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// Based on Eugene Gonzalez's version of LSM9DS1_Demo
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// Modified by Sherry Yang for LSM6DS3 sensor
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#ifndef _LSM6DS3_H__
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#define _LSM6DS3_H__
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#include "mbed.h"
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/////////////////////////////////////////
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// LSM6DS3 Accel/Gyro (XL/G) Registers //
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/////////////////////////////////////////
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#define RAM_ACCESS 0x01
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#define SENSOR_SYNC_TIME 0x04
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#define SENSOR_SYNC_EN 0x05
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#define FIFO_CTRL1 0x06
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#define FIFO_CTRL2 0x07
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#define FIFO_CTRL3 0x08
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#define FIFO_CTRL4 0x09
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#define FIFO_CTRL5 0x0A
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#define ORIENT_CFG_G 0x0B
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#define REFERENCE_G 0x0C
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#define INT1_CTRL 0x0D
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#define INT2_CTRL 0x0E
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#define WHO_AM_I_REG 0X0F
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#define CTRL1_XL 0x10
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#define CTRL2_G 0x11
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#define CTRL3_C 0x12
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#define CTRL4_C 0x13
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#define CTRL5_C 0x14
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#define CTRL6_C 0x15
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#define CTRL7_G 0x16
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#define CTRL8_XL 0x17
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#define CTRL9_XL 0x18
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#define CTRL10_C 0x19
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#define MASTER_CONFIG 0x1A
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#define WAKE_UP_SRC 0x1B
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#define TAP_SRC 0x1C
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#define D6D_SRC 0x1D
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#define STATUS_REG 0x1E
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#define OUT_TEMP_L 0x20
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#define OUT_TEMP_H 0x21
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#define OUTX_L_G 0x22
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#define OUTX_H_G 0x23
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#define OUTY_L_G 0x24
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#define OUTY_H_G 0x25
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#define OUTZ_L_G 0x26
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#define OUTZ_H_G 0x27
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#define OUTX_L_XL 0x28
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#define OUTX_H_XL 0x29
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#define OUTY_L_XL 0x2A
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#define OUTY_H_XL 0x2B
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#define OUTZ_L_XL 0x2C
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#define OUTZ_H_XL 0x2D
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#define SENSORHUB1_REG 0x2E
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#define SENSORHUB2_REG 0x2F
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#define SENSORHUB3_REG 0x30
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#define SENSORHUB4_REG 0x31
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#define SENSORHUB5_REG 0x32
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#define SENSORHUB6_REG 0x33
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#define SENSORHUB7_REG 0x34
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#define SENSORHUB8_REG 0x35
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#define SENSORHUB9_REG 0x36
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#define SENSORHUB10_REG 0x37
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#define SENSORHUB11_REG 0x38
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#define SENSORHUB12_REG 0x39
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#define FIFO_STATUS1 0x3A
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#define FIFO_STATUS2 0x3B
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#define FIFO_STATUS3 0x3C
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#define FIFO_STATUS4 0x3D
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#define FIFO_DATA_OUT_L 0x3E
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#define FIFO_DATA_OUT_H 0x3F
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#define TIMESTAMP0_REG 0x40
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#define TIMESTAMP1_REG 0x41
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#define TIMESTAMP2_REG 0x42
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#define STEP_COUNTER_L 0x4B
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#define STEP_COUNTER_H 0x4C
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#define FUNC_SR 0x53
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#define TAP_CFG 0x58
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#define TAP_THS_6D 0x59
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#define INT_DUR2 0x5A
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#define WAKE_UP_THS 0x5B
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#define WAKE_UP_DUR 0x5C
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#define FREE_FALL 0x5D
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#define MD1_CFG 0x5E
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#define MD2_CFG 0x5F
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// Possible I2C addresses for the accel/gyro
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#define LSM6DS3_AG_I2C_ADDR(sa0) ((sa0) ? 0xD6 : 0xD4)
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/**
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* LSM6DS3 Class - driver for the 9 DoF IMU
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*/
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class LSM6DS3
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{
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public:
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/// gyro_scale defines the possible full-scale ranges of the gyroscope:
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enum gyro_scale
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{
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G_SCALE_245DPS = 0x0 << 3, // 00 << 3: +/- 245 degrees per second
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G_SCALE_500DPS = 0x1 << 3, // 01 << 3: +/- 500 dps
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G_SCALE_1000DPS = 0x2 << 3, // 10 << 3: +/- 1000 dps
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G_SCALE_2000DPS = 0x3 << 3 // 11 << 3: +/- 2000 dps
