////////////////////////////////////////
jm6wud 0:67431d0a9143 11 #define ACT_THS 0x04
jm6wud 0:67431d0a9143 12 #define ACT_DUR 0x05
jm6wud 0:67431d0a9143 13 #define INT_GEN_CFG_XL 0x06
jm6wud 0:67431d0a9143 14 #define INT_GEN_THS_X_XL 0x07
jm6wud 0:67431d0a9143 15 #define INT_GEN_THS_Y_XL 0x08
jm6wud 0:67431d0a9143 16 #define INT_GEN_THS_Z_XL 0x09
jm6wud 0:67431d0a9143 17 #define INT_GEN_DUR_XL 0x0A
jm6wud 0:67431d0a9143 18 #define REFERENCE_G 0x0B
jm6wud 0:67431d0a9143 19 #define INT1_CTRL 0x0C
jm6wud 0:67431d0a9143 20 #define INT2_CTRL 0x0D
jm6wud 0:67431d0a9143 21 #define WHO_AM_I_XG 0x0F
jm6wud 0:67431d0a9143 22 #define CTRL_REG1_G 0x10
jm6wud 0:67431d0a9143 23 #define CTRL_REG2_G 0x11
jm6wud 0:67431d0a9143 24 #define CTRL_REG3_G 0x12
jm6wud 0:67431d0a9143 25 #define ORIENT_CFG_G 0x13
jm6wud 0:67431d0a9143 26 #define INT_GEN_SRC_G 0x14
jm6wud 0:67431d0a9143 27 #define OUT_TEMP_L 0x15
jm6wud 0:67431d0a9143 28 #define OUT_TEMP_H 0x16
jm6wud 0:67431d0a9143 29 #define STATUS_REG_0 0x17
jm6wud 0:67431d0a9143 30 #define OUT_X_L_G 0x18
jm6wud 0:67431d0a9143 31 #define OUT_X_H_G 0x19
jm6wud 0:67431d0a9143 32 #define OUT_Y_L_G 0x1A
jm6wud 0:67431d0a9143 33 #define OUT_Y_H_G 0x1B
jm6wud 0:67431d0a9143 34 #define OUT_Z_L_G 0x1C
jm6wud 0:67431d0a9143 35 #define OUT_Z_H_G 0x1D
jm6wud 0:67431d0a9143 36 #define CTRL_REG4 0x1E
jm6wud 0:67431d0a9143 37 #define CTRL_REG5_XL 0x1F
jm6wud 0:67431d0a9143 38 #define CTRL_REG6_XL 0x20
jm6wud 0:67431d0a9143 39 #define CTRL_REG7_XL 0x21
jm6wud 0:67431d0a9143 40 #define CTRL_REG8 0x22
jm6wud 0:67431d0a9143 41 #define CTRL_REG9 0x23
jm6wud 0:67431d0a9143 42 #define CTRL_REG10 0x24
jm6wud 0:67431d0a9143 43 #define INT_GEN_SRC_XL 0x26
jm6wud 0:67431d0a9143 44 #define STATUS_REG_1 0x27
jm6wud 0:67431d0a9143 45 #define OUT_X_L_XL 0x28
jm6wud 0:67431d0a9143 46 #define OUT_X_H_XL 0x29
jm6wud 0:67431d0a9143 47 #define OUT_Y_L_XL 0x2A
jm6wud 0:67431d0a9143 48 #define OUT_Y_H_XL 0x2B
jm6wud 0:67431d0a9143 49 #define OUT_Z_L_XL 0x2C
jm6wud 0:67431d0a9143 50 #define OUT_Z_H_XL 0x2D
jm6wud 0:67431d0a9143 51 #define FIFO_CTRL 0x2E
jm6wud 0:67431d0a9143 52 #define FIFO_SRC 0x2F
jm6wud 0:67431d0a9143 53 #define INT_GEN_CFG_G 0x30
jm6wud 0:67431d0a9143 54 #define INT_GEN_THS_XH_G 0x31
jm6wud 0:67431d0a9143 55 #define INT_GEN_THS_XL_G 0x32
jm6wud 0:67431d0a9143 56 #define INT_GEN_THS_YH_G 0x33
