John Lee
Balances a robot on two wheels using a PID controller for fine tuning the motor speed and behavior. It uses an IMU to send input to the PID controller and calibrate the robot's desired angle.
Dependencies: mbed Motor LSM9DS1_Library_cal
Revision 3:8898bbbe00d6, committed 2019-12-06
- Comitter:
- johnedwardlee
- Date:
- Fri Dec 06 13:47:56 2019 +0000
- Parent:
- 2:e8c2301f7523
- Commit message:
- First commit
Changed in this revision
--- a/LSM9DS1.cpp Wed Feb 03 18:24:29 2016 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,1197 +0,0 @@
-/******************************************************************************
-SFE_LSM9DS1.cpp
-SFE_LSM9DS1 Library Source File
-Jim Lindblom @ SparkFun Electronics
-Original Creation Date: February 27, 2015
-https://github.com/sparkfun/LSM9DS1_Breakout
-
-This file implements all functions of the LSM9DS1 class. Functions here range
-from higher level stuff, like reading/writing LSM9DS1 registers to low-level,
-hardware reads and writes. Both SPI and I2C handler functions can be found
-towards the bottom of this file.
-
-Development environment specifics:
- IDE: Arduino 1.6
- Hardware Platform: Arduino Uno
- LSM9DS1 Breakout Version: 1.0
-
-This code is beerware; if you see me (or any other SparkFun employee) at the
-local, and you've found our code helpful, please buy us a round!
-
-Distributed as-is; no warranty is given.
-******************************************************************************/
-
-#include "LSM9DS1.h"
-#include "LSM9DS1_Registers.h"
-#include "LSM9DS1_Types.h"
-//#include <Wire.h> // Wire library is used for I2C
-//#include <SPI.h> // SPI library is used for...SPI.
-
-//#if defined(ARDUINO) && ARDUINO >= 100
-// #include "Arduino.h"
-//#else
-// #include "WProgram.h"
-//#endif
-
-#define LSM9DS1_COMMUNICATION_TIMEOUT 1000
-
-float magSensitivity[4] = {0.00014, 0.00029, 0.00043, 0.00058};
-extern Serial pc;
-
-LSM9DS1::LSM9DS1(PinName sda, PinName scl, uint8_t xgAddr, uint8_t mAddr)
- :i2c(sda, scl)
-{
- init(IMU_MODE_I2C, xgAddr, mAddr); // dont know about 0xD6 or 0x3B
-}
-/*
-LSM9DS1::LSM9DS1()
-{
- init(IMU_MODE_I2C, LSM9DS1_AG_ADDR(1), LSM9DS1_M_ADDR(1));
-}
-
-LSM9DS1::LSM9DS1(interface_mode interface, uint8_t xgAddr, uint8_t mAddr)
-{
- init(interface, xgAddr, mAddr);
-}
-*/
-
-void LSM9DS1::init(interface_mode interface, uint8_t xgAddr, uint8_t mAddr)
-{
- settings.device.commInterface = interface;
- settings.device.agAddress = xgAddr;
- settings.device.mAddress = mAddr;
-
- settings.gyro.enabled = true;
- settings.gyro.enableX = true;
- settings.gyro.enableY = true;
- settings.gyro.enableZ = true;
- // gyro scale can be 245, 500, or 2000
- settings.gyro.scale = 245;
- // gyro sample rate: value between 1-6
- // 1 = 14.9 4 = 238
- // 2 = 59.5 5 = 476
- // 3 = 119 6 = 952
- settings.gyro.sampleRate = 6;
- // gyro cutoff frequency: value between 0-3
- // Actual value of cutoff frequency depends
- // on sample rate.
- settings.gyro.bandwidth = 0;
- settings.gyro.lowPowerEnable = false;
- settings.gyro.HPFEnable = false;
- // Gyro HPF cutoff frequency: value between 0-9
- // Actual value depends on sample rate. Only applies
- // if gyroHPFEnable is true.
- settings.gyro.HPFCutoff = 0;
- settings.gyro.flipX = false;
- settings.gyro.flipY = false;
- settings.gyro.flipZ = false;
- settings.gyro.orientation = 0;
- settings.gyro.latchInterrupt = true;
-
- settings.accel.enabled = true;
- settings.accel.enableX = true;
- settings.accel.enableY = true;
- settings.accel.enableZ = true;
- // accel scale can be 2, 4, 8, or 16
- settings.accel.scale = 2;
- // accel sample rate can be 1-6
- // 1 = 10 Hz 4 = 238 Hz
- // 2 = 50 Hz 5 = 476 Hz
- // 3 = 119 Hz 6 = 952 Hz
- settings.accel.sampleRate = 6;
- // Accel cutoff freqeuncy can be any value between -1 - 3.
- // -1 = bandwidth determined by sample rate
- // 0 = 408 Hz 2 = 105 Hz
- // 1 = 211 Hz 3 = 50 Hz
- settings.accel.bandwidth = -1;
- settings.accel.highResEnable = false;
- // accelHighResBandwidth can be any value between 0-3
- // LP cutoff is set to a factor of sample rate
- // 0 = ODR/50 2 = ODR/9
- // 1 = ODR/100 3 = ODR/400
- settings.accel.highResBandwidth = 0;
-
- settings.mag.enabled = true;
- // mag scale can be 4, 8, 12, or 16
- settings.mag.scale = 4;
- // mag data rate can be 0-7
- // 0 = 0.625 Hz 4 = 10 Hz
- // 1 = 1.25 Hz 5 = 20 Hz
- // 2 = 2.5 Hz 6 = 40 Hz
- // 3 = 5 Hz 7 = 80 Hz
- settings.mag.sampleRate = 7;
- settings.mag.tempCompensationEnable = false;
- // magPerformance can be any value between 0-3
- // 0 = Low power mode 2 = high performance
- // 1 = medium performance 3 = ultra-high performance
- settings.mag.XYPerformance = 3;
- settings.mag.ZPerformance = 3;
- settings.mag.lowPowerEnable = false;
- // magOperatingMode can be 0-2
- // 0 = continuous conversion
- // 1 = single-conversion
- // 2 = power down
- settings.mag.operatingMode = 0;
-
- settings.temp.enabled = true;
- for (int i=0; i<3; i++)
- {
- gBias[i] = 0;
- aBias[i] = 0;
- mBias[i] = 0;
- gBiasRaw[i] = 0;
- aBiasRaw[i] = 0;
- mBiasRaw[i] = 0;
- }
- _autoCalc = false;
-}
-
-
-uint16_t LSM9DS1::begin()
-{
- //! Todo: don't use _xgAddress or _mAddress, duplicating memory
- _xgAddress = settings.device.agAddress;
- _mAddress = settings.device.mAddress;
-
- constrainScales();
- // Once we have the scale values, we can calculate the resolution
- // of each sensor. That's what these functions are for. One for each sensor
- calcgRes(); // Calculate DPS / ADC tick, stored in gRes variable
- calcmRes(); // Calculate Gs / ADC tick, stored in mRes variable
- calcaRes(); // Calculate g / ADC tick, stored in aRes variable
-
- // Now, initialize our hardware interface.
- if (settings.device.commInterface == IMU_MODE_I2C) // If we're using I2C
- initI2C(); // Initialize I2C
- else if (settings.device.commInterface == IMU_MODE_SPI) // else, if we're using SPI
- initSPI(); // Initialize SPI
-
- // To verify communication, we can read from the WHO_AM_I register of
- // each device. Store those in a variable so we can return them.
- uint8_t mTest = mReadByte(WHO_AM_I_M); // Read the gyro WHO_AM_I
- uint8_t xgTest = xgReadByte(WHO_AM_I_XG); // Read the accel/mag WHO_AM_I
- pc.printf("%x, %x, %x, %x\n\r", mTest, xgTest, _xgAddress, _mAddress);
- uint16_t whoAmICombined = (xgTest << 8) | mTest;
-
- if (whoAmICombined != ((WHO_AM_I_AG_RSP << 8) | WHO_AM_I_M_RSP))
- return 0;
-
- // Gyro initialization stuff:
- initGyro(); // This will "turn on" the gyro. Setting up interrupts, etc.
-
- // Accelerometer initialization stuff:
- initAccel(); // "Turn on" all axes of the accel. Set up interrupts, etc.
-
- // Magnetometer initialization stuff:
- initMag(); // "Turn on" all axes of the mag. Set up interrupts, etc.
-
- // Once everything is initialized, return the WHO_AM_I registers we read:
- return whoAmICombined;
-}
-
-void LSM9DS1::initGyro()
-{
- uint8_t tempRegValue = 0;
-
- // CTRL_REG1_G (Default value: 0x00)
- // [ODR_G2][ODR_G1][ODR_G0][FS_G1][FS_G0][0][BW_G1][BW_G0]
- // ODR_G[2:0] - Output data rate selection
- // FS_G[1:0] - Gyroscope full-scale selection
- // BW_G[1:0] - Gyroscope bandwidth selection
-
- // To disable gyro, set sample rate bits to 0. We'll only set sample
- // rate if the gyro is enabled.
- if (settings.gyro.enabled)
- {
- tempRegValue = (settings.gyro.sampleRate & 0x07) << 5;
- }
- switch (settings.gyro.scale)
- {
- case 500:
- tempRegValue |= (0x1 << 3);
- break;
- case 2000:
- tempRegValue |= (0x3 << 3);
- break;
- // Otherwise we'll set it to 245 dps (0x0 << 4)
- }
- tempRegValue |= (settings.gyro.bandwidth & 0x3);
- xgWriteByte(CTRL_REG1_G, tempRegValue);
-
- // CTRL_REG2_G (Default value: 0x00)
- // [0][0][0][0][INT_SEL1][INT_SEL0][OUT_SEL1][OUT_SEL0]
- // INT_SEL[1:0] - INT selection configuration
- // OUT_SEL[1:0] - Out selection configuration
- xgWriteByte(CTRL_REG2_G, 0x00);
-
- // CTRL_REG3_G (Default value: 0x00)
- // [LP_mode][HP_EN][0][0][HPCF3_G][HPCF2_G][HPCF1_G][HPCF0_G]
- // LP_mode - Low-power mode enable (0: disabled, 1: enabled)
- // HP_EN - HPF enable (0:disabled, 1: enabled)
- // HPCF_G[3:0] - HPF cutoff frequency
- tempRegValue = settings.gyro.lowPowerEnable ? (1<<7) : 0;
- if (settings.gyro.HPFEnable)
- {
- tempRegValue |= (1<<6) | (settings.gyro.HPFCutoff & 0x0F);
- }
- xgWriteByte(CTRL_REG3_G, tempRegValue);
-
- // CTRL_REG4 (Default value: 0x38)
- // [0][0][Zen_G][Yen_G][Xen_G][0][LIR_XL1][4D_XL1]
- // Zen_G - Z-axis output enable (0:disable, 1:enable)
- // Yen_G - Y-axis output enable (0:disable, 1:enable)
- // Xen_G - X-axis output enable (0:disable, 1:enable)
- // LIR_XL1 - Latched interrupt (0:not latched, 1:latched)
- // 4D_XL1 - 4D option on interrupt (0:6D used, 1:4D used)
- tempRegValue = 0;
- if (settings.gyro.enableZ) tempRegValue |= (1<<5);
- if (settings.gyro.enableY) tempRegValue |= (1<<4);
- if (settings.gyro.enableX) tempRegValue |= (1<<3);
- if (settings.gyro.latchInterrupt) tempRegValue |= (1<<1);
- xgWriteByte(CTRL_REG4, tempRegValue);
-
- // ORIENT_CFG_G (Default value: 0x00)
- // [0][0][SignX_G][SignY_G][SignZ_G][Orient_2][Orient_1][Orient_0]
- // SignX_G - Pitch axis (X) angular rate sign (0: positive, 1: negative)
- // Orient [2:0] - Directional user orientation selection
- tempRegValue = 0;
- if (settings.gyro.flipX) tempRegValue |= (1<<5);
- if (settings.gyro.flipY) tempRegValue |= (1<<4);
- if (settings.gyro.flipZ) tempRegValue |= (1<<3);
- xgWriteByte(ORIENT_CFG_G, tempRegValue);
-}
-
-void LSM9DS1::initAccel()
-{
- uint8_t tempRegValue = 0;
-
- // CTRL_REG5_XL (0x1F) (Default value: 0x38)
- // [DEC_1][DEC_0][Zen_XL][Yen_XL][Zen_XL][0][0][0]
- // DEC[0:1] - Decimation of accel data on OUT REG and FIFO.