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};
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/// gyro_odr defines all possible data rate/bandwidth combos of the gyro:
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enum gyro_odr
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{ // ODR (Hz) --- Cutoff
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G_POWER_DOWN = 0x00, // 0 0
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G_ODR_13_BW_0 = 0x10, // 12.5 0.0081 low power
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G_ODR_26_BW_2 = 0x20, // 26 2.07 low power
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G_ODR_52_BW_16 = 0x30, // 52 16.32 low power
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G_ODR_104 = 0x40, // 104
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G_ODR_208 = 0x50, // 208
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G_ODR_416 = 0x60, // 416
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G_ODR_833 = 0x70, // 833
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G_ODR_1660 = 0x80 // 1660
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};
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/// accel_scale defines all possible FSR's of the accelerometer:
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enum accel_scale
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{
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A_SCALE_2G, // 00: +/- 2g
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A_SCALE_16G,// 01: +/- 16g
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A_SCALE_4G, // 10: +/- 4g
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A_SCALE_8G // 11: +/- 8g
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};
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/// accel_oder defines all possible output data rates of the accelerometer:
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enum accel_odr
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{
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A_POWER_DOWN, // Power-down mode (0x0)
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A_ODR_13, // 12.5 Hz (0x1) low power
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A_ODR_26, // 26 Hz (0x2) low power
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A_ODR_52, // 52 Hz (0x3) low power
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A_ODR_104, // 104 Hz (0x4) normal mode
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A_ODR_208, // 208 Hz (0x5) normal mode
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A_ODR_416, // 416 Hz (0x6) high performance
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A_ODR_833, // 833 Hz (0x7) high performance
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A_ODR_1660, // 1.66 kHz (0x8) high performance
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A_ODR_3330, // 3.33 kHz (0x9) high performance
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A_ODR_6660, // 6.66 kHz (0xA) high performance
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};
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// accel_bw defines all possible bandwiths for low-pass filter of the accelerometer:
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enum accel_bw
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{
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A_BW_AUTO_SCALE = 0x0, // Automatic BW scaling (0x0)
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A_BW_408 = 0x4, // 408 Hz (0x4)
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A_BW_211 = 0x5, // 211 Hz (0x5)
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A_BW_105 = 0x6, // 105 Hz (0x6)
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A_BW_50 = 0x7 // 50 Hz (0x7)
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};
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// We'll store the gyro, and accel, readings in a series of
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// public class variables. Each sensor gets three variables -- one for each
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// axis. Call readGyro(), and readAccel() first, before using
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// these variables!
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// These values are the RAW signed 16-bit readings from the sensors.
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int16_t gx_raw, gy_raw, gz_raw; // x, y, and z axis readings of the gyroscope
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int16_t ax_raw, ay_raw, az_raw; // x, y, and z axis readings of the accelerometer
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int16_t temperature_raw;
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// floating-point values of scaled data in real-world units
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float gx, gy, gz;
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float ax, ay, az;
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float temperature_c, temperature_f; // temperature in celcius and fahrenheit
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/** LSM6DS3 -- LSM6DS3 class constructor
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* The constructor will set up a handful of private variables, and set the
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* communication mode as well.
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* Input:
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* - interface = Either MODE_SPI or MODE_I2C, whichever you're using
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* to talk to the IC.
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* - xgAddr = If MODE_I2C, this is the I2C address of the accel/gyro.
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* If MODE_SPI, this is the chip select pin of the accel/gyro (CS_A/G)
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*/
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LSM6DS3(PinName sda, PinName scl, uint8_t xgAddr = LSM6DS3_AG_I2C_ADDR(1));
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/** begin() -- Initialize the gyro, and accelerometer.
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* This will set up the scale and output rate of each sensor. It'll also
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* "turn on" every sensor and every axis of every sensor.
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* Input:
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* - gScl = The scale of the gyroscope. This should be a gyro_scale value.
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185
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* - aScl = The scale of the accelerometer. Should be a accel_scale value.
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* - gODR = Output data rate of the gyroscope. gyro_odr value.
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* - aODR = Output data rate of the accelerometer. accel_odr value.
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188
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* Output: The function will return an unsigned 16-bit value. The most-sig
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* bytes of the output are the WHO_AM_I reading of the accel/gyro.
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* All parameters have a defaulted value, so you can call just "begin()".
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* Default values are FSR's of: +/- 245DPS, 4g, 2Gs; ODRs of 119 Hz for
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192
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* gyro, 119 Hz for accelerometer.