jm6wud 0:67431d0a9143 57 #define INT_GEN_THS_YL_G 0x34
jm6wud 0:67431d0a9143 58 #define INT_GEN_THS_ZH_G 0x35
jm6wud 0:67431d0a9143 59 #define INT_GEN_THS_ZL_G 0x36
jm6wud 0:67431d0a9143 60 #define INT_GEN_DUR_G 0x37
jm6wud 0:67431d0a9143 61
jm6wud 0:67431d0a9143 62 ///////////////////////////////
jm6wud 0:67431d0a9143 63 // LSM9DS1 Magneto Registers //
jm6wud 0:67431d0a9143 64 ///////////////////////////////
jm6wud 0:67431d0a9143 65 #define OFFSET_X_REG_L_M 0x05
jm6wud 0:67431d0a9143 66 #define OFFSET_X_REG_H_M 0x06
jm6wud 0:67431d0a9143 67 #define OFFSET_Y_REG_L_M 0x07
jm6wud 0:67431d0a9143 68 #define OFFSET_Y_REG_H_M 0x08
jm6wud 0:67431d0a9143 69 #define OFFSET_Z_REG_L_M 0x09
jm6wud 0:67431d0a9143 70 #define OFFSET_Z_REG_H_M 0x0A
jm6wud 0:67431d0a9143 71 #define WHO_AM_I_M 0x0F
jm6wud 0:67431d0a9143 72 #define CTRL_REG1_M 0x20
jm6wud 0:67431d0a9143 73 #define CTRL_REG2_M 0x21
jm6wud 0:67431d0a9143 74 #define CTRL_REG3_M 0x22
jm6wud 0:67431d0a9143 75 #define CTRL_REG4_M 0x23
jm6wud 0:67431d0a9143 76 #define CTRL_REG5_M 0x24
jm6wud 0:67431d0a9143 77 #define STATUS_REG_M 0x27
jm6wud 0:67431d0a9143 78 #define OUT_X_L_M 0x28
jm6wud 0:67431d0a9143 79 #define OUT_X_H_M 0x29
jm6wud 0:67431d0a9143 80 #define OUT_Y_L_M 0x2A
jm6wud 0:67431d0a9143 81 #define OUT_Y_H_M 0x2B
jm6wud 0:67431d0a9143 82 #define OUT_Z_L_M 0x2C
jm6wud 0:67431d0a9143 83 #define OUT_Z_H_M 0x2D
jm6wud 0:67431d0a9143 84 #define INT_CFG_M 0x30
jm6wud 0:67431d0a9143 85 #define INT_SRC_M 0x30
jm6wud 0:67431d0a9143 86 #define INT_THS_L_M 0x32
jm6wud 0:67431d0a9143 87 #define INT_THS_H_M 0x33
jm6wud 0:67431d0a9143 88
jm6wud 0:67431d0a9143 89 ////////////////////////////////
jm6wud 0:67431d0a9143 90 // LSM9DS1 WHO_AM_I Responses //
jm6wud 0:67431d0a9143 91 ////////////////////////////////
jm6wud 0:67431d0a9143 92 #define WHO_AM_I_AG_RSP 0x68
jm6wud 0:67431d0a9143 93 #define WHO_AM_I_M_RSP 0x3D
jm6wud 0:67431d0a9143 94
jm6wud 0:67431d0a9143 95 // Possible I2C addresses for the accel/gyro and mag
jm6wud 0:67431d0a9143 96 #define LSM9DS1_AG_I2C_ADDR(sa0) ((sa0) ? 0xD6 : 0xD4)
jm6wud 0:67431d0a9143 97 #define LSM9DS1_M_I2C_ADDR(sa1) ((sa1) ? 0x3C : 0x38)
jm6wud 0:67431d0a9143 98
jm6wud 0:67431d0a9143 99 /**
jm6wud 0:67431d0a9143 100 * LSM9DS1 Class - driver for the 9 DoF IMU
jm6wud 0:67431d0a9143 101 */
jm6wud 0:67431d0a9143 102 class LSM9DS1
jm6wud 0:67431d0a9143 103 {
jm6wud 0:67431d0a9143 104 public:
