libreria aggiornata
LSM6DS0.cpp@1:0b38c9475429, 2017-01-23 (annotated)
- Committer:
- max_mbed
- Date:
- Mon Jan 23 22:51:58 2017 +0000
- Revision:
- 1:0b38c9475429
- Parent:
- 0:30cd7984fb5b
Tolto il passa alto all'accelerazione che come previsto da fastidio perch? troppo basso.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
max_mbed | 0:30cd7984fb5b | 1 | #include "LSM6DS0.h" |
max_mbed | 0:30cd7984fb5b | 2 | |
max_mbed | 0:30cd7984fb5b | 3 | Serial pcLSM(SERIAL_TX, SERIAL_RX); |
max_mbed | 0:30cd7984fb5b | 4 | |
max_mbed | 0:30cd7984fb5b | 5 | LSM6DS0::LSM6DS0(PinName sda, PinName scl) : i2c(sda, scl) { |
max_mbed | 0:30cd7984fb5b | 6 | currentGyroRange = 0; |
max_mbed | 0:30cd7984fb5b | 7 | currentAcceleroRange=0; |
max_mbed | 0:30cd7984fb5b | 8 | gyro_offset.x = 0; |
max_mbed | 0:30cd7984fb5b | 9 | gyro_offset.y = 0; |
max_mbed | 0:30cd7984fb5b | 10 | gyro_offset.z = 0; |
max_mbed | 0:30cd7984fb5b | 11 | } |
max_mbed | 0:30cd7984fb5b | 12 | |
max_mbed | 0:30cd7984fb5b | 13 | //-------------------------------------------------- |
max_mbed | 0:30cd7984fb5b | 14 | //-------------------General------------------------ |
max_mbed | 0:30cd7984fb5b | 15 | //-------------------------------------------------- |
max_mbed | 0:30cd7984fb5b | 16 | |
max_mbed | 0:30cd7984fb5b | 17 | int LSM6DS0::write(char addr_reg, char to_write) { |
max_mbed | 0:30cd7984fb5b | 18 | char data_write[2]; |
max_mbed | 0:30cd7984fb5b | 19 | data_write[0]=addr_reg; |
max_mbed | 0:30cd7984fb5b | 20 | data_write[1]=to_write; |
max_mbed | 0:30cd7984fb5b | 21 | return i2c.write(LSM6DS0_ADDRESS, data_write, 2); |
max_mbed | 0:30cd7984fb5b | 22 | } |
max_mbed | 0:30cd7984fb5b | 23 | |
max_mbed | 0:30cd7984fb5b | 24 | int LSM6DS0::read(char addr_reg, char *byte_returned) { |
max_mbed | 0:30cd7984fb5b | 25 | if(i2c.write(LSM6DS0_ADDRESS, &addr_reg, 1, true)==0){ |
max_mbed | 0:30cd7984fb5b | 26 | return i2c.read(LSM6DS0_ADDRESS, byte_returned, 1); |
max_mbed | 0:30cd7984fb5b | 27 | } |
max_mbed | 0:30cd7984fb5b | 28 | else{ |
max_mbed | 0:30cd7984fb5b | 29 | return 100; //ERROR 100 -> Error in writing pre reading |
max_mbed | 0:30cd7984fb5b | 30 | } |
max_mbed | 0:30cd7984fb5b | 31 | } |
max_mbed | 0:30cd7984fb5b | 32 | |
max_mbed | 0:30cd7984fb5b | 33 | int LSM6DS0::read(char address_first_reg, char *data, int length) { |
max_mbed | 0:30cd7984fb5b | 34 | if(i2c.write(LSM6DS0_ADDRESS, &address_first_reg, 1, true)==0){ |
max_mbed | 0:30cd7984fb5b | 35 | return i2c.read(LSM6DS0_ADDRESS , data, length); |
max_mbed | 0:30cd7984fb5b | 36 | } |
max_mbed | 0:30cd7984fb5b | 37 | else{ |
