File content as of revision 1:924c7dea286e:
// Based on Eugene Gonzalez's version of LSM9DS1_Demo
// Modified by Sherry Yang for LSM6DS3 sensor
#ifndef _LSM6DS3_H__
#define _LSM6DS3_H__
#include "mbed.h"
/////////////////////////////////////////
// LSM6DS3 Accel/Gyro (XL/G) Registers //
/////////////////////////////////////////
#define RAM_ACCESS 0x01
#define SENSOR_SYNC_TIME 0x04
#define SENSOR_SYNC_EN 0x05
#define FIFO_CTRL1 0x06
#define FIFO_CTRL2 0x07
#define FIFO_CTRL3 0x08
#define FIFO_CTRL4 0x09
#define FIFO_CTRL5 0x0A
#define ORIENT_CFG_G 0x0B
#define REFERENCE_G 0x0C
#define INT1_CTRL 0x0D
#define INT2_CTRL 0x0E
#define WHO_AM_I_REG 0X0F
#define CTRL1_XL 0x10
#define CTRL2_G 0x11
#define CTRL3_C 0x12
#define CTRL4_C 0x13
#define CTRL5_C 0x14
#define CTRL6_C 0x15
#define CTRL7_G 0x16
#define CTRL8_XL 0x17
#define CTRL9_XL 0x18
#define CTRL10_C 0x19
#define MASTER_CONFIG 0x1A
#define WAKE_UP_SRC 0x1B
#define TAP_SRC 0x1C
#define D6D_SRC 0x1D
#define STATUS_REG 0x1E
#define OUT_TEMP_L 0x20
#define OUT_TEMP_H 0x21
#define OUTX_L_G 0x22
#define OUTX_H_G 0x23
#define OUTY_L_G 0x24
#define OUTY_H_G 0x25
#define OUTZ_L_G 0x26
#define OUTZ_H_G 0x27
#define OUTX_L_XL 0x28
#define OUTX_H_XL 0x29
#define OUTY_L_XL 0x2A
#define OUTY_H_XL 0x2B
#define OUTZ_L_XL 0x2C
#define OUTZ_H_XL 0x2D
#define SENSORHUB1_REG 0x2E
#define SENSORHUB2_REG 0x2F
#define SENSORHUB3_REG 0x30
#define SENSORHUB4_REG 0x31
#define SENSORHUB5_REG 0x32
#define SENSORHUB6_REG 0x33
#define SENSORHUB7_REG 0x34
#define SENSORHUB8_REG 0x35
#define SENSORHUB9_REG 0x36
#define SENSORHUB10_REG 0x37
#define SENSORHUB11_REG 0x38
#define SENSORHUB12_REG 0x39
#define FIFO_STATUS1 0x3A
#define FIFO_STATUS2 0x3B
#define FIFO_STATUS3 0x3C
#define FIFO_STATUS4 0x3D
#define FIFO_DATA_OUT_L 0x3E
#define FIFO_DATA_OUT_H 0x3F
#define TIMESTAMP0_REG 0x40
#define TIMESTAMP1_REG 0x41
#define TIMESTAMP2_REG 0x42
#define STEP_COUNTER_L 0x4B
#define STEP_COUNTER_H 0x4C
#define FUNC_SR 0x53
#define TAP_CFG 0x58
#define TAP_THS_6D 0x59
#define INT_DUR2 0x5A
#define WAKE_UP_THS 0x5B
#define WAKE_UP_DUR 0x5C
#define FREE_FALL 0x5D
#define MD1_CFG 0x5E
#define MD2_CFG 0x5F
// Possible I2C addresses for the accel/gyro
#define LSM6DS3_AG_I2C_ADDR(sa0) ((sa0) ? 0xD6 : 0xD4)
/**
* LSM6DS3 Class - driver for the 9 DoF IMU
*/
class LSM6DS3
{
public:
/// gyro_scale defines the possible full-scale ranges of the gyroscope:
enum gyro_scale
{
G_SCALE_245DPS = 0x0 << 3, // 00 << 3: +/- 245 degrees per second
G_SCALE_500DPS = 0x1 << 3, // 01 << 3: +/- 500 dps
G_SCALE_1000DPS = 0x2 << 3, // 10 << 3: +/- 1000 dps
G_SCALE_2000DPS = 0x3 << 3 // 11 << 3: +/- 2000 dps
};
/// gyro_odr defines all possible data rate/bandwidth combos of the gyro:
enum gyro_odr
{ // ODR (Hz) --- Cutoff
G_POWER_DOWN = 0x00, // 0 0
G_ODR_13_BW_0 = 0x10, // 12.5 0.0081 low power
G_ODR_26_BW_2 = 0x20, // 26 2.07 low power
G_ODR_52_BW_16 = 0x30, // 52 16.32 low power
G_ODR_104 = 0x40, // 104
G_ODR_208 = 0x50, // 208
G_ODR_416 = 0x60, // 416
G_ODR_833 = 0x70, // 833
G_ODR_1660 = 0x80 // 1660
};
/// accel_scale defines all possible FSR's of the accelerometer:
enum accel_scale
{
A_SCALE_2G, // 00: +/- 2g
A_SCALE_16G,// 01: +/- 16g
A_SCALE_4G, // 10: +/- 4g
A_SCALE_8G // 11: +/- 8g
};
/// accel_oder defines all possible output data rates of the accelerometer:
enum accel_odr
{
A_POWER_DOWN, // Power-down mode (0x0)
A_ODR_13, // 12.5 Hz (0x1) low power
A_ODR_26, // 26 Hz (0x2) low power
A_ODR_52, // 52 Hz (0x3) low power
A_ODR_104, // 104 Hz (0x4) normal mode
A_ODR_208, // 208 Hz (0x5) normal mode
A_ODR_416, // 416 Hz (0x6) high performance
A_ODR_833, // 833 Hz (0x7) high performance
A_ODR_1660, // 1.66 kHz (0x8) high performance
A_ODR_3330, // 3.33 kHz (0x9) high performance
A_ODR_6660, // 6.66 kHz (0xA) high performance
};
// accel_bw defines all possible bandwiths for low-pass filter of the accelerometer:
enum accel_bw
{
A_BW_AUTO_SCALE = 0x0, // Automatic BW scaling (0x0)
A_BW_408 = 0x4, // 408 Hz (0x4)
A_BW_211 = 0x5, // 211 Hz (0x5)
A_BW_105 = 0x6, // 105 Hz (0x6)
A_BW_50 = 0x7 // 50 Hz (0x7)
};
// We'll store the gyro, and accel, readings in a series of
// public class variables. Each sensor gets three variables -- one for each
// axis. Call readGyro(), and readAccel() first, before using
// these variables!
// These values are the RAW signed 16-bit readings from the sensors.
int16_t gx_raw, gy_raw, gz_raw; // x, y, and z axis readings of the gyroscope
int16_t ax_raw, ay_raw, az_raw; // x, y, and z axis readings of the accelerometer
int16_t temperature_raw;
// floating-point values of scaled data in real-world units
float gx, gy, gz;
float ax, ay, az;
float temperature_c, temperature_f; // temperature in celcius and fahrenheit
/** LSM6DS3 -- LSM6DS3 class constructor
* The constructor will set up a handful of private variables, and set the
* communication mode as well.
* Input:
* - interface = Either MODE_SPI or MODE_I2C, whichever you're using
* to talk to the IC.
* - xgAddr = If MODE_I2C, this is the I2C address of the accel/gyro.
* If MODE_SPI, this is the chip select pin of the accel/gyro (CS_A/G)
*/
LSM6DS3(PinName sda, PinName scl, uint8_t xgAddr = LSM6DS3_AG_I2C_ADDR(1));
/** begin() -- Initialize the gyro, and accelerometer.
* This will set up the scale and output rate of each sensor. It'll also
* "turn on" every sensor and every axis of every sensor.