jm6wud 0:67431d0a9143 105
jm6wud 0:67431d0a9143 106 /// gyro_scale defines the possible full-scale ranges of the gyroscope:
jm6wud 0:67431d0a9143 107 enum gyro_scale
jm6wud 0:67431d0a9143 108 {
jm6wud 0:67431d0a9143 109 G_SCALE_245DPS = 0x0 << 3, // 00 << 3: +/- 245 degrees per second
jm6wud 0:67431d0a9143 110 G_SCALE_500DPS = 0x1 << 3, // 01 << 3: +/- 500 dps
jm6wud 0:67431d0a9143 111 G_SCALE_2000DPS = 0x3 << 3 // 11 << 3: +/- 2000 dps
jm6wud 0:67431d0a9143 112 };
jm6wud 0:67431d0a9143 113
jm6wud 0:67431d0a9143 114 /// gyro_odr defines all possible data rate/bandwidth combos of the gyro:
jm6wud 0:67431d0a9143 115 enum gyro_odr
jm6wud 0:67431d0a9143 116 { // ODR (Hz) --- Cutoff
jm6wud 0:67431d0a9143 117 G_POWER_DOWN = 0x00, // 0 0
jm6wud 0:67431d0a9143 118 G_ODR_15_BW_0 = 0x20, // 14.9 0
jm6wud 0:67431d0a9143 119 G_ODR_60_BW_16 = 0x40, // 59.5 16
jm6wud 0:67431d0a9143 120 G_ODR_119_BW_14 = 0x60, // 119 14
jm6wud 0:67431d0a9143 121 G_ODR_119_BW_31 = 0x61, // 119 31
jm6wud 0:67431d0a9143 122 G_ODR_238_BW_14 = 0x80, // 238 14
jm6wud 0:67431d0a9143 123 G_ODR_238_BW_29 = 0x81, // 238 29
jm6wud 0:67431d0a9143 124 G_ODR_238_BW_63 = 0x82, // 238 63
jm6wud 0:67431d0a9143 125 G_ODR_238_BW_78 = 0x83, // 238 78
jm6wud 0:67431d0a9143 126 G_ODR_476_BW_21 = 0xA0, // 476 21
jm6wud 0:67431d0a9143 127 G_ODR_476_BW_28 = 0xA1, // 476 28
jm6wud 0:67431d0a9143 128 G_ODR_476_BW_57 = 0xA2, // 476 57
jm6wud 0:67431d0a9143 129 G_ODR_476_BW_100 = 0xA3, // 476 100
jm6wud 0:67431d0a9143 130 G_ODR_952_BW_33 = 0xC0, // 952 33
jm6wud 0:67431d0a9143 131 G_ODR_952_BW_40 = 0xC1, // 952 40
jm6wud 0:67431d0a9143 132 G_ODR_952_BW_58 = 0xC2, // 952 58
jm6wud 0:67431d0a9143 133 G_ODR_952_BW_100 = 0xC3 // 952 100
jm6wud 0:67431d0a9143 134 };
jm6wud 0:67431d0a9143 135
jm6wud 0:67431d0a9143 136 /// accel_scale defines all possible FSR's of the accelerometer:
jm6wud 0:67431d0a9143 137 enum accel_scale
jm6wud 0:67431d0a9143 138 {
jm6wud 0:67431d0a9143 139 A_SCALE_2G, // 00: +/- 2g
jm6wud 0:67431d0a9143 140 A_SCALE_16G,// 01: +/- 16g
jm6wud 0:67431d0a9143 141 A_SCALE_4G, // 10: +/- 4g
jm6wud 0:67431d0a9143 142 A_SCALE_8G // 11: +/- 8g
jm6wud 0:67431d0a9143 143 };
jm6wud 0:67431d0a9143 144
jm6wud 0:67431d0a9143 145 /// accel_oder defines all possible output data rates of the accelerometer:
jm6wud 0:67431d0a9143 146 enum accel_odr
jm6wud 0:67431d0a9143 147 {