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* Use the return value of this function to verify communication.
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*/
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uint16_t begin(gyro_scale gScl = G_SCALE_245DPS,
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196
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accel_scale aScl = A_SCALE_2G, gyro_odr gODR = G_ODR_104,
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accel_odr aODR = A_ODR_104);
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198
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199
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/** readGyro() -- Read the gyroscope output registers.
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200
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* This function will read all six gyroscope output registers.
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201
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* The readings are stored in the class' gx_raw, gy_raw, and gz_raw variables. Read
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* those _after_ calling readGyro().
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*/
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void readGyro();
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205
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206
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/** readAccel() -- Read the accelerometer output registers.
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* This function will read all six accelerometer output registers.
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208
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* The readings are stored in the class' ax_raw, ay_raw, and az_raw variables. Read
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209
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* those _after_ calling readAccel().
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210
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*/
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211
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void readAccel();
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212
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213
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/** readTemp() -- Read the temperature output register.
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214
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* This function will read two temperature output registers.
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215
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* The combined readings are stored in the class' temperature variables. Read
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| 5hel2l2y |
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216
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* those _after_ calling readTemp().
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| 5hel2l2y |
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217
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*/
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void readTemp();
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219
|
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|
220
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/** setGyroScale() -- Set the full-scale range of the gyroscope.
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| 5hel2l2y |
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221
|
* This function can be called to set the scale of the gyroscope to
|
| 5hel2l2y |
0:46630122dec9
|
222
|
* 245, 500, or 2000 degrees per second.
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| 5hel2l2y |
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223
|
* Input:
|
| 5hel2l2y |
0:46630122dec9
|
224
|
* - gScl = The desired gyroscope scale. Must be one of three possible
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| 5hel2l2y |
0:46630122dec9
|
225
|
* values from the gyro_scale enum.
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| 5hel2l2y |
0:46630122dec9
|
226
|
*/
|
| 5hel2l2y |
0:46630122dec9
|
227
|
void setGyroScale(gyro_scale gScl);
|
| 5hel2l2y |
0:46630122dec9
|
228
|
|
| 5hel2l2y |
0:46630122dec9
|
229
|
/** setAccelScale() -- Set the full-scale range of the accelerometer.
|
| 5hel2l2y |
0:46630122dec9
|
230
|
* This function can be called to set the scale of the accelerometer to
|
| 5hel2l2y |
0:46630122dec9
|
231
|
* 2, 4, 8, or 16 g's.
|
| 5hel2l2y |
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|
232
|
* Input:
|
| 5hel2l2y |
0:46630122dec9
|
233
|
* - aScl = The desired accelerometer scale. Must be one of five possible
|
| 5hel2l2y |
0:46630122dec9
|
234
|
* values from the accel_scale enum.
|
| 5hel2l2y |
0:46630122dec9
|
235
|
*/
|
| 5hel2l2y |
0:46630122dec9
|
236
|
void setAccelScale(accel_scale aScl);
|
| 5hel2l2y |
0:46630122dec9
|
237
|
|
| 5hel2l2y |
0:46630122dec9
|
238
|
/** setGyroODR() -- Set the output data rate and bandwidth of the gyroscope
|
| 5hel2l2y |
0:46630122dec9
|
239
|
* Input:
|
| 5hel2l2y |
0:46630122dec9
|
240
|
* - gRate = The desired output rate and cutoff frequency of the gyro.
|
| 5hel2l2y |
0:46630122dec9
|
241
|
* Must be a value from the gyro_odr enum (check above).
|
| 5hel2l2y |
0:46630122dec9
|
242
|
*/
|
| 5hel2l2y |
0:46630122dec9
|
243
|
void setGyroODR(gyro_odr gRate);
|
| 5hel2l2y |
0:46630122dec9
|
244
|
|
| 5hel2l2y |
0:46630122dec9
|
245
|
/** setAccelODR() -- Set the output data rate of the accelerometer
|
| 5hel2l2y |
0:46630122dec9
|
246
|
* Input:
|
| 5hel2l2y |
0:46630122dec9
|
247
|
* - aRate = The desired output rate of the accel.
|
| 5hel2l2y |
0:46630122dec9
|
248
|
* Must be a value from the accel_odr enum (check above).