- // 00: None, 01: 2 samples, 10: 4 samples 11: 8 samples
- // Zen_XL - Z-axis output enabled
- // Yen_XL - Y-axis output enabled
- // Xen_XL - X-axis output enabled
- if (settings.accel.enableZ) tempRegValue |= (1<<5);
- if (settings.accel.enableY) tempRegValue |= (1<<4);
- if (settings.accel.enableX) tempRegValue |= (1<<3);
-
- xgWriteByte(CTRL_REG5_XL, tempRegValue);
-
- // CTRL_REG6_XL (0x20) (Default value: 0x00)
- // [ODR_XL2][ODR_XL1][ODR_XL0][FS1_XL][FS0_XL][BW_SCAL_ODR][BW_XL1][BW_XL0]
- // ODR_XL[2:0] - Output data rate & power mode selection
- // FS_XL[1:0] - Full-scale selection
- // BW_SCAL_ODR - Bandwidth selection
- // BW_XL[1:0] - Anti-aliasing filter bandwidth selection
- tempRegValue = 0;
- // To disable the accel, set the sampleRate bits to 0.
- if (settings.accel.enabled)
- {
- tempRegValue |= (settings.accel.sampleRate & 0x07) << 5;
- }
- switch (settings.accel.scale)
- {
- case 4:
- tempRegValue |= (0x2 << 3);
- break;
- case 8:
- tempRegValue |= (0x3 << 3);
- break;
- case 16:
- tempRegValue |= (0x1 << 3);
- break;
- // Otherwise it'll be set to 2g (0x0 << 3)
- }
- if (settings.accel.bandwidth >= 0)
- {
- tempRegValue |= (1<<2); // Set BW_SCAL_ODR
- tempRegValue |= (settings.accel.bandwidth & 0x03);
- }
- xgWriteByte(CTRL_REG6_XL, tempRegValue);
-
- // CTRL_REG7_XL (0x21) (Default value: 0x00)
- // [HR][DCF1][DCF0][0][0][FDS][0][HPIS1]
- // HR - High resolution mode (0: disable, 1: enable)
- // DCF[1:0] - Digital filter cutoff frequency
- // FDS - Filtered data selection
- // HPIS1 - HPF enabled for interrupt function
- tempRegValue = 0;
- if (settings.accel.highResEnable)
- {
- tempRegValue |= (1<<7); // Set HR bit
- tempRegValue |= (settings.accel.highResBandwidth & 0x3) << 5;
- }
- xgWriteByte(CTRL_REG7_XL, tempRegValue);
-}
-
-// This is a function that uses the FIFO to accumulate sample of accelerometer and gyro data, average
-// them, scales them to gs and deg/s, respectively, and then passes the biases to the main sketch
-// for subtraction from all subsequent data. There are no gyro and accelerometer bias registers to store
-// the data as there are in the ADXL345, a precursor to the LSM9DS0, or the MPU-9150, so we have to
-// subtract the biases ourselves. This results in a more accurate measurement in general and can
-// remove errors due to imprecise or varying initial placement. Calibration of sensor data in this manner
-// is good practice.
-void LSM9DS1::calibrate(bool autoCalc)
-{
- uint8_t data[6] = {0, 0, 0, 0, 0, 0};
- uint8_t samples = 0;
- int ii;
- int32_t aBiasRawTemp[3] = {0, 0, 0};
- int32_t gBiasRawTemp[3] = {0, 0, 0};
-
- // Turn on FIFO and set threshold to 32 samples
- enableFIFO(true);
- setFIFO(FIFO_THS, 0x1F);
- while (samples < 0x1F)
- {
- samples = (xgReadByte(FIFO_SRC) & 0x3F); // Read number of stored samples
- }
- for(ii = 0; ii < samples ; ii++)
- { // Read the gyro data stored in the FIFO
- readGyro();
- gBiasRawTemp[0] += gx;
- gBiasRawTemp[1] += gy;
- gBiasRawTemp[2] += gz;
- readAccel();
- aBiasRawTemp[0] += ax;
- aBiasRawTemp[1] += ay;
- aBiasRawTemp[2] += az - (int16_t)(1./aRes); // Assumes sensor facing up!
- }
- for (ii = 0; ii < 3; ii++)
- {
- gBiasRaw[ii] = gBiasRawTemp[ii] / samples;
- gBias[ii] = calcGyro(gBiasRaw[ii]);
- aBiasRaw[ii] = aBiasRawTemp[ii] / samples;
- aBias[ii] = calcAccel(aBiasRaw[ii]);
- }
-
- enableFIFO(false);
- setFIFO(FIFO_OFF, 0x00);
-
- if (autoCalc) _autoCalc = true;
-}
-
-void LSM9DS1::calibrateMag(bool loadIn)
-{
- int i, j;
- int16_t magMin[3] = {0, 0, 0};
- int16_t magMax[3] = {0, 0, 0}; // The road warrior
-
- for (i=0; i<128; i++)
- {
- while (!magAvailable())
- ;
- readMag();
- int16_t magTemp[3] = {0, 0, 0};
- magTemp[0] = mx;
- magTemp[1] = my;
- magTemp[2] = mz;
- for (j = 0; j < 3; j++)
- {
- if (magTemp[j] > magMax[j]) magMax[j] = magTemp[j];
- if (magTemp[j] < magMin[j]) magMin[j] = magTemp[j];
- }
- }
- for (j = 0; j < 3; j++)
- {
- mBiasRaw[j] = (magMax[j] + magMin[j]) / 2;
- mBias[j] = calcMag(mBiasRaw[j]);
- if (loadIn)
- magOffset(j, mBiasRaw[j]);
- }
-
-}
-void LSM9DS1::magOffset(uint8_t axis, int16_t offset)
-{
- if (axis > 2)
- return;
- uint8_t msb, lsb;
- msb = (offset & 0xFF00) >> 8;
- lsb = offset & 0x00FF;
- mWriteByte(OFFSET_X_REG_L_M + (2 * axis), lsb);
- mWriteByte(OFFSET_X_REG_H_M + (2 * axis), msb);
-}
-
-void LSM9DS1::initMag()
-{
- uint8_t tempRegValue = 0;
-
- // CTRL_REG1_M (Default value: 0x10)
- // [TEMP_COMP][OM1][OM0][DO2][DO1][DO0][0][ST]
- // TEMP_COMP - Temperature compensation
- // OM[1:0] - X & Y axes op mode selection
- // 00:low-power, 01:medium performance
- // 10: high performance, 11:ultra-high performance
- // DO[2:0] - Output data rate selection
- // ST - Self-test enable
- if (settings.mag.tempCompensationEnable) tempRegValue |= (1<<7);
- tempRegValue |= (settings.mag.XYPerformance & 0x3) << 5;
- tempRegValue |= (settings.mag.sampleRate & 0x7) << 2;
- mWriteByte(CTRL_REG1_M, tempRegValue);
-
- // CTRL_REG2_M (Default value 0x00)
- // [0][FS1][FS0][0][REBOOT][SOFT_RST][0][0]
- // FS[1:0] - Full-scale configuration
- // REBOOT - Reboot memory content (0:normal, 1:reboot)
- // SOFT_RST - Reset config and user registers (0:default, 1:reset)
- tempRegValue = 0;
- switch (settings.mag.scale)
- {
- case 8:
- tempRegValue |= (0x1 << 5);
- break;
- case 12:
- tempRegValue |= (0x2 << 5);
- break;
- case 16:
- tempRegValue |= (0x3 << 5);
- break;
- // Otherwise we'll default to 4 gauss (00)
- }
- mWriteByte(CTRL_REG2_M, tempRegValue); // +/-4Gauss
-
- // CTRL_REG3_M (Default value: 0x03)
- // [I2C_DISABLE][0][LP][0][0][SIM][MD1][MD0]
- // I2C_DISABLE - Disable I2C interace (0:enable, 1:disable)
- // LP - Low-power mode cofiguration (1:enable)
- // SIM - SPI mode selection (0:write-only, 1:read/write enable)
- // MD[1:0] - Operating mode
- // 00:continuous conversion, 01:single-conversion,
- // 10,11: Power-down
- tempRegValue = 0;
- if (settings.mag.lowPowerEnable) tempRegValue |= (1<<5);
- tempRegValue |= (settings.mag.operatingMode & 0x3);
- mWriteByte(CTRL_REG3_M, tempRegValue); // Continuous conversion mode
-
- // CTRL_REG4_M (Default value: 0x00)
- // [0][0][0][0][OMZ1][OMZ0][BLE][0]
- // OMZ[1:0] - Z-axis operative mode selection
- // 00:low-power mode, 01:medium performance
- // 10:high performance, 10:ultra-high performance
- // BLE - Big/little endian data
- tempRegValue = 0;
- tempRegValue = (settings.mag.ZPerformance & 0x3) << 2;
- mWriteByte(CTRL_REG4_M, tempRegValue);
-
- // CTRL_REG5_M (Default value: 0x00)
- // [0][BDU][0][0][0][0][0][0]
- // BDU - Block data update for magnetic data
- // 0:continuous, 1:not updated until MSB/LSB are read
- tempRegValue = 0;
- mWriteByte(CTRL_REG5_M, tempRegValue);
-}
-
-uint8_t LSM9DS1::accelAvailable()
-{
- uint8_t status = xgReadByte(STATUS_REG_1);
-
- return (status & (1<<0));
-}
-
-uint8_t LSM9DS1::gyroAvailable()
-{
- uint8_t status = xgReadByte(STATUS_REG_1);
-
- return ((status & (1<<1)) >> 1);
-}
-
-uint8_t LSM9DS1::tempAvailable()
-{
- uint8_t status = xgReadByte(STATUS_REG_1);
-
- return ((status & (1<<2)) >> 2);
-}
-
-uint8_t LSM9DS1::magAvailable(lsm9ds1_axis axis)
-{
- uint8_t status;
- status = mReadByte(STATUS_REG_M);
-
- return ((status & (1<<axis)) >> axis);
-}
-
-void LSM9DS1::readAccel()
-{
- uint8_t temp[6]; // We'll read six bytes from the accelerometer into temp
- xgReadBytes(OUT_X_L_XL, temp, 6); // Read 6 bytes, beginning at OUT_X_L_XL
- ax = (temp[1] << 8) | temp[0]; // Store x-axis values into ax
- ay = (temp[3] << 8) | temp[2]; // Store y-axis values into ay
- az = (temp[5] << 8) | temp[4]; // Store z-axis values into az
- if (_autoCalc)
- {
- ax -= aBiasRaw[X_AXIS];
- ay -= aBiasRaw[Y_AXIS];