jm6wud 0:67431d0a9143 148 A_POWER_DOWN, // Power-down mode (0x0)
jm6wud 0:67431d0a9143 149 A_ODR_10, // 10 Hz (0x1)
jm6wud 0:67431d0a9143 150 A_ODR_50, // 50 Hz (0x2)
jm6wud 0:67431d0a9143 151 A_ODR_119, // 119 Hz (0x3)
jm6wud 0:67431d0a9143 152 A_ODR_238, // 238 Hz (0x4)
jm6wud 0:67431d0a9143 153 A_ODR_476, // 476 Hz (0x5)
jm6wud 0:67431d0a9143 154 A_ODR_952 // 952 Hz (0x6)
jm6wud 0:67431d0a9143 155 };
jm6wud 0:67431d0a9143 156
jm6wud 0:67431d0a9143 157 // accel_bw defines all possible bandwiths for low-pass filter of the accelerometer:
jm6wud 0:67431d0a9143 158 enum accel_bw
jm6wud 0:67431d0a9143 159 {
jm6wud 0:67431d0a9143 160 A_BW_AUTO_SCALE = 0x0, // Automatic BW scaling (0x0)
jm6wud 0:67431d0a9143 161 A_BW_408 = 0x4, // 408 Hz (0x4)
jm6wud 0:67431d0a9143 162 A_BW_211 = 0x5, // 211 Hz (0x5)
jm6wud 0:67431d0a9143 163 A_BW_105 = 0x6, // 105 Hz (0x6)
jm6wud 0:67431d0a9143 164 A_BW_50 = 0x7 // 50 Hz (0x7)
jm6wud 0:67431d0a9143 165 };
jm6wud 0:67431d0a9143 166
jm6wud 0:67431d0a9143 167 /// mag_scale defines all possible FSR's of the magnetometer:
jm6wud 0:67431d0a9143 168 enum mag_scale
jm6wud 0:67431d0a9143 169 {
jm6wud 0:67431d0a9143 170 M_SCALE_4GS, // 00: +/- 4Gs
jm6wud 0:67431d0a9143 171 M_SCALE_8GS, // 01: +/- 8Gs
jm6wud 0:67431d0a9143 172 M_SCALE_12GS, // 10: +/- 12Gs
jm6wud 0:67431d0a9143 173 M_SCALE_16GS, // 11: +/- 16Gs
jm6wud 0:67431d0a9143 174 };
jm6wud 0:67431d0a9143 175
jm6wud 0:67431d0a9143 176 /// mag_odr defines all possible output data rates of the magnetometer:
jm6wud 0:67431d0a9143 177 enum mag_odr
jm6wud 0:67431d0a9143 178 {
jm6wud 0:67431d0a9143 179 M_ODR_0625, // 0.625 Hz (0x00)
jm6wud 0:67431d0a9143 180 M_ODR_125, // 1.25 Hz (0x01)
jm6wud 0:67431d0a9143 181 M_ODR_25, // 2.5 Hz (0x02)
jm6wud 0:67431d0a9143 182 M_ODR_5, // 5 Hz (0x03)
jm6wud 0:67431d0a9143 183 M_ODR_10, // 10 (0x04)
jm6wud 0:67431d0a9143 184 M_ODR_20, // 20 Hz (0x05)
jm6wud 0:67431d0a9143 185 M_ODR_40, // 40 Hz (0x06)
jm6wud 0:67431d0a9143 186 M_ODR_80 // 80 Hz (0x07)
jm6wud 0:67431d0a9143 187 };
jm6wud 0:67431d0a9143 188
jm6wud 0:67431d0a9143 189 // We'll store the gyro, accel, and magnetometer readings in a series of
jm6wud 0:67431d0a9143 190 // public class variables. Each sensor gets three variables -- one for each
jm6wud 0:67431d0a9143 191 // axis. Call readGyro(), readAccel(), and readMag() first, before using
jm6wud 0:67431d0a9143 192 // these variables!