max_mbed | 0:30cd7984fb5b | 38 | return 100; //ERROR 100 -> Error in writing pre reading |
max_mbed | 0:30cd7984fb5b | 39 | } |
max_mbed | 0:30cd7984fb5b | 40 | } |
max_mbed | 0:30cd7984fb5b | 41 | |
max_mbed | 0:30cd7984fb5b | 42 | bool LSM6DS0::testConnection( void ) { |
max_mbed | 0:30cd7984fb5b | 43 | char temp; |
max_mbed | 0:30cd7984fb5b | 44 | if(this->read(WHO_AM_I, &temp) == 0){ |
max_mbed | 0:30cd7984fb5b | 45 | return !(temp == 0x68); |
max_mbed | 0:30cd7984fb5b | 46 | } |
max_mbed | 0:30cd7984fb5b | 47 | else{ |
max_mbed | 0:30cd7984fb5b | 48 | return 101; //ERROR 101 -> Error in reading WHO_AM_I Register |
max_mbed | 0:30cd7984fb5b | 49 | } |
max_mbed | 0:30cd7984fb5b | 50 | } |
max_mbed | 0:30cd7984fb5b | 51 | |
max_mbed | 0:30cd7984fb5b | 52 | int LSM6DS0::turnOnAccelerometer(char Odr, char range, char bw){ |
max_mbed | 0:30cd7984fb5b | 53 | char tmp = 0x00; |
max_mbed | 0:30cd7984fb5b | 54 | Odr &= 0x07; |
max_mbed | 0:30cd7984fb5b | 55 | range &= 0x03; |
max_mbed | 0:30cd7984fb5b | 56 | bw &= 0x03; |
max_mbed | 0:30cd7984fb5b | 57 | |
max_mbed | 0:30cd7984fb5b | 58 | tmp = (Odr << ODR_XL); |
max_mbed | 0:30cd7984fb5b | 59 | tmp |= (range << FS_XL); |
max_mbed | 0:30cd7984fb5b | 60 | tmp |= (1 << BW_SCAL_ODR); |
max_mbed | 0:30cd7984fb5b | 61 | tmp |= (bw << BW_XL); |
max_mbed | 0:30cd7984fb5b | 62 | |
max_mbed | 0:30cd7984fb5b | 63 | return this->write(CTRL_REG6_XL, tmp); //Return 0 if the operation successes! |
max_mbed | 0:30cd7984fb5b | 64 | } |
max_mbed | 0:30cd7984fb5b | 65 | |
max_mbed | 0:30cd7984fb5b | 66 | int LSM6DS0::turnOnAccGyro(char Odr, char range, char bw){ |
max_mbed | 0:30cd7984fb5b | 67 | char tmp = 0x00; |
max_mbed | 0:30cd7984fb5b | 68 | Odr &= 0x07; //NB: controllare se è giusto sembra sbagliato |
max_mbed | 0:30cd7984fb5b | 69 | range &= 0x03; |
max_mbed | 0:30cd7984fb5b | 70 | bw &= 0x03; |
max_mbed | 0:30cd7984fb5b | 71 | currentAcceleroRange=LSM6DS0_ACCELERO_RANGE_2G; |
max_mbed | 0:30cd7984fb5b | 72 | currentGyroRange = range; |
max_mbed | 0:30cd7984fb5b | 73 | |
max_mbed | 0:30cd7984fb5b | 74 | tmp = (Odr << ODR_G); |
max_mbed | 0:30cd7984fb5b | 75 | tmp |= (range << FS_G); |
max_mbed | 0:30cd7984fb5b | 76 | tmp |= (bw << BW_G); |
max_mbed | 0:30cd7984fb5b | 77 | return write(CTRL_REG1_G, tmp); //Return 0 on succes! |
max_mbed | 0:30cd7984fb5b | 78 | |
max_mbed | 0:30cd7984fb5b | 79 | } |
max_mbed | 0:30cd7984fb5b | 80 | |
max_mbed | 0:30cd7984fb5b | 81 | int LSM6DS0::turnOnTestSlow(void){ |
max_mbed | 0:30cd7984fb5b | 82 | char tmp = 0b00100000; |
max_mbed | 0:30cd7984fb5b | 83 | |
max_mbed | 0:30cd7984fb5b | 84 | return this->write(CTRL_REG1_G, tmp); //Return 0 if the operation successes! |