- az -= aBiasRaw[Z_AXIS];
- }
-}
-
-int16_t LSM9DS1::readAccel(lsm9ds1_axis axis)
-{
- uint8_t temp[2];
- int16_t value;
- xgReadBytes(OUT_X_L_XL + (2 * axis), temp, 2);
- value = (temp[1] << 8) | temp[0];
-
- if (_autoCalc)
- value -= aBiasRaw[axis];
-
- return value;
-}
-
-void LSM9DS1::readMag()
-{
- uint8_t temp[6]; // We'll read six bytes from the mag into temp
- mReadBytes(OUT_X_L_M, temp, 6); // Read 6 bytes, beginning at OUT_X_L_M
- mx = (temp[1] << 8) | temp[0]; // Store x-axis values into mx
- my = (temp[3] << 8) | temp[2]; // Store y-axis values into my
- mz = (temp[5] << 8) | temp[4]; // Store z-axis values into mz
-}
-
-int16_t LSM9DS1::readMag(lsm9ds1_axis axis)
-{
- uint8_t temp[2];
- mReadBytes(OUT_X_L_M + (2 * axis), temp, 2);
- return (temp[1] << 8) | temp[0];
-}
-
-void LSM9DS1::readTemp()
-{
- uint8_t temp[2]; // We'll read two bytes from the temperature sensor into temp
- xgReadBytes(OUT_TEMP_L, temp, 2); // Read 2 bytes, beginning at OUT_TEMP_L
- temperature = ((int16_t)temp[1] << 8) | temp[0];
-}
-
-void LSM9DS1::readGyro()
-{
- uint8_t temp[6]; // We'll read six bytes from the gyro into temp
- xgReadBytes(OUT_X_L_G, temp, 6); // Read 6 bytes, beginning at OUT_X_L_G
- gx = (temp[1] << 8) | temp[0]; // Store x-axis values into gx
- gy = (temp[3] << 8) | temp[2]; // Store y-axis values into gy
- gz = (temp[5] << 8) | temp[4]; // Store z-axis values into gz
- if (_autoCalc)
- {
- gx -= gBiasRaw[X_AXIS];
- gy -= gBiasRaw[Y_AXIS];
- gz -= gBiasRaw[Z_AXIS];
- }
-}
-
-int16_t LSM9DS1::readGyro(lsm9ds1_axis axis)
-{
- uint8_t temp[2];
- int16_t value;
-
- xgReadBytes(OUT_X_L_G + (2 * axis), temp, 2);
-
- value = (temp[1] << 8) | temp[0];
-
- if (_autoCalc)
- value -= gBiasRaw[axis];
-
- return value;
-}
-
-float LSM9DS1::calcGyro(int16_t gyro)
-{
- // Return the gyro raw reading times our pre-calculated DPS / (ADC tick):
- return gRes * gyro;
-}
-
-float LSM9DS1::calcAccel(int16_t accel)
-{
- // Return the accel raw reading times our pre-calculated g's / (ADC tick):
- return aRes * accel;
-}
-
-float LSM9DS1::calcMag(int16_t mag)
-{
- // Return the mag raw reading times our pre-calculated Gs / (ADC tick):
- return mRes * mag;
-}
-
-void LSM9DS1::setGyroScale(uint16_t gScl)
-{
- // Read current value of CTRL_REG1_G:
- uint8_t ctrl1RegValue = xgReadByte(CTRL_REG1_G);
- // Mask out scale bits (3 & 4):
- ctrl1RegValue &= 0xE7;
- switch (gScl)
- {
- case 500:
- ctrl1RegValue |= (0x1 << 3);
- settings.gyro.scale = 500;
- break;
- case 2000:
- ctrl1RegValue |= (0x3 << 3);
- settings.gyro.scale = 2000;
- break;
- default: // Otherwise we'll set it to 245 dps (0x0 << 4)
- settings.gyro.scale = 245;
- break;
- }
- xgWriteByte(CTRL_REG1_G, ctrl1RegValue);
-
- calcgRes();
-}
-
-void LSM9DS1::setAccelScale(uint8_t aScl)
-{
- // We need to preserve the other bytes in CTRL_REG6_XL. So, first read it:
- uint8_t tempRegValue = xgReadByte(CTRL_REG6_XL);
- // Mask out accel scale bits:
- tempRegValue &= 0xE7;
-
- switch (aScl)
- {
- case 4:
- tempRegValue |= (0x2 << 3);
- settings.accel.scale = 4;
- break;
- case 8:
- tempRegValue |= (0x3 << 3);
- settings.accel.scale = 8;
- break;
- case 16:
- tempRegValue |= (0x1 << 3);
- settings.accel.scale = 16;
- break;
- default: // Otherwise it'll be set to 2g (0x0 << 3)
- settings.accel.scale = 2;
- break;
- }
- xgWriteByte(CTRL_REG6_XL, tempRegValue);
-
- // Then calculate a new aRes, which relies on aScale being set correctly:
- calcaRes();
-}
-
-void LSM9DS1::setMagScale(uint8_t mScl)
-{
- // We need to preserve the other bytes in CTRL_REG6_XM. So, first read it:
- uint8_t temp = mReadByte(CTRL_REG2_M);
- // Then mask out the mag scale bits:
- temp &= 0xFF^(0x3 << 5);
-
- switch (mScl)
- {
- case 8:
- temp |= (0x1 << 5);
- settings.mag.scale = 8;
- break;
- case 12:
- temp |= (0x2 << 5);
- settings.mag.scale = 12;
- break;
- case 16:
- temp |= (0x3 << 5);
- settings.mag.scale = 16;
- break;
- default: // Otherwise we'll default to 4 gauss (00)
- settings.mag.scale = 4;
- break;
- }
-
- // And write the new register value back into CTRL_REG6_XM:
- mWriteByte(CTRL_REG2_M, temp);
-
- // We've updated the sensor, but we also need to update our class variables
- // First update mScale:
- //mScale = mScl;
- // Then calculate a new mRes, which relies on mScale being set correctly:
- calcmRes();
-}
-
-void LSM9DS1::setGyroODR(uint8_t gRate)
-{
- // Only do this if gRate is not 0 (which would disable the gyro)
- if ((gRate & 0x07) != 0)
- {
- // We need to preserve the other bytes in CTRL_REG1_G. So, first read it:
- uint8_t temp = xgReadByte(CTRL_REG1_G);
- // Then mask out the gyro ODR bits:
- temp &= 0xFF^(0x7 << 5);
- temp |= (gRate & 0x07) << 5;
- // Update our settings struct
- settings.gyro.sampleRate = gRate & 0x07;
- // And write the new register value back into CTRL_REG1_G:
- xgWriteByte(CTRL_REG1_G, temp);
- }
-}
-
-void LSM9DS1::setAccelODR(uint8_t aRate)
-{
- // Only do this if aRate is not 0 (which would disable the accel)
- if ((aRate & 0x07) != 0)
- {
- // We need to preserve the other bytes in CTRL_REG1_XM. So, first read it:
- uint8_t temp = xgReadByte(CTRL_REG6_XL);
- // Then mask out the accel ODR bits:
- temp &= 0x1F;
- // Then shift in our new ODR bits:
- temp |= ((aRate & 0x07) << 5);
- settings.accel.sampleRate = aRate & 0x07;
- // And write the new register value back into CTRL_REG1_XM:
- xgWriteByte(CTRL_REG6_XL, temp);
- }
-}
-
-void LSM9DS1::setMagODR(uint8_t mRate)
-{
- // We need to preserve the other bytes in CTRL_REG5_XM. So, first read it:
- uint8_t temp = mReadByte(CTRL_REG1_M);
- // Then mask out the mag ODR bits:
- temp &= 0xFF^(0x7 << 2);
- // Then shift in our new ODR bits:
- temp |= ((mRate & 0x07) << 2);
- settings.mag.sampleRate = mRate & 0x07;
- // And write the new register value back into CTRL_REG5_XM:
- mWriteByte(CTRL_REG1_M, temp);
-}
-
-void LSM9DS1::calcgRes()
-{
- gRes = ((float) settings.gyro.scale) / 32768.0;
-}
-
-void LSM9DS1::calcaRes()
-{
- aRes = ((float) settings.accel.scale) / 32768.0;
-}
-
-void LSM9DS1::calcmRes()
-{
- //mRes = ((float) settings.mag.scale) / 32768.0;
- switch (settings.mag.scale)
- {
- case 4:
- mRes = magSensitivity[0];
- break;
- case 8:
- mRes = magSensitivity[1];
- break;
- case 12:
- mRes = magSensitivity[2];
- break;
- case 16:
- mRes = magSensitivity[3];
- break;
- }
-
-}
-
-void LSM9DS1::configInt(interrupt_select interrupt, uint8_t generator,
- h_lactive activeLow, pp_od pushPull)
-{
- // Write to INT1_CTRL or INT2_CTRL. [interupt] should already be one of
- // those two values.
- // [generator] should be an OR'd list of values from the interrupt_generators enum
- xgWriteByte(interrupt, generator);
-
- // Configure CTRL_REG8
- uint8_t temp;
- temp = xgReadByte(CTRL_REG8);
-
- if (activeLow) temp |= (1<<5);
- else temp &= ~(1<<5);
-
- if (pushPull) temp &= ~(1<<4);
- else temp |= (1<<4);
-
- xgWriteByte(CTRL_REG8, temp);
-}
-
-void LSM9DS1::configInactivity(uint8_t duration, uint8_t threshold, bool sleepOn)
-{
- uint8_t temp = 0;
-
- temp = threshold & 0x7F;
- if (sleepOn) temp |= (1<<7);
- xgWriteByte(ACT_THS, temp);
-
- xgWriteByte(ACT_DUR, duration);
-}
-
-uint8_t LSM9DS1::getInactivity()
-{
- uint8_t temp = xgReadByte(STATUS_REG_0);
- temp &= (0x10);
- return temp;
-}
-
-void LSM9DS1::configAccelInt(uint8_t generator, bool andInterrupts)
-{
- // Use variables from accel_interrupt_generator, OR'd together to create
- // the [generator]value.
- uint8_t temp = generator;
- if (andInterrupts) temp |= 0x80;
- xgWriteByte(INT_GEN_CFG_XL, temp);
-}
-
-void LSM9DS1::configAccelThs(uint8_t threshold, lsm9ds1_axis axis, uint8_t duration, bool wait)
-{
- // Write threshold value to INT_GEN_THS_?_XL.