jm6wud 0:67431d0a9143 193 // These values are the RAW signed 16-bit readings from the sensors.
jm6wud 0:67431d0a9143 194 int16_t gx_raw, gy_raw, gz_raw; // x, y, and z axis readings of the gyroscope
jm6wud 0:67431d0a9143 195 int16_t ax_raw, ay_raw, az_raw; // x, y, and z axis readings of the accelerometer
jm6wud 0:67431d0a9143 196 int16_t mx_raw, my_raw, mz_raw; // x, y, and z axis readings of the magnetometer
jm6wud 0:67431d0a9143 197 int16_t temperature_raw;
jm6wud 0:67431d0a9143 198
jm6wud 0:67431d0a9143 199 // floating-point values of scaled data in real-world units
jm6wud 0:67431d0a9143 200 float gx, gy, gz;
jm6wud 0:67431d0a9143 201 float ax, ay, az;
jm6wud 0:67431d0a9143 202 float mx, my, mz;
jm6wud 0:67431d0a9143 203 float temperature_c, temperature_f; // temperature in celcius and fahrenheit
jm6wud 0:67431d0a9143 204
jm6wud 0:67431d0a9143 205
jm6wud 0:67431d0a9143 206 /** LSM9DS1 -- LSM9DS1 class constructor
jm6wud 0:67431d0a9143 207 * The constructor will set up a handful of private variables, and set the
jm6wud 0:67431d0a9143 208 * communication mode as well.
jm6wud 0:67431d0a9143 209 * Input:
jm6wud 0:67431d0a9143 210 * - interface = Either MODE_SPI or MODE_I2C, whichever you're using
jm6wud 0:67431d0a9143 211 * to talk to the IC.
jm6wud 0:67431d0a9143 212 * - xgAddr = If MODE_I2C, this is the I2C address of the accel/gyro.
jm6wud 0:67431d0a9143 213 * If MODE_SPI, this is the chip select pin of the accel/gyro (CS_A/G)
jm6wud 0:67431d0a9143 214 * - mAddr = If MODE_I2C, this is the I2C address of the mag.
jm6wud 0:67431d0a9143 215 * If MODE_SPI, this is the cs pin of the mag (CS_M)
jm6wud 0:67431d0a9143 216 */
jm6wud 0:67431d0a9143 217 LSM9DS1(PinName sda, PinName scl, uint8_t xgAddr = LSM9DS1_AG_I2C_ADDR(1), uint8_t mAddr = LSM9DS1_M_I2C_ADDR(1));
jm6wud 0:67431d0a9143 218
jm6wud 0:67431d0a9143 219 /** begin() -- Initialize the gyro, accelerometer, and magnetometer.
jm6wud 0:67431d0a9143 220 * This will set up the scale and output rate of each sensor. It'll also
jm6wud 0:67431d0a9143 221 * "turn on" every sensor and every axis of every sensor.
jm6wud 0:67431d0a9143 222 * Input:
jm6wud 0:67431d0a9143 223 * - gScl = The scale of the gyroscope. This should be a gyro_scale value.
jm6wud 0:67431d0a9143 224 * - aScl = The scale of the accelerometer. Should be a accel_scale value.
jm6wud 0:67431d0a9143 225 * - mScl = The scale of the magnetometer. Should be a mag_scale value.
jm6wud 0:67431d0a9143 226 * - gODR = Output data rate of the gyroscope. gyro_odr value.
jm6wud 0:67431d0a9143 227 * - aODR = Output data rate of the accelerometer. accel_odr value.