max_mbed | 0:30cd7984fb5b | 85 | } |
max_mbed | 0:30cd7984fb5b | 86 | |
max_mbed | 0:30cd7984fb5b | 87 | int LSM6DS0::turnOnTestFast(void){ |
max_mbed | 0:30cd7984fb5b | 88 | bool state = 0; |
max_mbed | 0:30cd7984fb5b | 89 | |
max_mbed | 0:30cd7984fb5b | 90 | char tmp = 0b11000011 ; // ODR 952(massimo) LPF1 100 Hz (massimo) LPF2 100 Hz (cmq da disabilitare) |
max_mbed | 0:30cd7984fb5b | 91 | state += this->write(CTRL_REG1_G, tmp); //Return 0 if the operation successes! |
max_mbed | 0:30cd7984fb5b | 92 | |
max_mbed | 0:30cd7984fb5b | 93 | tmp = 0b01000011 ; // HPF_G enable, HPF_G 4 Hz cutoff |
max_mbed | 0:30cd7984fb5b | 94 | state += this->write(CTRL_REG3_G, tmp); //Return 0 if the operation successes! |
max_mbed | 0:30cd7984fb5b | 95 | |
max_mbed | 1:0b38c9475429 | 96 | /* //-> troppo alto non va bene |
max_mbed | 0:30cd7984fb5b | 97 | tmp = 0b11100010 ; // HPF_XL enable, HPF_G 952/400 Hz cutoff |
max_mbed | 0:30cd7984fb5b | 98 | state += this->write(CTRL_REG7_XL, tmp); //Return 0 if the operation successes! |
max_mbed | 1:0b38c9475429 | 99 | */ |
max_mbed | 0:30cd7984fb5b | 100 | return state; |
max_mbed | 0:30cd7984fb5b | 101 | } |
max_mbed | 0:30cd7984fb5b | 102 | |
max_mbed | 0:30cd7984fb5b | 103 | /* Frequency in Hz */ |
max_mbed | 0:30cd7984fb5b | 104 | int LSM6DS0::setI2CSpeed(int frequency){ |
max_mbed | 0:30cd7984fb5b | 105 | i2c.frequency(frequency); // has no return value |
max_mbed | 0:30cd7984fb5b | 106 | return 0; |
max_mbed | 0:30cd7984fb5b | 107 | } |
max_mbed | 0:30cd7984fb5b | 108 | |
max_mbed | 0:30cd7984fb5b | 109 | int LSM6DS0::enableAcceleroInterrupt(){ |
max_mbed | 0:30cd7984fb5b | 110 | char tmp1 = 0x00; |
max_mbed | 0:30cd7984fb5b | 111 | char tmp2 = 0x00; |
max_mbed | 0:30cd7984fb5b | 112 | char tmp3 = 0x00; |
max_mbed | 0:30cd7984fb5b | 113 | tmp1 |= (1 << INT_DRDY_XL) | |
max_mbed | 0:30cd7984fb5b | 114 | (1 << INT_FSS5); |
max_mbed | 0:30cd7984fb5b | 115 | tmp2 |= (0 << AOI_XL) |
max_mbed | 0:30cd7984fb5b | 116 | |(1 << ZHIE_XL); |
max_mbed | 0:30cd7984fb5b | 117 | tmp3 |= (1 << IA_XL) |
max_mbed | 0:30cd7984fb5b | 118 | |(1 << XL_XL); |
max_mbed | 0:30cd7984fb5b | 119 | write(INT_CTRL,0b01010001); |
max_mbed | 0:30cd7984fb5b | 120 | //write(0x23,0x02); |
max_mbed | 0:30cd7984fb5b | 121 | //write(INT_GEN_CFG_XL, tmp2); |
max_mbed | 0:30cd7984fb5b | 122 | //write(INT_GEN_SRC_XL, tmp3); |
max_mbed | 0:30cd7984fb5b | 123 | |
max_mbed | 0:30cd7984fb5b | 124 | |
max_mbed | 0:30cd7984fb5b | 125 | return 0; |
max_mbed | 0:30cd7984fb5b | 126 | } |
max_mbed | 0:30cd7984fb5b | 127 | |
max_mbed | 0:30cd7984fb5b | 128 | |