- // axis will be 0, 1, or 2 (x, y, z respectively)
- xgWriteByte(INT_GEN_THS_X_XL + axis, threshold);
-
- // Write duration and wait to INT_GEN_DUR_XL
- uint8_t temp;
- temp = (duration & 0x7F);
- if (wait) temp |= 0x80;
- xgWriteByte(INT_GEN_DUR_XL, temp);
-}
-
-uint8_t LSM9DS1::getAccelIntSrc()
-{
- uint8_t intSrc = xgReadByte(INT_GEN_SRC_XL);
-
- // Check if the IA_XL (interrupt active) bit is set
- if (intSrc & (1<<6))
- {
- return (intSrc & 0x3F);
- }
-
- return 0;
-}
-
-void LSM9DS1::configGyroInt(uint8_t generator, bool aoi, bool latch)
-{
- // Use variables from accel_interrupt_generator, OR'd together to create
- // the [generator]value.
- uint8_t temp = generator;
- if (aoi) temp |= 0x80;
- if (latch) temp |= 0x40;
- xgWriteByte(INT_GEN_CFG_G, temp);
-}
-
-void LSM9DS1::configGyroThs(int16_t threshold, lsm9ds1_axis axis, uint8_t duration, bool wait)
-{
- uint8_t buffer[2];
- buffer[0] = (threshold & 0x7F00) >> 8;
- buffer[1] = (threshold & 0x00FF);
- // Write threshold value to INT_GEN_THS_?H_G and INT_GEN_THS_?L_G.
- // axis will be 0, 1, or 2 (x, y, z respectively)
- xgWriteByte(INT_GEN_THS_XH_G + (axis * 2), buffer[0]);
- xgWriteByte(INT_GEN_THS_XH_G + 1 + (axis * 2), buffer[1]);
-
- // Write duration and wait to INT_GEN_DUR_XL
- uint8_t temp;
- temp = (duration & 0x7F);
- if (wait) temp |= 0x80;
- xgWriteByte(INT_GEN_DUR_G, temp);
-}
-
-uint8_t LSM9DS1::getGyroIntSrc()
-{
- uint8_t intSrc = xgReadByte(INT_GEN_SRC_G);
-
- // Check if the IA_G (interrupt active) bit is set
- if (intSrc & (1<<6))
- {
- return (intSrc & 0x3F);
- }
-
- return 0;
-}
-
-void LSM9DS1::configMagInt(uint8_t generator, h_lactive activeLow, bool latch)
-{
- // Mask out non-generator bits (0-4)
- uint8_t config = (generator & 0xE0);
- // IEA bit is 0 for active-low, 1 for active-high.
- if (activeLow == INT_ACTIVE_HIGH) config |= (1<<2);
- // IEL bit is 0 for latched, 1 for not-latched
- if (!latch) config |= (1<<1);
- // As long as we have at least 1 generator, enable the interrupt
- if (generator != 0) config |= (1<<0);
-
- mWriteByte(INT_CFG_M, config);
-}
-
-void LSM9DS1::configMagThs(uint16_t threshold)
-{
- // Write high eight bits of [threshold] to INT_THS_H_M
- mWriteByte(INT_THS_H_M, uint8_t((threshold & 0x7F00) >> 8));
- // Write low eight bits of [threshold] to INT_THS_L_M
- mWriteByte(INT_THS_L_M, uint8_t(threshold & 0x00FF));
-}
-
-uint8_t LSM9DS1::getMagIntSrc()
-{
- uint8_t intSrc = mReadByte(INT_SRC_M);
-
- // Check if the INT (interrupt active) bit is set
- if (intSrc & (1<<0))
- {
- return (intSrc & 0xFE);
- }
-
- return 0;
-}
-
-void LSM9DS1::sleepGyro(bool enable)
-{
- uint8_t temp = xgReadByte(CTRL_REG9);
- if (enable) temp |= (1<<6);
- else temp &= ~(1<<6);
- xgWriteByte(CTRL_REG9, temp);
-}
-
-void LSM9DS1::enableFIFO(bool enable)
-{
- uint8_t temp = xgReadByte(CTRL_REG9);
- if (enable) temp |= (1<<1);
- else temp &= ~(1<<1);
- xgWriteByte(CTRL_REG9, temp);
-}
-
-void LSM9DS1::setFIFO(fifoMode_type fifoMode, uint8_t fifoThs)
-{
- // Limit threshold - 0x1F (31) is the maximum. If more than that was asked
- // limit it to the maximum.
- uint8_t threshold = fifoThs <= 0x1F ? fifoThs : 0x1F;
- xgWriteByte(FIFO_CTRL, ((fifoMode & 0x7) << 5) | (threshold & 0x1F));
-}
-
-uint8_t LSM9DS1::getFIFOSamples()
-{
- return (xgReadByte(FIFO_SRC) & 0x3F);
-}
-
-void LSM9DS1::constrainScales()
-{
- if ((settings.gyro.scale != 245) && (settings.gyro.scale != 500) &&
- (settings.gyro.scale != 2000))
- {
- settings.gyro.scale = 245;
- }
-
- if ((settings.accel.scale != 2) && (settings.accel.scale != 4) &&
- (settings.accel.scale != 8) && (settings.accel.scale != 16))
- {
- settings.accel.scale = 2;
- }
-
- if ((settings.mag.scale != 4) && (settings.mag.scale != 8) &&
- (settings.mag.scale != 12) && (settings.mag.scale != 16))
- {
- settings.mag.scale = 4;
- }
-}
-
-void LSM9DS1::xgWriteByte(uint8_t subAddress, uint8_t data)
-{
- // Whether we're using I2C or SPI, write a byte using the
- // gyro-specific I2C address or SPI CS pin.
- if (settings.device.commInterface == IMU_MODE_I2C) {
- printf("yo");
- I2CwriteByte(_xgAddress, subAddress, data);
- } else if (settings.device.commInterface == IMU_MODE_SPI) {
- SPIwriteByte(_xgAddress, subAddress, data);
- }
-}
-
-void LSM9DS1::mWriteByte(uint8_t subAddress, uint8_t data)
-{
- // Whether we're using I2C or SPI, write a byte using the
- // accelerometer-specific I2C address or SPI CS pin.
- if (settings.device.commInterface == IMU_MODE_I2C)
- return I2CwriteByte(_mAddress, subAddress, data);
- else if (settings.device.commInterface == IMU_MODE_SPI)
- return SPIwriteByte(_mAddress, subAddress, data);
-}
-
-uint8_t LSM9DS1::xgReadByte(uint8_t subAddress)
-{
- // Whether we're using I2C or SPI, read a byte using the
- // gyro-specific I2C address or SPI CS pin.
- if (settings.device.commInterface == IMU_MODE_I2C)
- return I2CreadByte(_xgAddress, subAddress);
- else if (settings.device.commInterface == IMU_MODE_SPI)
- return SPIreadByte(_xgAddress, subAddress);
-}
-
-void LSM9DS1::xgReadBytes(uint8_t subAddress, uint8_t * dest, uint8_t count)
-{
- // Whether we're using I2C or SPI, read multiple bytes using the
- // gyro-specific I2C address or SPI CS pin.
- if (settings.device.commInterface == IMU_MODE_I2C) {
- I2CreadBytes(_xgAddress, subAddress, dest, count);
- } else if (settings.device.commInterface == IMU_MODE_SPI) {
- SPIreadBytes(_xgAddress, subAddress, dest, count);
- }
-}
-
-uint8_t LSM9DS1::mReadByte(uint8_t subAddress)
-{
- // Whether we're using I2C or SPI, read a byte using the
- // accelerometer-specific I2C address or SPI CS pin.
- if (settings.device.commInterface == IMU_MODE_I2C)
- return I2CreadByte(_mAddress, subAddress);
- else if (settings.device.commInterface == IMU_MODE_SPI)
- return SPIreadByte(_mAddress, subAddress);
-}
-
-void LSM9DS1::mReadBytes(uint8_t subAddress, uint8_t * dest, uint8_t count)
-{
- // Whether we're using I2C or SPI, read multiple bytes using the
- // accelerometer-specific I2C address or SPI CS pin.
- if (settings.device.commInterface == IMU_MODE_I2C)
- I2CreadBytes(_mAddress, subAddress, dest, count);
- else if (settings.device.commInterface == IMU_MODE_SPI)
- SPIreadBytes(_mAddress, subAddress, dest, count);
-}
-
-void LSM9DS1::initSPI()
-{
- /*
- pinMode(_xgAddress, OUTPUT);
- digitalWrite(_xgAddress, HIGH);
- pinMode(_mAddress, OUTPUT);
- digitalWrite(_mAddress, HIGH);
-
- SPI.begin();
- // Maximum SPI frequency is 10MHz, could divide by 2 here:
- SPI.setClockDivider(SPI_CLOCK_DIV2);
- // Data is read and written MSb first.
- SPI.setBitOrder(MSBFIRST);
- // Data is captured on rising edge of clock (CPHA = 0)
- // Base value of the clock is HIGH (CPOL = 1)
- SPI.setDataMode(SPI_MODE0);
- */
-}
-
-void LSM9DS1::SPIwriteByte(uint8_t csPin, uint8_t subAddress, uint8_t data)
-{
- /*
- digitalWrite(csPin, LOW); // Initiate communication
-
- // If write, bit 0 (MSB) should be 0
- // If single write, bit 1 should be 0
- SPI.transfer(subAddress & 0x3F); // Send Address
- SPI.transfer(data); // Send data
-
- digitalWrite(csPin, HIGH); // Close communication
- */
-}
-
-uint8_t LSM9DS1::SPIreadByte(uint8_t csPin, uint8_t subAddress)
-{
- uint8_t temp;
- // Use the multiple read function to read 1 byte.
- // Value is returned to `temp`.
- SPIreadBytes(csPin, subAddress, &temp, 1);
- return temp;
-}
-
-void LSM9DS1::SPIreadBytes(uint8_t csPin, uint8_t subAddress,
- uint8_t * dest, uint8_t count)
-{
- // To indicate a read, set bit 0 (msb) of first byte to 1
- uint8_t rAddress = 0x80 | (subAddress & 0x3F);
- // Mag SPI port is different. If we're reading multiple bytes,
- // set bit 1 to 1. The remaining six bytes are the address to be read
- if ((csPin == _mAddress) && count > 1)
- rAddress |= 0x40;
-
- /*
- digitalWrite(csPin, LOW); // Initiate communication
- SPI.transfer(rAddress);
- for (int i=0; i<count; i++)
- {
- dest[i] = SPI.transfer(0x00); // Read into destination array
- }
- digitalWrite(csPin, HIGH); // Close communication
- */
-}
-
-void LSM9DS1::initI2C()
-{
- /*
- Wire.begin(); // Initialize I2C library
- */
-
- //already initialized in constructor!