jm6wud 0:67431d0a9143 228 * - mODR = Output data rate of the magnetometer. mag_odr value.
jm6wud 0:67431d0a9143 229 * Output: The function will return an unsigned 16-bit value. The most-sig
jm6wud 0:67431d0a9143 230 * bytes of the output are the WHO_AM_I reading of the accel/gyro. The
jm6wud 0:67431d0a9143 231 * least significant two bytes are the WHO_AM_I reading of the mag.
jm6wud 0:67431d0a9143 232 * All parameters have a defaulted value, so you can call just "begin()".
jm6wud 0:67431d0a9143 233 * Default values are FSR's of: +/- 245DPS, 4g, 2Gs; ODRs of 119 Hz for
jm6wud 0:67431d0a9143 234 * gyro, 119 Hz for accelerometer, 80 Hz for magnetometer.
jm6wud 0:67431d0a9143 235 * Use the return value of this function to verify communication.
jm6wud 0:67431d0a9143 236 */
jm6wud 0:67431d0a9143 237 uint16_t begin(gyro_scale gScl = G_SCALE_245DPS,
jm6wud 0:67431d0a9143 238 accel_scale aScl = A_SCALE_2G, mag_scale mScl = M_SCALE_4GS,
jm6wud 0:67431d0a9143 239 gyro_odr gODR = G_ODR_119_BW_14, accel_odr aODR = A_ODR_119,
jm6wud 0:67431d0a9143 240 mag_odr mODR = M_ODR_80);
jm6wud 0:67431d0a9143 241
jm6wud 0:67431d0a9143 242 /** readGyro() -- Read the gyroscope output registers.
jm6wud 0:67431d0a9143 243 * This function will read all six gyroscope output registers.
jm6wud 0:67431d0a9143 244 * The readings are stored in the class' gx_raw, gy_raw, and gz_raw variables. Read
jm6wud 0:67431d0a9143 245 * those _after_ calling readGyro().
jm6wud 0:67431d0a9143 246 */
jm6wud 0:67431d0a9143 247 void readGyro();
jm6wud 0:67431d0a9143 248
jm6wud 0:67431d0a9143 249 /** readAccel() -- Read the accelerometer output registers.
jm6wud 0:67431d0a9143 250 * This function will read all six accelerometer output registers.
jm6wud 0:67431d0a9143 251 * The readings are stored in the class' ax_raw, ay_raw, and az_raw variables. Read
jm6wud 0:67431d0a9143 252 * those _after_ calling readAccel().
jm6wud 0:67431d0a9143 253 */
jm6wud 0:67431d0a9143 254 void readAccel();
jm6wud 0:67431d0a9143 255
jm6wud 0:67431d0a9143 256 /** readMag() -- Read the magnetometer output registers.
jm6wud 0:67431d0a9143 257 * This function will read all six magnetometer output registers.
jm6wud 0:67431d0a9143 258 * The readings are stored in the class' mx_raw, my_raw, and mz_raw variables. Read
jm6wud 0:67431d0a9143 259 * those _after_ calling readMag().
jm6wud 0:67431d0a9143 260 */
jm6wud 0:67431d0a9143 261 void readMag();
jm6wud 0:67431d0a9143 262
jm6wud 0:67431d0a9143 263 /** readTemp() -- Read the temperature output register.
jm6wud 0:67431d0a9143 264 * This function will read two temperature output registers.
jm6wud 0:67431d0a9143 265 * The combined readings are stored in the class' temperature variables. Read
jm6wud 0:67431d0a9143 266 * those _after_ calling readTemp().
jm6wud 0:67431d0a9143 267 */
jm6wud 0:67431d0a9143 268 void readTemp();
jm6wud 0:67431d0a9143 269
jm6wud 0:67431d0a9143 270 /** setGyroScale() -- Set the full-scale range of the gyroscope.
jm6wud 0:67431d0a9143 271 * This function can be called to set the scale of the gyroscope to
jm6wud 0:67431d0a9143 272 * 245, 500, or 2000 degrees per second.