max_mbed | 0:30cd7984fb5b | 129 | //-------------------------------------------------- |
max_mbed | 0:30cd7984fb5b | 130 | //----------------Accelerometer--------------------- |
max_mbed | 0:30cd7984fb5b | 131 | //-------------------------------------------------- |
max_mbed | 0:30cd7984fb5b | 132 | |
max_mbed | 0:30cd7984fb5b | 133 | char LSM6DS0::getAcceleroRange(void){ //For evaluation only, remove when complete everything! |
max_mbed | 0:30cd7984fb5b | 134 | return currentAcceleroRange; |
max_mbed | 0:30cd7984fb5b | 135 | } |
max_mbed | 0:30cd7984fb5b | 136 | |
max_mbed | 0:30cd7984fb5b | 137 | int LSM6DS0::getAcceleroRaw(int16_t *data) { |
max_mbed | 0:30cd7984fb5b | 138 | char values[6]; |
max_mbed | 0:30cd7984fb5b | 139 | if(this->read(OUT_X_XL, values, 6) == 0){ |
max_mbed | 0:30cd7984fb5b | 140 | data[0] = (int16_t)((values[1]<<8) + values[0]); |
max_mbed | 0:30cd7984fb5b | 141 | data[1] = (int16_t)((values[3]<<8) + values[2]); |
max_mbed | 0:30cd7984fb5b | 142 | data[2] = (int16_t)((values[5]<<8) + values[4]); |
max_mbed | 0:30cd7984fb5b | 143 | return 0; //Return 0 on success |
max_mbed | 0:30cd7984fb5b | 144 | } |
max_mbed | 0:30cd7984fb5b | 145 | else{ |
max_mbed | 0:30cd7984fb5b | 146 | return 102; //ERROR 102 -> Error in reading Acceleration |
max_mbed | 0:30cd7984fb5b | 147 | } |
max_mbed | 0:30cd7984fb5b | 148 | } |
max_mbed | 0:30cd7984fb5b | 149 | |
max_mbed | 0:30cd7984fb5b | 150 | int LSM6DS0::getAccelero(Vector* v){ |
max_mbed | 0:30cd7984fb5b | 151 | int16_t tmp[3]; |
max_mbed | 0:30cd7984fb5b | 152 | if( this->getAcceleroRaw(tmp) == 0){ |
max_mbed | 0:30cd7984fb5b | 153 | if (currentAcceleroRange == LSM6DS0_ACCELERO_RANGE_2G){ |
max_mbed | 0:30cd7984fb5b | 154 | /*v->x =(double)tmp[0]/(FULLSCALEBIT/2)*2*G; |
max_mbed | 0:30cd7984fb5b | 155 | v->y =(double)tmp[1]/(FULLSCALEBIT/2)*2*G; |
max_mbed | 0:30cd7984fb5b | 156 | v->z =(double)tmp[2]/(FULLSCALEBIT/2)*2*G;*/ |
max_mbed | 0:30cd7984fb5b | 157 | v->x = (double)tmp[0] * 0.061e-3 * G; |
max_mbed | 0:30cd7984fb5b | 158 | v->y = (double)tmp[1] * 0.061e-3 * G; |
max_mbed | 0:30cd7984fb5b | 159 | v->z = (double)tmp[2] * 0.061e-3 * G; |
max_mbed | 0:30cd7984fb5b | 160 | } |
max_mbed | 0:30cd7984fb5b | 161 | if (currentAcceleroRange == LSM6DS0_ACCELERO_RANGE_4G){ |
max_mbed | 0:30cd7984fb5b | 162 | v->x=(double)tmp[0] * 0.122e-3 * G; |
max_mbed | 0:30cd7984fb5b | 163 | v->y=(double)tmp[1] * 0.122e-3 * G; |
max_mbed | 0:30cd7984fb5b | 164 | v->z=(double)tmp[2] * 0.122e-3 * G; |
max_mbed | 0:30cd7984fb5b | 165 | } |
max_mbed | 0:30cd7984fb5b | 166 | if (currentAcceleroRange == LSM6DS0_ACCELERO_RANGE_8G){ |