-}
-
-// Wire.h read and write protocols
-void LSM9DS1::I2CwriteByte(uint8_t address, uint8_t subAddress, uint8_t data)
-{
- /*
- Wire.beginTransmission(address); // Initialize the Tx buffer
- Wire.write(subAddress); // Put slave register address in Tx buffer
- Wire.write(data); // Put data in Tx buffer
- Wire.endTransmission(); // Send the Tx buffer
- */
- char temp_data[2] = {subAddress, data};
- i2c.write(address, temp_data, 2);
-}
-
-uint8_t LSM9DS1::I2CreadByte(uint8_t address, uint8_t subAddress)
-{
- /*
- int timeout = LSM9DS1_COMMUNICATION_TIMEOUT;
- uint8_t data; // `data` will store the register data
-
- Wire.beginTransmission(address); // Initialize the Tx buffer
- Wire.write(subAddress); // Put slave register address in Tx buffer
- Wire.endTransmission(true); // Send the Tx buffer, but send a restart to keep connection alive
- Wire.requestFrom(address, (uint8_t) 1); // Read one byte from slave register address
- while ((Wire.available() < 1) && (timeout-- > 0))
- delay(1);
-
- if (timeout <= 0)
- return 255; //! Bad! 255 will be misinterpreted as a good value.
-
- data = Wire.read(); // Fill Rx buffer with result
- return data; // Return data read from slave register
- */
- char data;
- char temp[1] = {subAddress};
-
- i2c.write(address, temp, 1);
- //i2c.write(address & 0xFE);
- temp[1] = 0x00;
- i2c.write(address, temp, 1);
- //i2c.write( address | 0x01);
- int a = i2c.read(address, &data, 1);
- return data;
-}
-
-uint8_t LSM9DS1::I2CreadBytes(uint8_t address, uint8_t subAddress, uint8_t * dest, uint8_t count)
-{
- /*
- int timeout = LSM9DS1_COMMUNICATION_TIMEOUT;
- Wire.beginTransmission(address); // Initialize the Tx buffer
- // Next send the register to be read. OR with 0x80 to indicate multi-read.
- Wire.write(subAddress | 0x80); // Put slave register address in Tx buffer
-
- Wire.endTransmission(true); // Send the Tx buffer, but send a restart to keep connection alive
- uint8_t i = 0;
- Wire.requestFrom(address, count); // Read bytes from slave register address
- while ((Wire.available() < count) && (timeout-- > 0))
- delay(1);
- if (timeout <= 0)
- return -1;
-
- for (int i=0; i<count;)
- {
- if (Wire.available())
- {
- dest[i++] = Wire.read();
- }
- }
- return count;
- */
- int i;
- char temp_dest[count];
- char temp[1] = {subAddress};
- i2c.write(address, temp, 1);
- i2c.read(address, temp_dest, count);
-
- //i2c doesn't take uint8_ts, but rather chars so do this nasty af conversion
- for (i=0; i < count; i++) {
- dest[i] = temp_dest[i];
- }
- return count;
-}
--- a/LSM9DS1.h Wed Feb 03 18:24:29 2016 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,557 +0,0 @@
-/******************************************************************************
-SFE_LSM9DS1.h
-SFE_LSM9DS1 Library Header File
-Jim Lindblom @ SparkFun Electronics
-Original Creation Date: February 27, 2015
-https://github.com/sparkfun/LSM9DS1_Breakout
-
-This file prototypes the LSM9DS1 class, implemented in SFE_LSM9DS1.cpp. In
-addition, it defines every register in the LSM9DS1 (both the Gyro and Accel/
-Magnetometer registers).
-
-Development environment specifics:
- IDE: Arduino 1.6.0
- Hardware Platform: Arduino Uno
- LSM9DS1 Breakout Version: 1.0
-
-This code is beerware; if you see me (or any other SparkFun employee) at the
-local, and you've found our code helpful, please buy us a round!
-
-Distributed as-is; no warranty is given.
-******************************************************************************/
-#ifndef __SparkFunLSM9DS1_H__
-#define __SparkFunLSM9DS1_H__
-
-//#if defined(ARDUINO) && ARDUINO >= 100
-// #include "Arduino.h"
-//#else
-// #include "WProgram.h"
-// #include "pins_arduino.h"
-//#endif
-
-#include "mbed.h"
-#include <stdint.h>
-#include "LSM9DS1_Registers.h"
-#include "LSM9DS1_Types.h"
-
-#define LSM9DS1_AG_ADDR(sa0) ((sa0) == 0 ? 0x6A : 0x6B)
-#define LSM9DS1_M_ADDR(sa1) ((sa1) == 0 ? 0x1C : 0x1E)
-
-enum lsm9ds1_axis {
- X_AXIS,
- Y_AXIS,
- Z_AXIS,
- ALL_AXIS
-};
-
-class LSM9DS1
-{
-public:
- IMUSettings settings;
-
- // We'll store the gyro, accel, and magnetometer readings in a series of
- // public class variables. Each sensor gets three variables -- one for each
- // axis. Call readGyro(), readAccel(), and readMag() first, before using
- // these variables!
- // These values are the RAW signed 16-bit readings from the sensors.
- int16_t gx, gy, gz; // x, y, and z axis readings of the gyroscope
- int16_t ax, ay, az; // x, y, and z axis readings of the accelerometer
- int16_t mx, my, mz; // x, y, and z axis readings of the magnetometer
- int16_t temperature; // Chip temperature
- float gBias[3], aBias[3], mBias[3];
- int16_t gBiasRaw[3], aBiasRaw[3], mBiasRaw[3];
-
- // LSM9DS1 -- LSM9DS1 class constructor
- // The constructor will set up a handful of private variables, and set the
- // communication mode as well.
- /**Input:
- * - interface = Either IMU_MODE_SPI or IMU_MODE_I2C, whichever you're using
- * to talk to the IC.
- * - xgAddr = If IMU_MODE_I2C, this is the I2C address of the accel/gyroscope.
- * If IMU_MODE_SPI, this is the chip select pin of the gyro (CS_AG)
- * - mAddr = If IMU_MODE_I2C, this is the I2C address of the magnetometer.
- * If IMU_MODE_SPI, this is the cs pin of the magnetometer (CS_M)
-
- */
- LSM9DS1(PinName sda, PinName scl, uint8_t xgAddr, uint8_t mAddr);
- //LSM9DS1(interface_mode interface, uint8_t xgAddr, uint8_t mAddr);
- //LSM9DS1();
-
-
- /** begin() -- Initialize the gyro, accelerometer, and magnetometer.
- *This will set up the scale and output rate of each sensor. The values set
- * in the IMUSettings struct will take effect after calling this function.
- */
- uint16_t begin();
-
- void calibrate(bool autoCalc = true);
- void calibrateMag(bool loadIn = true);
- void magOffset(uint8_t axis, int16_t offset);
-
- /** accelAvailable() -- Polls the accelerometer status register to check
- * if new data is available.
- * Output: 1 - New data available
- * 0 - No new data available
- */
- uint8_t accelAvailable();
-
- /** gyroAvailable() -- Polls the gyroscope status register to check
- * if new data is available.
- * Output: 1 - New data available
- * 0 - No new data available
- */
- uint8_t gyroAvailable();
-
- /** gyroAvailable() -- Polls the temperature status register to check
- * if new data is available.
- * Output: 1 - New data available
- * 0 - No new data available
- */
- uint8_t tempAvailable();
-
- /** magAvailable() -- Polls the accelerometer status register to check
- * if new data is available.
- * Input:
- * - axis can be either X_AXIS, Y_AXIS, Z_AXIS, to check for new data
- * on one specific axis. Or ALL_AXIS (default) to check for new data
- * on all axes.
- * Output: 1 - New data available
- * 0 - No new data available
- */
- uint8_t magAvailable(lsm9ds1_axis axis = ALL_AXIS);
-
- /** readGyro() -- Read the gyroscope output registers.
- * This function will read all six gyroscope output registers.
- * The readings are stored in the class' gx, gy, and gz variables. Read
- * those _after_ calling readGyro().
- */
- void readGyro();
-
- /** int16_t readGyro(axis) -- Read a specific axis of the gyroscope.
- * [axis] can be any of X_AXIS, Y_AXIS, or Z_AXIS.
- * Input:
- * - axis: can be either X_AXIS, Y_AXIS, or Z_AXIS.
- * Output:
- * A 16-bit signed integer with sensor data on requested axis.
- */
- int16_t readGyro(lsm9ds1_axis axis);
-
- /** readAccel() -- Read the accelerometer output registers.
- * This function will read all six accelerometer output registers.
- * The readings are stored in the class' ax, ay, and az variables. Read
- * those _after_ calling readAccel().
- */
- void readAccel();
-
- /** int16_t readAccel(axis) -- Read a specific axis of the accelerometer.
- * [axis] can be any of X_AXIS, Y_AXIS, or Z_AXIS.
- * Input:
- * - axis: can be either X_AXIS, Y_AXIS, or Z_AXIS.
- * Output:
- * A 16-bit signed integer with sensor data on requested axis.
- */
- int16_t readAccel(lsm9ds1_axis axis);
-
- /** readMag() -- Read the magnetometer output registers.
- * This function will read all six magnetometer output registers.
- * The readings are stored in the class' mx, my, and mz variables. Read
- * those _after_ calling readMag().
- */
- void readMag();
-
- /** int16_t readMag(axis) -- Read a specific axis of the magnetometer.
- * [axis] can be any of X_AXIS, Y_AXIS, or Z_AXIS.
- * Input:
- * - axis: can be either X_AXIS, Y_AXIS, or Z_AXIS.
- * Output:
- * A 16-bit signed integer with sensor data on requested axis.
- */
- int16_t readMag(lsm9ds1_axis axis);
-
- /** readTemp() -- Read the temperature output register.
- * This function will read two temperature output registers.
- * The combined readings are stored in the class' temperature variables. Read
- * those _after_ calling readTemp().
- */
- void readTemp();
-
- /** calcGyro() -- Convert from RAW signed 16-bit value to degrees per second
- * This function reads in a signed 16-bit value and returns the scaled
- * DPS. This function relies on gScale and gRes being correct.
- * Input:
- * - gyro = A signed 16-bit raw reading from the gyroscope.
- */
- float calcGyro(int16_t gyro);
-
- /** calcAccel() -- Convert from RAW signed 16-bit value to gravity (g's).
- * This function reads in a signed 16-bit value and returns the scaled
- * g's. This function relies on aScale and aRes being correct.
- * Input:
- * - accel = A signed 16-bit raw reading from the accelerometer.
- */
- float calcAccel(int16_t accel);
-
- /** calcMag() -- Convert from RAW signed 16-bit value to Gauss (Gs)
- * This function reads in a signed 16-bit value and returns the scaled
- * Gs. This function relies on mScale and mRes being correct.
- * Input:
- * - mag = A signed 16-bit raw reading from the magnetometer.
- */
- float calcMag(int16_t mag);
-
- /** setGyroScale() -- Set the full-scale range of the gyroscope.
- * This function can be called to set the scale of the gyroscope to
- * 245, 500, or 200 degrees per second.
- * Input:
- * - gScl = The desired gyroscope scale. Must be one of three possible
- * values from the gyro_scale.
- */
- void setGyroScale(uint16_t gScl);
-
- /** setAccelScale() -- Set the full-scale range of the accelerometer.