|
| 5hel2l2y |
0:46630122dec9
|
249
|
*/
|
| 5hel2l2y |
0:46630122dec9
|
250
|
void setAccelODR(accel_odr aRate);
|
| 5hel2l2y |
0:46630122dec9
|
251
|
|
| 5hel2l2y |
0:46630122dec9
|
252
|
|
| 5hel2l2y |
0:46630122dec9
|
253
|
private:
|
| 5hel2l2y |
0:46630122dec9
|
254
|
/** xgAddress store the I2C address
|
| 5hel2l2y |
0:46630122dec9
|
255
|
* for each sensor.
|
| 5hel2l2y |
0:46630122dec9
|
256
|
*/
|
| 5hel2l2y |
0:46630122dec9
|
257
|
uint8_t xgAddress;
|
| 5hel2l2y |
0:46630122dec9
|
258
|
|
| 5hel2l2y |
0:46630122dec9
|
259
|
// I2C bus
|
| 5hel2l2y |
0:46630122dec9
|
260
|
I2C i2c;
|
| 5hel2l2y |
0:46630122dec9
|
261
|
|
| 5hel2l2y |
0:46630122dec9
|
262
|
/** gScale, and aScale store the current scale range for each
|
| 5hel2l2y |
0:46630122dec9
|
263
|
* sensor. Should be updated whenever that value changes.
|
| 5hel2l2y |
0:46630122dec9
|
264
|
*/
|
| 5hel2l2y |
0:46630122dec9
|
265
|
gyro_scale gScale;
|
| 5hel2l2y |
0:46630122dec9
|
266
|
accel_scale aScale;
|
| 5hel2l2y |
0:46630122dec9
|
267
|
|
| 5hel2l2y |
0:46630122dec9
|
268
|
/** gRes, and aRes store the current resolution for each sensor.
|
| 5hel2l2y |
0:46630122dec9
|
269
|
* Units of these values would be DPS (or g's or Gs's) per ADC tick.
|
| 5hel2l2y |
0:46630122dec9
|
270
|
* This value is calculated as (sensor scale) / (2^15).
|
| 5hel2l2y |
0:46630122dec9
|
271
|
*/
|
| 5hel2l2y |
0:46630122dec9
|
272
|
float gRes, aRes;
|
| 5hel2l2y |
0:46630122dec9
|
273
|
|
| 5hel2l2y |
0:46630122dec9
|
274
|
/** initGyro() -- Sets up the gyroscope to begin reading.
|
| 5hel2l2y |
0:46630122dec9
|
275
|
* This function steps through all three gyroscope control registers.
|
| 5hel2l2y |
0:46630122dec9
|
276
|
*/
|
| 5hel2l2y |
0:46630122dec9
|
277
|
void initGyro();
|
| 5hel2l2y |
0:46630122dec9
|
278
|
|
| 5hel2l2y |
0:46630122dec9
|
279
|
/** initAccel() -- Sets up the accelerometer to begin reading.
|
| 5hel2l2y |
0:46630122dec9
|
280
|
* This function steps through all accelerometer related control registers.
|
| 5hel2l2y |
0:46630122dec9
|
281
|
*/
|
| 5hel2l2y |
0:46630122dec9
|
282
|
void initAccel();
|
| 5hel2l2y |
0:46630122dec9
|
283
|
|
| 5hel2l2y |
0:46630122dec9
|
284
|
/** calcgRes() -- Calculate the resolution of the gyroscope.
|
| 5hel2l2y |
0:46630122dec9
|
285
|
* This function will set the value of the gRes variable. gScale must
|
| 5hel2l2y |
0:46630122dec9
|
286
|
* be set prior to calling this function.
|
| 5hel2l2y |
0:46630122dec9
|
287
|
*/
|
| 5hel2l2y |
0:46630122dec9
|
288
|
void calcgRes();
|
| 5hel2l2y |
0:46630122dec9
|
289
|
|
| 5hel2l2y |
0:46630122dec9
|
290
|
/** calcaRes() -- Calculate the resolution of the accelerometer.
|
| 5hel2l2y |
0:46630122dec9
|
291
|
* This function will set the value of the aRes variable. aScale must
|
| 5hel2l2y |
0:46630122dec9
|
292
|
* be set prior to calling this function.
|
| 5hel2l2y |
0:46630122dec9
|
293
|
*/
|
| 5hel2l2y |
0:46630122dec9
|
294
|
void calcaRes();
|
| 5hel2l2y |
0:46630122dec9
|
295
|
};
|
| 5hel2l2y |
0:46630122dec9
|
296
|
|
| 5hel2l2y |
0:46630122dec9
|
297
|
#endif // _LSM6DS3_H //
|