* Input:
* - gScl = The scale of the gyroscope. This should be a gyro_scale value.
* - aScl = The scale of the accelerometer. Should be a accel_scale value.
* - gODR = Output data rate of the gyroscope. gyro_odr value.
* - aODR = Output data rate of the accelerometer. accel_odr value.
* Output: The function will return an unsigned 16-bit value. The most-sig
* bytes of the output are the WHO_AM_I reading of the accel/gyro.
* All parameters have a defaulted value, so you can call just "begin()".
* Default values are FSR's of: +/- 245DPS, 4g, 2Gs; ODRs of 119 Hz for
* gyro, 119 Hz for accelerometer.
* Use the return value of this function to verify communication.
*/
uint16_t begin(gyro_scale gScl = G_SCALE_245DPS,
accel_scale aScl = A_SCALE_2G, gyro_odr gODR = G_ODR_104,
accel_odr aODR = A_ODR_104);
/** readGyro() -- Read the gyroscope output registers.
* This function will read all six gyroscope output registers.
* The readings are stored in the class' gx_raw, gy_raw, and gz_raw variables. Read
* those _after_ calling readGyro().
*/
void readGyro();
/** readAccel() -- Read the accelerometer output registers.
* This function will read all six accelerometer output registers.
* The readings are stored in the class' ax_raw, ay_raw, and az_raw variables. Read
* those _after_ calling readAccel().
*/
void readAccel();
/** readTemp() -- Read the temperature output register.
* This function will read two temperature output registers.
* The combined readings are stored in the class' temperature variables. Read
* those _after_ calling readTemp().
*/
void readTemp();
/** setGyroScale() -- Set the full-scale range of the gyroscope.
* This function can be called to set the scale of the gyroscope to
* 245, 500, or 2000 degrees per second.
* Input:
* - gScl = The desired gyroscope scale. Must be one of three possible
* values from the gyro_scale enum.
*/
void setGyroScale(gyro_scale gScl);
/** setAccelScale() -- Set the full-scale range of the accelerometer.
* This function can be called to set the scale of the accelerometer to
* 2, 4, 8, or 16 g's.
* Input:
* - aScl = The desired accelerometer scale. Must be one of five possible
* values from the accel_scale enum.
*/
void setAccelScale(accel_scale aScl);
/** setGyroODR() -- Set the output data rate and bandwidth of the gyroscope
* Input:
* - gRate = The desired output rate and cutoff frequency of the gyro.
* Must be a value from the gyro_odr enum (check above).
*/
void setGyroODR(gyro_odr gRate);
/** setAccelODR() -- Set the output data rate of the accelerometer
* Input:
* - aRate = The desired output rate of the accel.
* Must be a value from the accel_odr enum (check above).
*/
void setAccelODR(accel_odr aRate);
private:
/** xgAddress store the I2C address
* for each sensor.
*/
uint8_t xgAddress;
// I2C bus
I2C i2c;
/** gScale, and aScale store the current scale range for each
* sensor. Should be updated whenever that value changes.
*/
gyro_scale gScale;
accel_scale aScale;
/** gRes, and aRes store the current resolution for each sensor.
* Units of these values would be DPS (or g's or Gs's) per ADC tick.
* This value is calculated as (sensor scale) / (2^15).
*/
float gRes, aRes;
/** initGyro() -- Sets up the gyroscope to begin reading.
* This function steps through all three gyroscope control registers.
*/
void initGyro();
/** initAccel() -- Sets up the accelerometer to begin reading.
* This function steps through all accelerometer related control registers.
*/
void initAccel();
/** calcgRes() -- Calculate the resolution of the gyroscope.
* This function will set the value of the gRes variable. gScale must
* be set prior to calling this function.
*/
void calcgRes();
/** calcaRes() -- Calculate the resolution of the accelerometer.
* This function will set the value of the aRes variable. aScale must
* be set prior to calling this function.
*/
void calcaRes();
};
#endif // _LSM6DS3_H //