- * This function can be called to set the scale of the accelerometer to
- * 2, 4, 6, 8, or 16 g's.
- * Input:
- * - aScl = The desired accelerometer scale. Must be one of five possible
- * values from the accel_scale.
- */
- void setAccelScale(uint8_t aScl);
-
- /** setMagScale() -- Set the full-scale range of the magnetometer.
- * This function can be called to set the scale of the magnetometer to
- * 2, 4, 8, or 12 Gs.
- * Input:
- * - mScl = The desired magnetometer scale. Must be one of four possible
- * values from the mag_scale.
- */
- void setMagScale(uint8_t mScl);
-
- /** setGyroODR() -- Set the output data rate and bandwidth of the gyroscope
- * Input:
- * - gRate = The desired output rate and cutoff frequency of the gyro.
- */
- void setGyroODR(uint8_t gRate);
-
- // setAccelODR() -- Set the output data rate of the accelerometer
- // Input:
- // - aRate = The desired output rate of the accel.
- void setAccelODR(uint8_t aRate);
-
- // setMagODR() -- Set the output data rate of the magnetometer
- // Input:
- // - mRate = The desired output rate of the mag.
- void setMagODR(uint8_t mRate);
-
- // configInactivity() -- Configure inactivity interrupt parameters
- // Input:
- // - duration = Inactivity duration - actual value depends on gyro ODR
- // - threshold = Activity Threshold
- // - sleepOn = Gyroscope operating mode during inactivity.
- // true: gyroscope in sleep mode
- // false: gyroscope in power-down
- void configInactivity(uint8_t duration, uint8_t threshold, bool sleepOn);
-
- // configAccelInt() -- Configure Accelerometer Interrupt Generator
- // Input:
- // - generator = Interrupt axis/high-low events
- // Any OR'd combination of ZHIE_XL, ZLIE_XL, YHIE_XL, YLIE_XL, XHIE_XL, XLIE_XL
- // - andInterrupts = AND/OR combination of interrupt events
- // true: AND combination
- // false: OR combination
- void configAccelInt(uint8_t generator, bool andInterrupts = false);
-
- // configAccelThs() -- Configure the threshold of an accelereomter axis
- // Input:
- // - threshold = Interrupt threshold. Possible values: 0-255.
- // Multiply by 128 to get the actual raw accel value.
- // - axis = Axis to be configured. Either X_AXIS, Y_AXIS, or Z_AXIS
- // - duration = Duration value must be above or below threshold to trigger interrupt
- // - wait = Wait function on duration counter
- // true: Wait for duration samples before exiting interrupt
- // false: Wait function off
- void configAccelThs(uint8_t threshold, lsm9ds1_axis axis, uint8_t duration = 0, bool wait = 0);
-
- // configGyroInt() -- Configure Gyroscope Interrupt Generator
- // Input:
- // - generator = Interrupt axis/high-low events
- // Any OR'd combination of ZHIE_G, ZLIE_G, YHIE_G, YLIE_G, XHIE_G, XLIE_G
- // - aoi = AND/OR combination of interrupt events
- // true: AND combination
- // false: OR combination
- // - latch: latch gyroscope interrupt request.
- void configGyroInt(uint8_t generator, bool aoi, bool latch);
-
- // configGyroThs() -- Configure the threshold of a gyroscope axis
- // Input:
- // - threshold = Interrupt threshold. Possible values: 0-0x7FF.
- // Value is equivalent to raw gyroscope value.
- // - axis = Axis to be configured. Either X_AXIS, Y_AXIS, or Z_AXIS
- // - duration = Duration value must be above or below threshold to trigger interrupt
- // - wait = Wait function on duration counter
- // true: Wait for duration samples before exiting interrupt
- // false: Wait function off
- void configGyroThs(int16_t threshold, lsm9ds1_axis axis, uint8_t duration, bool wait);
-
- // configInt() -- Configure INT1 or INT2 (Gyro and Accel Interrupts only)
- // Input:
- // - interrupt = Select INT1 or INT2
- // Possible values: XG_INT1 or XG_INT2
- // - generator = Or'd combination of interrupt generators.
- // Possible values: INT_DRDY_XL, INT_DRDY_G, INT1_BOOT (INT1 only), INT2_DRDY_TEMP (INT2 only)
- // INT_FTH, INT_OVR, INT_FSS5, INT_IG_XL (INT1 only), INT1_IG_G (INT1 only), INT2_INACT (INT2 only)
- // - activeLow = Interrupt active configuration
- // Can be either INT_ACTIVE_HIGH or INT_ACTIVE_LOW
- // - pushPull = Push-pull or open drain interrupt configuration
- // Can be either INT_PUSH_PULL or INT_OPEN_DRAIN
- void configInt(interrupt_select interupt, uint8_t generator,
- h_lactive activeLow = INT_ACTIVE_LOW, pp_od pushPull = INT_PUSH_PULL);
-
- /** configMagInt() -- Configure Magnetometer Interrupt Generator
- * Input:
- * - generator = Interrupt axis/high-low events
- * Any OR'd combination of ZIEN, YIEN, XIEN
- * - activeLow = Interrupt active configuration
- * Can be either INT_ACTIVE_HIGH or INT_ACTIVE_LOW
- * - latch: latch gyroscope interrupt request.
- */
- void configMagInt(uint8_t generator, h_lactive activeLow, bool latch = true);
-
- /** configMagThs() -- Configure the threshold of a gyroscope axis
- * Input:
- * - threshold = Interrupt threshold. Possible values: 0-0x7FF.
- * Value is equivalent to raw magnetometer value.
- */
- void configMagThs(uint16_t threshold);
-
- //! getGyroIntSrc() -- Get contents of Gyroscope interrupt source register
- uint8_t getGyroIntSrc();
-
- //! getGyroIntSrc() -- Get contents of accelerometer interrupt source register
- uint8_t getAccelIntSrc();
-
- //! getGyroIntSrc() -- Get contents of magnetometer interrupt source register
- uint8_t getMagIntSrc();
-
- //! getGyroIntSrc() -- Get status of inactivity interrupt
- uint8_t getInactivity();
-
- /** sleepGyro() -- Sleep or wake the gyroscope
- * Input:
- * - enable: True = sleep gyro. False = wake gyro.
- */
- void sleepGyro(bool enable = true);
-
- /** enableFIFO() - Enable or disable the FIFO
- * Input:
- * - enable: true = enable, false = disable.
- */
- void enableFIFO(bool enable = true);
-
- /** setFIFO() - Configure FIFO mode and Threshold
- * Input:
- * - fifoMode: Set FIFO mode to off, FIFO (stop when full), continuous, bypass
- * Possible inputs: FIFO_OFF, FIFO_THS, FIFO_CONT_TRIGGER, FIFO_OFF_TRIGGER, FIFO_CONT
- * - fifoThs: FIFO threshold level setting
- * Any value from 0-0x1F is acceptable.
- */
- void setFIFO(fifoMode_type fifoMode, uint8_t fifoThs);
-
- //! getFIFOSamples() - Get number of FIFO samples
- uint8_t getFIFOSamples();
-
-
-protected:
- // x_mAddress and gAddress store the I2C address or SPI chip select pin
- // for each sensor.
- uint8_t _mAddress, _xgAddress;
-
- // gRes, aRes, and mRes store the current resolution for each sensor.
- // Units of these values would be DPS (or g's or Gs's) per ADC tick.
- // This value is calculated as (sensor scale) / (2^15).
- float gRes, aRes, mRes;
-
- // _autoCalc keeps track of whether we're automatically subtracting off
- // accelerometer and gyroscope bias calculated in calibrate().
- bool _autoCalc;
-
- // init() -- Sets up gyro, accel, and mag settings to default.
- // - interface - Sets the interface mode (IMU_MODE_I2C or IMU_MODE_SPI)
- // - xgAddr - Sets either the I2C address of the accel/gyro or SPI chip
- // select pin connected to the CS_XG pin.
- // - mAddr - Sets either the I2C address of the magnetometer or SPI chip
- // select pin connected to the CS_M pin.
- void init(interface_mode interface, uint8_t xgAddr, uint8_t mAddr);
-
- // initGyro() -- Sets up the gyroscope to begin reading.
- // This function steps through all five gyroscope control registers.
- // Upon exit, the following parameters will be set:
- // - CTRL_REG1_G = 0x0F: Normal operation mode, all axes enabled.
- // 95 Hz ODR, 12.5 Hz cutoff frequency.
- // - CTRL_REG2_G = 0x00: HPF set to normal mode, cutoff frequency
- // set to 7.2 Hz (depends on ODR).
- // - CTRL_REG3_G = 0x88: Interrupt enabled on INT_G (set to push-pull and
- // active high). Data-ready output enabled on DRDY_G.
- // - CTRL_REG4_G = 0x00: Continuous update mode. Data LSB stored in lower
- // address. Scale set to 245 DPS. SPI mode set to 4-wire.
- // - CTRL_REG5_G = 0x00: FIFO disabled. HPF disabled.
- void initGyro();
-
- // initAccel() -- Sets up the accelerometer to begin reading.
- // This function steps through all accelerometer related control registers.
- // Upon exit these registers will be set as:
- // - CTRL_REG0_XM = 0x00: FIFO disabled. HPF bypassed. Normal mode.
- // - CTRL_REG1_XM = 0x57: 100 Hz data rate. Continuous update.
- // all axes enabled.
- // - CTRL_REG2_XM = 0x00: 2g scale. 773 Hz anti-alias filter BW.
- // - CTRL_REG3_XM = 0x04: Accel data ready signal on INT1_XM pin.
- void initAccel();
-
- // initMag() -- Sets up the magnetometer to begin reading.
- // This function steps through all magnetometer-related control registers.
- // Upon exit these registers will be set as:
- // - CTRL_REG4_XM = 0x04: Mag data ready signal on INT2_XM pin.
- // - CTRL_REG5_XM = 0x14: 100 Hz update rate. Low resolution. Interrupt
- // requests don't latch. Temperature sensor disabled.
- // - CTRL_REG6_XM = 0x00: 2 Gs scale.
- // - CTRL_REG7_XM = 0x00: Continuous conversion mode. Normal HPF mode.
- // - INT_CTRL_REG_M = 0x09: Interrupt active-high. Enable interrupts.
- void initMag();
-
- // gReadByte() -- Reads a byte from a specified gyroscope register.
- // Input:
- // - subAddress = Register to be read from.
- // Output:
- // - An 8-bit value read from the requested address.
- uint8_t mReadByte(uint8_t subAddress);
-
- // gReadBytes() -- Reads a number of bytes -- beginning at an address
- // and incrementing from there -- from the gyroscope.
- // Input:
- // - subAddress = Register to be read from.
- // - * dest = A pointer to an array of uint8_t's. Values read will be
- // stored in here on return.
- // - count = The number of bytes to be read.
- // Output: No value is returned, but the `dest` array will store
- // the data read upon exit.
- void mReadBytes(uint8_t subAddress, uint8_t * dest, uint8_t count);
-
- // gWriteByte() -- Write a byte to a register in the gyroscope.
- // Input:
- // - subAddress = Register to be written to.