jm6wud 0:67431d0a9143 273 * Input:
jm6wud 0:67431d0a9143 274 * - gScl = The desired gyroscope scale. Must be one of three possible
jm6wud 0:67431d0a9143 275 * values from the gyro_scale enum.
jm6wud 0:67431d0a9143 276 */
jm6wud 0:67431d0a9143 277 void setGyroScale(gyro_scale gScl);
jm6wud 0:67431d0a9143 278
jm6wud 0:67431d0a9143 279 /** setAccelScale() -- Set the full-scale range of the accelerometer.
jm6wud 0:67431d0a9143 280 * This function can be called to set the scale of the accelerometer to
jm6wud 0:67431d0a9143 281 * 2, 4, 8, or 16 g's.
jm6wud 0:67431d0a9143 282 * Input:
jm6wud 0:67431d0a9143 283 * - aScl = The desired accelerometer scale. Must be one of five possible
jm6wud 0:67431d0a9143 284 * values from the accel_scale enum.
jm6wud 0:67431d0a9143 285 */
jm6wud 0:67431d0a9143 286 void setAccelScale(accel_scale aScl);
jm6wud 0:67431d0a9143 287
jm6wud 0:67431d0a9143 288 /** setMagScale() -- Set the full-scale range of the magnetometer.
jm6wud 0:67431d0a9143 289 * This function can be called to set the scale of the magnetometer to
jm6wud 0:67431d0a9143 290 * 4, 8, 12, or 16 Gs.
jm6wud 0:67431d0a9143 291 * Input:
jm6wud 0:67431d0a9143 292 * - mScl = The desired magnetometer scale. Must be one of four possible
jm6wud 0:67431d0a9143 293 * values from the mag_scale enum.
jm6wud 0:67431d0a9143 294 */
jm6wud 0:67431d0a9143 295 void setMagScale(mag_scale mScl);
jm6wud 0:67431d0a9143 296
jm6wud 0:67431d0a9143 297 /** setGyroODR() -- Set the output data rate and bandwidth of the gyroscope
jm6wud 0:67431d0a9143 298 * Input:
jm6wud 0:67431d0a9143 299 * - gRate = The desired output rate and cutoff frequency of the gyro.
jm6wud 0:67431d0a9143 300 * Must be a value from the gyro_odr enum (check above).
jm6wud 0:67431d0a9143 301 */
jm6wud 0:67431d0a9143 302 void setGyroODR(gyro_odr gRate);
jm6wud 0:67431d0a9143 303
jm6wud 0:67431d0a9143 304 /** setAccelODR() -- Set the output data rate of the accelerometer
jm6wud 0:67431d0a9143 305 * Input:
jm6wud 0:67431d0a9143 306 * - aRate = The desired output rate of the accel.
jm6wud 0:67431d0a9143 307 * Must be a value from the accel_odr enum (check above).
jm6wud 0:67431d0a9143 308 */
jm6wud 0:67431d0a9143 309 void setAccelODR(accel_odr aRate);
jm6wud 0:67431d0a9143 310
jm6wud 0:67431d0a9143 311 /** setMagODR() -- Set the output data rate of the magnetometer
jm6wud 0:67431d0a9143 312 * Input:
jm6wud 0:67431d0a9143 313 * - mRate = The desired output rate of the mag.
jm6wud 0:67431d0a9143 314 * Must be a value from the mag_odr enum (check above).
jm6wud 0:67431d0a9143 315 */
jm6wud 0:67431d0a9143 316 void setMagODR(mag_odr mRate);
jm6wud 0:67431d0a9143 317
jm6wud 0:67431d0a9143 318 bool whoAmI();
jm6wud 0:67431d0a9143 319
jm6wud 0:67431d0a9143 320 private:
jm6wud 0:67431d0a9143 321 /** xgAddress and mAddress store the I2C address
jm6wud 0:67431d0a9143 322 * for each sensor.
