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ECE 4180 Final Project MP3 player code
Dependencies: mbed mbed-rtos wave_player_appbd 4DGL-uLCD-SE SDFileSystem PinDetect
Diff: LSM9DS1.h
- Revision:
- 0:57a32b7102e8
diff -r 000000000000 -r 57a32b7102e8 LSM9DS1.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/LSM9DS1.h Wed Dec 08 17:08:52 2021 +0000 @@ -0,0 +1,557 @@ +/****************************************************************************** +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 //