- // - data = data to be written to the register.
- void mWriteByte(uint8_t subAddress, uint8_t data);
-
- // xmReadByte() -- Read a byte from a register in the accel/mag sensor
- // Input:
- // - subAddress = Register to be read from.
- // Output:
- // - An 8-bit value read from the requested register.
- uint8_t xgReadByte(uint8_t subAddress);
-
- // xmReadBytes() -- Reads a number of bytes -- beginning at an address
- // and incrementing from there -- from the accelerometer/magnetometer.
- // Input:
- // - subAddress = Register to be read from.
- // - * dest = A pointer to an array of uint8_t's. Values read will be
- // stored in here on return.
- // - count = The number of bytes to be read.
- // Output: No value is returned, but the `dest` array will store
- // the data read upon exit.
- void xgReadBytes(uint8_t subAddress, uint8_t * dest, uint8_t count);
-
- // xmWriteByte() -- Write a byte to a register in the accel/mag sensor.
- // Input:
- // - subAddress = Register to be written to.
- // - data = data to be written to the register.
- void xgWriteByte(uint8_t subAddress, uint8_t data);
-
- // calcgRes() -- Calculate the resolution of the gyroscope.
- // This function will set the value of the gRes variable. gScale must
- // be set prior to calling this function.
- void calcgRes();
-
- // calcmRes() -- Calculate the resolution of the magnetometer.
- // This function will set the value of the mRes variable. mScale must
- // be set prior to calling this function.
- void calcmRes();
-
- // calcaRes() -- Calculate the resolution of the accelerometer.
- // This function will set the value of the aRes variable. aScale must
- // be set prior to calling this function.
- void calcaRes();
-
- //////////////////////
- // Helper Functions //
- //////////////////////
- void constrainScales();
-
- ///////////////////
- // SPI Functions //
- ///////////////////
- // initSPI() -- Initialize the SPI hardware.
- // This function will setup all SPI pins and related hardware.
- void initSPI();
-
- // SPIwriteByte() -- Write a byte out of SPI to a register in the device
- // Input:
- // - csPin = The chip select pin of the slave device.
- // - subAddress = The register to be written to.
- // - data = Byte to be written to the register.
- void SPIwriteByte(uint8_t csPin, uint8_t subAddress, uint8_t data);
-
- // SPIreadByte() -- Read a single byte from a register over SPI.
- // Input:
- // - csPin = The chip select pin of the slave device.
- // - subAddress = The register to be read from.
- // Output:
- // - The byte read from the requested address.
- uint8_t SPIreadByte(uint8_t csPin, uint8_t subAddress);
-
- // SPIreadBytes() -- Read a series of bytes, starting at a register via SPI
- // Input:
- // - csPin = The chip select pin of a slave device.
- // - subAddress = The register to begin reading.
- // - * dest = Pointer to an array where we'll store the readings.
- // - count = Number of registers to be read.
- // Output: No value is returned by the function, but the registers read are
- // all stored in the *dest array given.
- void SPIreadBytes(uint8_t csPin, uint8_t subAddress,
- uint8_t * dest, uint8_t count);
-
- ///////////////////
- // I2C Functions //
- ///////////////////
- // initI2C() -- Initialize the I2C hardware.
- // This function will setup all I2C pins and related hardware.
- void initI2C();
-
- // I2CwriteByte() -- Write a byte out of I2C to a register in the device
- // Input:
- // - address = The 7-bit I2C address of the slave device.
- // - subAddress = The register to be written to.
- // - data = Byte to be written to the register.
- void I2CwriteByte(uint8_t address, uint8_t subAddress, uint8_t data);
-
- // I2CreadByte() -- Read a single byte from a register over I2C.
- // Input:
- // - address = The 7-bit I2C address of the slave device.
- // - subAddress = The register to be read from.
- // Output:
- // - The byte read from the requested address.
- uint8_t I2CreadByte(uint8_t address, uint8_t subAddress);
-
- // I2CreadBytes() -- Read a series of bytes, starting at a register via SPI
- // Input:
- // - address = The 7-bit I2C address of the slave device.
- // - subAddress = The register to begin reading.
- // - * dest = Pointer to an array where we'll store the readings.
- // - count = Number of registers to be read.
- // Output: No value is returned by the function, but the registers read are
- // all stored in the *dest array given.
- uint8_t I2CreadBytes(uint8_t address, uint8_t subAddress, uint8_t * dest, uint8_t count);
-
-private:
- I2C i2c;
-};
-
-#endif // SFE_LSM9DS1_H //
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/LSM9DS1_Library_cal.lib Fri Dec 06 13:47:56 2019 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/users/4180_1/code/LSM9DS1_Library_cal/#36abf8e18ade
--- a/LSM9DS1_Registers.h Wed Feb 03 18:24:29 2016 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,112 +0,0 @@ -/****************************************************************************** -LSM9DS1_Registers.h -SFE_LSM9DS1 Library - LSM9DS1 Register Map -Jim Lindblom @ SparkFun Electronics -Original Creation Date: April 21, 2015 -https://github.com/sparkfun/LSM9DS1_Breakout - -This file defines all registers internal to the gyro/accel and magnetometer -devices in the LSM9DS1. - -Development environment specifics: - IDE: Arduino 1.6.0 - Hardware Platform: Arduino Uno - LSM9DS1 Breakout Version: 1.0 - -This code is beerware; if you see me (or any other SparkFun employee) at the -local, and you've found our code helpful, please buy us a round! - -Distributed as-is; no warranty is given. -******************************************************************************/ - -#ifndef __LSM9DS1_Registers_H__ -#define __LSM9DS1_Registers_H__ - -///////////////////////////////////////// -// LSM9DS1 Accel/Gyro (XL/G) Registers // -///////////////////////////////////////// -#define ACT_THS 0x04 -#define ACT_DUR 0x05 -#define INT_GEN_CFG_XL 0x06 -#define INT_GEN_THS_X_XL 0x07 -#define INT_GEN_THS_Y_XL 0x08 -#define INT_GEN_THS_Z_XL 0x09 -#define INT_GEN_DUR_XL 0x0A -#define REFERENCE_G 0x0B -#define INT1_CTRL 0x0C -#define INT2_CTRL 0x0D -#define WHO_AM_I_XG 0x0F -#define CTRL_REG1_G 0x10 -#define CTRL_REG2_G 0x11 -#define CTRL_REG3_G 0x12 -#define ORIENT_CFG_G 0x13 -#define INT_GEN_SRC_G 0x14 -#define OUT_TEMP_L 0x15 -#define OUT_TEMP_H 0x16 -#define STATUS_REG_0 0x17 -#define OUT_X_L_G 0x18 -#define OUT_X_H_G 0x19 -#define OUT_Y_L_G 0x1A -#define OUT_Y_H_G 0x1B -#define OUT_Z_L_G 0x1C -#define OUT_Z_H_G 0x1D -#define CTRL_REG4 0x1E -#define CTRL_REG5_XL 0x1F -#define CTRL_REG6_XL 0x20 -#define CTRL_REG7_XL 0x21 -#define CTRL_REG8 0x22 -#define CTRL_REG9 0x23 -#define CTRL_REG10 0x24 -#define INT_GEN_SRC_XL 0x26 -#define STATUS_REG_1 0x27 -#define OUT_X_L_XL 0x28 -#define OUT_X_H_XL 0x29 -#define OUT_Y_L_XL 0x2A -#define OUT_Y_H_XL 0x2B -#define OUT_Z_L_XL 0x2C -#define OUT_Z_H_XL 0x2D -#define FIFO_CTRL 0x2E -#define FIFO_SRC 0x2F -#define INT_GEN_CFG_G 0x30 -#define INT_GEN_THS_XH_G 0x31 -#define INT_GEN_THS_XL_G 0x32 -#define INT_GEN_THS_YH_G 0x33 -#define INT_GEN_THS_YL_G 0x34 -#define INT_GEN_THS_ZH_G 0x35 -#define INT_GEN_THS_ZL_G 0x36 -#define INT_GEN_DUR_G 0x37 - -/////////////////////////////// -// LSM9DS1 Magneto Registers // -/////////////////////////////// -#define OFFSET_X_REG_L_M 0x05 -#define OFFSET_X_REG_H_M 0x06 -#define OFFSET_Y_REG_L_M 0x07 -#define OFFSET_Y_REG_H_M 0x08 -#define OFFSET_Z_REG_L_M 0x09 -#define OFFSET_Z_REG_H_M 0x0A -#define WHO_AM_I_M 0x0F -#define CTRL_REG1_M 0x20 -#define CTRL_REG2_M 0x21 -#define CTRL_REG3_M 0x22 -#define CTRL_REG4_M 0x23 -#define CTRL_REG5_M 0x24 -#define STATUS_REG_M 0x27 -#define OUT_X_L_M 0x28 -#define OUT_X_H_M 0x29 -#define OUT_Y_L_M 0x2A -#define OUT_Y_H_M 0x2B -#define OUT_Z_L_M 0x2C -#define OUT_Z_H_M 0x2D -#define INT_CFG_M 0x30 -#define INT_SRC_M 0x30 -#define INT_THS_L_M 0x32 -#define INT_THS_H_M 0x33 - -//////////////////////////////// -// LSM9DS1 WHO_AM_I Responses // -//////////////////////////////// -#define WHO_AM_I_AG_RSP 0x68 -#define WHO_AM_I_M_RSP 0x3D - -#endif \ No newline at end of file
--- a/LSM9DS1_Types.h Wed Feb 03 18:24:29 2016 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,251 +0,0 @@
-/******************************************************************************
-LSM9DS1_Types.h
-SFE_LSM9DS1 Library - LSM9DS1 Types and Enumerations
-Jim Lindblom @ SparkFun Electronics
-Original Creation Date: April 21, 2015
-https://github.com/sparkfun/LSM9DS1_Breakout
-
-This file defines all types and enumerations used by the LSM9DS1 class.
-
-Development environment specifics:
- IDE: Arduino 1.6.0
- Hardware Platform: Arduino Uno
- LSM9DS1 Breakout Version: 1.0
-
-This code is beerware; if you see me (or any other SparkFun employee) at the
-local, and you've found our code helpful, please buy us a round!
-
-Distributed as-is; no warranty is given.
-******************************************************************************/
-
-#ifndef __LSM9DS1_Types_H__
-#define __LSM9DS1_Types_H__
-
-#include "LSM9DS1_Registers.h"
-
-// The LSM9DS1 functions over both I2C or SPI. This library supports both.
-// But the interface mode used must be sent to the LSM9DS1 constructor. Use
-// one of these two as the first parameter of the constructor.