jm6wud 0:67431d0a9143 323 */
jm6wud 0:67431d0a9143 324 uint8_t xgAddress, mAddress;
jm6wud 0:67431d0a9143 325
jm6wud 0:67431d0a9143 326 // I2C bus
jm6wud 0:67431d0a9143 327 I2C i2c;
jm6wud 0:67431d0a9143 328
jm6wud 0:67431d0a9143 329 /** gScale, aScale, and mScale store the current scale range for each
jm6wud 0:67431d0a9143 330 * sensor. Should be updated whenever that value changes.
jm6wud 0:67431d0a9143 331 */
jm6wud 0:67431d0a9143 332 gyro_scale gScale;
jm6wud 0:67431d0a9143 333 accel_scale aScale;
jm6wud 0:67431d0a9143 334 mag_scale mScale;
jm6wud 0:67431d0a9143 335
jm6wud 0:67431d0a9143 336 /** gRes, aRes, and mRes store the current resolution for each sensor.
jm6wud 0:67431d0a9143 337 * Units of these values would be DPS (or g's or Gs's) per ADC tick.
jm6wud 0:67431d0a9143 338 * This value is calculated as (sensor scale) / (2^15).
jm6wud 0:67431d0a9143 339 */
jm6wud 0:67431d0a9143 340 float gRes, aRes, mRes;
jm6wud 0:67431d0a9143 341
jm6wud 0:67431d0a9143 342 /** initGyro() -- Sets up the gyroscope to begin reading.
jm6wud 0:67431d0a9143 343 * This function steps through all three gyroscope control registers.
jm6wud 0:67431d0a9143 344 */
jm6wud 0:67431d0a9143 345 void initGyro();
jm6wud 0:67431d0a9143 346
jm6wud 0:67431d0a9143 347 /** initAccel() -- Sets up the accelerometer to begin reading.
jm6wud 0:67431d0a9143 348 * This function steps through all accelerometer related control registers.
jm6wud 0:67431d0a9143 349 */
jm6wud 0:67431d0a9143 350 void initAccel();
jm6wud 0:67431d0a9143 351
jm6wud 0:67431d0a9143 352 /** initMag() -- Sets up the magnetometer to begin reading.
jm6wud 0:67431d0a9143 353 * This function steps through all magnetometer-related control registers.
jm6wud 0:67431d0a9143 354 */
jm6wud 0:67431d0a9143 355 void initMag();
jm6wud 0:67431d0a9143 356
jm6wud 0:67431d0a9143 357 /** calcgRes() -- Calculate the resolution of the gyroscope.
jm6wud 0:67431d0a9143 358 * This function will set the value of the gRes variable. gScale must
jm6wud 0:67431d0a9143 359 * be set prior to calling this function.
jm6wud 0:67431d0a9143 360 */
jm6wud 0:67431d0a9143 361 void calcgRes();
jm6wud 0:67431d0a9143 362
jm6wud 0:67431d0a9143 363 /** calcmRes() -- Calculate the resolution of the magnetometer.
jm6wud 0:67431d0a9143 364 * This function will set the value of the mRes variable. mScale must
jm6wud 0:67431d0a9143 365 * be set prior to calling this function.
jm6wud 0:67431d0a9143 366 */
jm6wud 0:67431d0a9143 367 void calcmRes();
jm6wud 0:67431d0a9143 368
jm6wud 0:67431d0a9143 369 /** calcaRes() -- Calculate the resolution of the accelerometer.
jm6wud 0:67431d0a9143 370 * This function will set the value of the aRes variable. aScale must
jm6wud 0:67431d0a9143 371 * be set prior to calling this function.
jm6wud 0:67431d0a9143 372 */
jm6wud 0:67431d0a9143 373 void calcaRes();
jm6wud 0:67431d0a9143 374 };
jm6wud 0:67431d0a9143 375
jm6wud 0:67431d0a9143 376 #endif // _LSM9DS1_H //
jm6wud 0:67431d0a9143 377