max_mbed | 0:30cd7984fb5b | 167 | v->x=(double)tmp[0] * 0.244e-3 * G; |
max_mbed | 0:30cd7984fb5b | 168 | v->y=(double)tmp[1] * 0.244e-3 * G; |
max_mbed | 0:30cd7984fb5b | 169 | v->z=(double)tmp[2] * 0.244e-3 * G; |
max_mbed | 0:30cd7984fb5b | 170 | } |
max_mbed | 0:30cd7984fb5b | 171 | if (currentAcceleroRange == LSM6DS0_ACCELERO_RANGE_16G){ |
max_mbed | 0:30cd7984fb5b | 172 | v->x=(double)tmp[0] * 0.732e-3 * G; |
max_mbed | 0:30cd7984fb5b | 173 | v->y=(double)tmp[1] * 0.732e-3 * G; |
max_mbed | 0:30cd7984fb5b | 174 | v->z=(double)tmp[2] * 0.732e-3 * G; |
max_mbed | 0:30cd7984fb5b | 175 | } |
max_mbed | 0:30cd7984fb5b | 176 | return 0; //RETURN 0 on success |
max_mbed | 0:30cd7984fb5b | 177 | } |
max_mbed | 0:30cd7984fb5b | 178 | else{ |
max_mbed | 0:30cd7984fb5b | 179 | return 103; //ERROR 103 -> Error in Reading the acceleration |
max_mbed | 0:30cd7984fb5b | 180 | } |
max_mbed | 0:30cd7984fb5b | 181 | } |
max_mbed | 0:30cd7984fb5b | 182 | |
max_mbed | 0:30cd7984fb5b | 183 | //-------------------------------------------------- |
max_mbed | 0:30cd7984fb5b | 184 | //------------------Gyroscope----------------------- |
max_mbed | 0:30cd7984fb5b | 185 | //-------------------------------------------------- |
max_mbed | 0:30cd7984fb5b | 186 | int LSM6DS0::getGyroRaw(int16_t *data) { |
max_mbed | 0:30cd7984fb5b | 187 | char tmp[6]; |
max_mbed | 0:30cd7984fb5b | 188 | if(this->read(OUT_X_G, tmp, 6) == 0){ |
max_mbed | 0:30cd7984fb5b | 189 | data[0] = (int16_t)(short)((tmp[1]<<8) + tmp[0]); |
max_mbed | 0:30cd7984fb5b | 190 | data[1] = (int16_t)(short)((tmp[3]<<8) + tmp[2]); |
max_mbed | 0:30cd7984fb5b | 191 | data[2] = (int16_t)(short)((tmp[5]<<8) + tmp[4]); |
max_mbed | 0:30cd7984fb5b | 192 | return 0; |
max_mbed | 0:30cd7984fb5b | 193 | } |
max_mbed | 0:30cd7984fb5b | 194 | else{ |
max_mbed | 0:30cd7984fb5b | 195 | return 105; //ERROR 105 -> Error in reading Gyroscope |
max_mbed | 0:30cd7984fb5b | 196 | } |
max_mbed | 0:30cd7984fb5b | 197 | } |
max_mbed | 0:30cd7984fb5b | 198 | |
max_mbed | 0:30cd7984fb5b | 199 | int LSM6DS0::getGyro(Vector* v, bool after_calibration) { |
max_mbed | 0:30cd7984fb5b | 200 | int16_t tmp[3]; |
max_mbed | 0:30cd7984fb5b | 201 | if( this->getGyroRaw(tmp) == 0){ |
max_mbed | 0:30cd7984fb5b | 202 | if (currentGyroRange == LSM6DS0_GYRO_RANGE_245) { |
max_mbed | 0:30cd7984fb5b | 203 | v->x=(double)tmp[0] * 8.75e-3; |
max_mbed | 0:30cd7984fb5b | 204 | v->y=(double)tmp[1] * 8.75e-3; |
max_mbed | 0:30cd7984fb5b | 205 | v->z=(double)tmp[2] * 8.75e-3; |
max_mbed | 0:30cd7984fb5b | 206 | } |
max_mbed | 0:30cd7984fb5b | 207 | if (currentGyroRange == LSM6DS0_GYRO_RANGE_500){ |