-enum interface_mode
-{
- IMU_MODE_SPI,
- IMU_MODE_I2C,
-};
-
-// accel_scale defines all possible FSR's of the accelerometer:
-enum accel_scale
-{
- A_SCALE_2G, // 00: 2g
- A_SCALE_16G,// 01: 16g
- A_SCALE_4G, // 10: 4g
- A_SCALE_8G // 11: 8g
-};
-
-// gyro_scale defines the possible full-scale ranges of the gyroscope:
-enum gyro_scale
-{
- G_SCALE_245DPS, // 00: 245 degrees per second
- G_SCALE_500DPS, // 01: 500 dps
- G_SCALE_2000DPS, // 11: 2000 dps
-};
-
-// mag_scale defines all possible FSR's of the magnetometer:
-enum mag_scale
-{
- M_SCALE_4GS, // 00: 4Gs
- M_SCALE_8GS, // 01: 8Gs
- M_SCALE_12GS, // 10: 12Gs
- M_SCALE_16GS, // 11: 16Gs
-};
-
-// gyro_odr defines all possible data rate/bandwidth combos of the gyro:
-enum gyro_odr
-{
- //! TODO
- G_ODR_PD, // Power down (0)
- G_ODR_149, // 14.9 Hz (1)
- G_ODR_595, // 59.5 Hz (2)
- G_ODR_119, // 119 Hz (3)
- G_ODR_238, // 238 Hz (4)
- G_ODR_476, // 476 Hz (5)
- G_ODR_952 // 952 Hz (6)
-};
-// accel_oder defines all possible output data rates of the accelerometer:
-enum accel_odr
-{
- XL_POWER_DOWN, // Power-down mode (0x0)
- XL_ODR_10, // 10 Hz (0x1)
- XL_ODR_50, // 50 Hz (0x02)
- XL_ODR_119, // 119 Hz (0x3)
- XL_ODR_238, // 238 Hz (0x4)
- XL_ODR_476, // 476 Hz (0x5)
- XL_ODR_952 // 952 Hz (0x6)
-};
-
-// accel_abw defines all possible anti-aliasing filter rates of the accelerometer:
-enum accel_abw
-{
- A_ABW_408, // 408 Hz (0x0)
- A_ABW_211, // 211 Hz (0x1)
- A_ABW_105, // 105 Hz (0x2)
- A_ABW_50, // 50 Hz (0x3)
-};
-
-
-// mag_odr defines all possible output data rates of the magnetometer:
-enum mag_odr
-{
- M_ODR_0625, // 0.625 Hz (0)
- M_ODR_125, // 1.25 Hz (1)
- M_ODR_250, // 2.5 Hz (2)
- M_ODR_5, // 5 Hz (3)
- M_ODR_10, // 10 Hz (4)
- M_ODR_20, // 20 Hz (5)
- M_ODR_40, // 40 Hz (6)
- M_ODR_80 // 80 Hz (7)
-};
-
-enum interrupt_select
-{
- XG_INT1 = INT1_CTRL,
- XG_INT2 = INT2_CTRL
-};
-
-enum interrupt_generators
-{
- INT_DRDY_XL = (1<<0), // Accelerometer data ready (INT1 & INT2)
- INT_DRDY_G = (1<<1), // Gyroscope data ready (INT1 & INT2)
- INT1_BOOT = (1<<2), // Boot status (INT1)
- INT2_DRDY_TEMP = (1<<2),// Temp data ready (INT2)
- INT_FTH = (1<<3), // FIFO threshold interrupt (INT1 & INT2)
- INT_OVR = (1<<4), // Overrun interrupt (INT1 & INT2)
- INT_FSS5 = (1<<5), // FSS5 interrupt (INT1 & INT2)
- INT_IG_XL = (1<<6), // Accel interrupt generator (INT1)
- INT1_IG_G = (1<<7), // Gyro interrupt enable (INT1)
- INT2_INACT = (1<<7), // Inactivity interrupt output (INT2)
-};
-
-enum accel_interrupt_generator
-{
- XLIE_XL = (1<<0),
- XHIE_XL = (1<<1),
- YLIE_XL = (1<<2),
- YHIE_XL = (1<<3),
- ZLIE_XL = (1<<4),
- ZHIE_XL = (1<<5),
- GEN_6D = (1<<6)
-};
-
-enum gyro_interrupt_generator
-{
- XLIE_G = (1<<0),
- XHIE_G = (1<<1),
- YLIE_G = (1<<2),
- YHIE_G = (1<<3),
- ZLIE_G = (1<<4),
- ZHIE_G = (1<<5)
-};
-
-enum mag_interrupt_generator
-{
- ZIEN = (1<<5),
- YIEN = (1<<6),
- XIEN = (1<<7)
-};
-
-enum h_lactive
-{
- INT_ACTIVE_HIGH,
- INT_ACTIVE_LOW
-};
-
-enum pp_od
-{
- INT_PUSH_PULL,
- INT_OPEN_DRAIN
-};
-
-enum fifoMode_type
-{
- FIFO_OFF = 0,
- FIFO_THS = 1,
- FIFO_CONT_TRIGGER = 3,
- FIFO_OFF_TRIGGER = 4,
- FIFO_CONT = 5
-};
-
-struct gyroSettings
-{
- // Gyroscope settings:
- uint8_t enabled;
- uint16_t scale; // Changed this to 16-bit
- uint8_t sampleRate;
- // New gyro stuff:
- uint8_t bandwidth;
- uint8_t lowPowerEnable;
- uint8_t HPFEnable;
- uint8_t HPFCutoff;
- uint8_t flipX;
- uint8_t flipY;
- uint8_t flipZ;
- uint8_t orientation;
- uint8_t enableX;
- uint8_t enableY;
- uint8_t enableZ;
- uint8_t latchInterrupt;
-};
-
-struct deviceSettings
-{
- uint8_t commInterface; // Can be I2C, SPI 4-wire or SPI 3-wire
- uint8_t agAddress; // I2C address or SPI CS pin
- uint8_t mAddress; // I2C address or SPI CS pin
-};
-
-struct accelSettings
-{
- // Accelerometer settings:
- uint8_t enabled;
- uint8_t scale;
- uint8_t sampleRate;
- // New accel stuff:
- uint8_t enableX;
- uint8_t enableY;
- uint8_t enableZ;
- int8_t bandwidth;
- uint8_t highResEnable;
- uint8_t highResBandwidth;
-};
-
-struct magSettings
-{
- // Magnetometer settings:
- uint8_t enabled;
- uint8_t scale;
- uint8_t sampleRate;
- // New mag stuff:
- uint8_t tempCompensationEnable;
- uint8_t XYPerformance;
- uint8_t ZPerformance;
- uint8_t lowPowerEnable;
- uint8_t operatingMode;
-};
-
-struct temperatureSettings
-{
- // Temperature settings
- uint8_t enabled;
-};
-
-struct IMUSettings
-{
- deviceSettings device;
-
- gyroSettings gyro;
- accelSettings accel;
- magSettings mag;
-
- temperatureSettings temp;
-};
-
-#endif
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Motor.lib Fri Dec 06 13:47:56 2019 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/simon/code/Motor/#f265e441bcd9
--- a/PinDetect.lib Wed Feb 03 18:24:29 2016 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,1 +0,0 @@ -http://mbed.org/users/AjK/code/PinDetect/#cb3afc45028b
--- a/main.cpp Wed Feb 03 18:24:29 2016 +0000
+++ b/main.cpp Fri Dec 06 13:47:56 2019 +0000
@@ -1,29 +1,107 @@
+/*
+ 4180Balancer
+ Names: John Lee, Nyle Malik, Austin Lowe
+ Date: 12/6/19
+ Description:
+ Balances a robot on two wheels using a PID controller for fine tuning the
+ motor speed and behavior. It uses an IMU to send input to the PID controller
+ and calibrate the robot's desired angle.
+*/
+
#include "LSM9DS1.h"
+#include "Motor.h"
+#include "mbed.h"
+#include <time.h>
+#include <stdlib.h>
+
+#define RAD_TO_DEG 57.29578
+#define M_PI 3.14159265358979323846
+#define FILTER_CONSTANT 0.98
+#define DT 0.001
DigitalOut myled(LED1);
+LSM9DS1 imu(p28, p27, 0xD6, 0x3C);
+Motor left(p21, p7, p8);
+Motor right(p22, p11, p12);
+Ticker PID;
Serial pc(USBTX, USBRX);
+//Globals
+//Configure these
+float scalingFactor = 2000;
+float KP = 100;
+float KI = 100;
+float KD = 1000;
+
+float aBias = 0;
+float gBias = 0;
+float aAngle = 0;
+float gAngle = 0;
+float intAngle = 0;
+float derivAngle = 0;
+float propAngle = 0;
+float angle = 0;
+float speed = 0;
+
+void calibrate()
+{
+ for(int i=0; i<100; i++) {
+ imu.readAccel();
+ imu.readGyro();
+ aBias=aBias+(-1)*atan2((double)(imu.ay),(double)(imu.az))*180/3.142-90;
+ gBias=gBias+imu.gx;
+ }
+ aBias=aBias/100;
+ gBias=gBias/100;
+}
+
+void pid()
+{
+ // Save the previous data
+ derivAngle = propAngle;
+
+ //Read data from the IMU
+ imu.readAccel();
+ imu.readGyro();
+
+ //Controls and PID calculations
+ aAngle = (-1) * atan2((double)(imu.ay), (double)(imu.az)) * RAD_TO_DEG - 90 - aBias;
+ gAngle = (-1)*(imu.gx - gBias) * DT;
+ propAngle = FILTER_CONSTANT * (propAngle + gAngle) + (1 - FILTER_CONSTANT) * aAngle - angle;
+ derivAngle = propAngle - derivAngle;
+ intAngle += (propAngle * DT); {
+ speed = -((KP * propAngle) + (KI * intAngle) + (KD * derivAngle)) / scalingFactor;
+ if (speed < -1)
+ {
+ speed = -1;
+ }else if (speed > 1)
+ {
+ speed = 1;
+ }
+
+ // Set the speed of the motors
+ left.speed(speed);
+ right.speed(speed);
+}
+
int main() {
- //LSM9DS1 lol(p9, p10, 0x6B, 0x1E);
- LSM9DS1 lol(p9, p10, 0xD6, 0x3C);
- lol.begin();
- if (!lol.begin()) {
+
+ imu.begin();
+ if (!imu.begin())
+ {
pc.printf("Failed to communicate with LSM9DS1.\n");
+ exit(0);
}
- lol.calibrate();
- while(1) {
- lol.readTemp();
- lol.readMag();
- lol.readGyro();
-
- //pc.printf("%d %d %d %d %d %d %d %d %d\n\r", lol.calcGyro(lol.gx), lol.calcGyro(lol.gy), lol.calcGyro(lol.gz), lol.ax, lol.ay, lol.az, lol.mx, lol.my, lol.mz);
- //pc.printf("%d %d %d\n\r", lol.calcGyro(lol.gx), lol.calcGyro(lol.gy), lol.calcGyro(lol.gz));
- pc.printf("gyro: %d %d %d\n\r", lol.gx, lol.gy, lol.gz);
- pc.printf("accel: %d %d %d\n\r", lol.ax, lol.ay, lol.az);
- pc.printf("mag: %d %d %d\n\n\r", lol.mx, lol.my, lol.mz);
- myled = 1;
- wait(2);
- myled = 0;
- wait(2);
+
+ // Calibrate the IMU and set the biases
+ calibrate();
+
+ // Attach ticker to run every 10ms
+ // This handles the pid calculations for controlling the motors
+ PID.attach(&pid, 0.001);
+
+ // Program loop
+ while(1)
+ {
}
}