max_mbed | 0:30cd7984fb5b | 208 | v->x=(double)tmp[0] * 17.50e-3; |
max_mbed | 0:30cd7984fb5b | 209 | v->y=(double)tmp[1] * 17.50e-3; |
max_mbed | 0:30cd7984fb5b | 210 | v->z=(double)tmp[2] * 17.50e-3; |
max_mbed | 0:30cd7984fb5b | 211 | } |
max_mbed | 0:30cd7984fb5b | 212 | if (currentGyroRange == LSM6DS0_GYRO_RANGE_2000){ |
max_mbed | 0:30cd7984fb5b | 213 | v->x=(double)tmp[0] * 70e-3; |
max_mbed | 0:30cd7984fb5b | 214 | v->y=(double)tmp[1] * 70e-3; |
max_mbed | 0:30cd7984fb5b | 215 | v->z=(double)tmp[2] * 70e-3; |
max_mbed | 0:30cd7984fb5b | 216 | } |
max_mbed | 0:30cd7984fb5b | 217 | if(after_calibration){ |
max_mbed | 0:30cd7984fb5b | 218 | v->x -= gyro_offset.x; |
max_mbed | 0:30cd7984fb5b | 219 | v->y -= gyro_offset.y; |
max_mbed | 0:30cd7984fb5b | 220 | v->z -= gyro_offset.z; |
max_mbed | 0:30cd7984fb5b | 221 | } |
max_mbed | 0:30cd7984fb5b | 222 | return 0; |
max_mbed | 0:30cd7984fb5b | 223 | } |
max_mbed | 0:30cd7984fb5b | 224 | else{ |
max_mbed | 0:30cd7984fb5b | 225 | return 104; //ERROR 104 -> Error in reading Accelero! |
max_mbed | 0:30cd7984fb5b | 226 | } |
max_mbed | 0:30cd7984fb5b | 227 | } |
max_mbed | 0:30cd7984fb5b | 228 | int LSM6DS0::getAccGyro(Vector *acc, Vector *gyro, bool after_gyro_calibration){ |
max_mbed | 0:30cd7984fb5b | 229 | if(this->getAccelero(acc) == 0) { |
max_mbed | 0:30cd7984fb5b | 230 | return getGyro(gyro, after_gyro_calibration); |
max_mbed | 0:30cd7984fb5b | 231 | } |
max_mbed | 0:30cd7984fb5b | 232 | else{ |
max_mbed | 0:30cd7984fb5b | 233 | return 107; //ERROR 107 -> Error in reading Accelerometer! |
max_mbed | 0:30cd7984fb5b | 234 | } |
max_mbed | 0:30cd7984fb5b | 235 | } |
max_mbed | 0:30cd7984fb5b | 236 | |
max_mbed | 0:30cd7984fb5b | 237 | int LSM6DS0::gyroCalibration(int max_iteration){ |
max_mbed | 0:30cd7984fb5b | 238 | Vector v; |
max_mbed | 0:30cd7984fb5b | 239 | gyro_offset.x =0; |
max_mbed | 0:30cd7984fb5b | 240 | gyro_offset.y =0; |
max_mbed | 0:30cd7984fb5b | 241 | gyro_offset.z =0; |
max_mbed | 0:30cd7984fb5b | 242 | for(int i = 0; i < max_iteration; i++){ |
max_mbed | 0:30cd7984fb5b | 243 | if(this->getGyro(&v,false)!= 0) return 108; //ERROR 108 -> Errore in reading gyroscope |
max_mbed | 0:30cd7984fb5b | 244 | gyro_offset.x += v.x/max_iteration; |
max_mbed | 0:30cd7984fb5b | 245 | gyro_offset.y += v.y/max_iteration; |
max_mbed | 0:30cd7984fb5b | 246 | gyro_offset.z += v.z/max_iteration; |
max_mbed | 0:30cd7984fb5b | 247 | } |
max_mbed | 0:30cd7984fb5b | 248 | //pcLSM.printf("%f\t%f\t%f\r\n", gyro_offset.x,gyro_offset.y,gyro_offset.z); |
max_mbed | 0:30cd7984fb5b | 249 | return 0; |
max_mbed | 0:30cd7984fb5b | 250 | } |