Shingo FUKUYA / Mbed OS Airio-Base_Grove_6Axis_OS5

Airio-Base test program using Mbed OS 5 .

Dependencies:   SDFileSystem

LSM6DS3/LSM6DS3.h@1:2cfe30ab611c, 2019-07-16 (annotated)

Committer:
mbed_crane_elec
Date:
Tue Jul 16 21:29:03 2019 +0000
Revision:
1:2cfe30ab611c
modify

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mbed_crane_elec 1:2cfe30ab611c 1 // Based on Eugene Gonzalez's version of LSM9DS1_Demo
mbed_crane_elec 1:2cfe30ab611c 2 // Modified by Sherry Yang for LSM6DS3 sensor
mbed_crane_elec 1:2cfe30ab611c 3 #ifndef _LSM6DS3_H__
mbed_crane_elec 1:2cfe30ab611c 4 #define _LSM6DS3_H__
mbed_crane_elec 1:2cfe30ab611c 5
mbed_crane_elec 1:2cfe30ab611c 6 #include "mbed.h"
mbed_crane_elec 1:2cfe30ab611c 7
mbed_crane_elec 1:2cfe30ab611c 8 /////////////////////////////////////////
mbed_crane_elec 1:2cfe30ab611c 9 // LSM6DS3 Accel/Gyro (XL/G) Registers //
mbed_crane_elec 1:2cfe30ab611c 10 /////////////////////////////////////////
mbed_crane_elec 1:2cfe30ab611c 11 #define RAM_ACCESS 0x01
mbed_crane_elec 1:2cfe30ab611c 12 #define SENSOR_SYNC_TIME 0x04
mbed_crane_elec 1:2cfe30ab611c 13 #define SENSOR_SYNC_EN 0x05
mbed_crane_elec 1:2cfe30ab611c 14 #define FIFO_CTRL1 0x06
mbed_crane_elec 1:2cfe30ab611c 15 #define FIFO_CTRL2 0x07
mbed_crane_elec 1:2cfe30ab611c 16 #define FIFO_CTRL3 0x08
mbed_crane_elec 1:2cfe30ab611c 17 #define FIFO_CTRL4 0x09
mbed_crane_elec 1:2cfe30ab611c 18 #define FIFO_CTRL5 0x0A
mbed_crane_elec 1:2cfe30ab611c 19 #define ORIENT_CFG_G 0x0B
mbed_crane_elec 1:2cfe30ab611c 20 #define REFERENCE_G 0x0C
mbed_crane_elec 1:2cfe30ab611c 21 #define INT1_CTRL 0x0D
mbed_crane_elec 1:2cfe30ab611c 22 #define INT2_CTRL 0x0E
mbed_crane_elec 1:2cfe30ab611c 23 #define WHO_AM_I_REG 0X0F
mbed_crane_elec 1:2cfe30ab611c 24 #define CTRL1_XL 0x10
mbed_crane_elec 1:2cfe30ab611c 25 #define CTRL2_G 0x11
mbed_crane_elec 1:2cfe30ab611c 26 #define CTRL3_C 0x12
mbed_crane_elec 1:2cfe30ab611c 27 #define CTRL4_C 0x13
mbed_crane_elec 1:2cfe30ab611c 28 #define CTRL5_C 0x14
mbed_crane_elec 1:2cfe30ab611c 29 #define CTRL6_C 0x15
mbed_crane_elec 1:2cfe30ab611c 30 #define CTRL7_G 0x16
mbed_crane_elec 1:2cfe30ab611c 31 #define CTRL8_XL 0x17
mbed_crane_elec 1:2cfe30ab611c 32 #define CTRL9_XL 0x18
mbed_crane_elec 1:2cfe30ab611c 33 #define CTRL10_C 0x19
mbed_crane_elec 1:2cfe30ab611c 34 #define MASTER_CONFIG 0x1A
mbed_crane_elec 1:2cfe30ab611c 35 #define WAKE_UP_SRC 0x1B
mbed_crane_elec 1:2cfe30ab611c 36 #define TAP_SRC 0x1C
mbed_crane_elec 1:2cfe30ab611c 37 #define D6D_SRC 0x1D
mbed_crane_elec 1:2cfe30ab611c 38 #define STATUS_REG 0x1E
mbed_crane_elec 1:2cfe30ab611c 39 #define OUT_TEMP_L 0x20
mbed_crane_elec 1:2cfe30ab611c 40 #define OUT_TEMP_H 0x21
mbed_crane_elec 1:2cfe30ab611c 41 #define OUTX_L_G 0x22
mbed_crane_elec 1:2cfe30ab611c 42 #define OUTX_H_G 0x23
mbed_crane_elec 1:2cfe30ab611c 43 #define OUTY_L_G 0x24
mbed_crane_elec 1:2cfe30ab611c 44 #define OUTY_H_G 0x25
mbed_crane_elec 1:2cfe30ab611c 45 #define OUTZ_L_G 0x26
mbed_crane_elec 1:2cfe30ab611c 46 #define OUTZ_H_G 0x27
mbed_crane_elec 1:2cfe30ab611c 47 #define OUTX_L_XL 0x28
mbed_crane_elec 1:2cfe30ab611c 48 #define OUTX_H_XL 0x29
mbed_crane_elec 1:2cfe30ab611c 49 #define OUTY_L_XL 0x2A
mbed_crane_elec 1:2cfe30ab611c 50 #define OUTY_H_XL 0x2B
mbed_crane_elec 1:2cfe30ab611c 51 #define OUTZ_L_XL 0x2C
mbed_crane_elec 1:2cfe30ab611c 52 #define OUTZ_H_XL 0x2D
mbed_crane_elec 1:2cfe30ab611c 53 #define SENSORHUB1_REG 0x2E
mbed_crane_elec 1:2cfe30ab611c 54 #define SENSORHUB2_REG 0x2F
mbed_crane_elec 1:2cfe30ab611c 55 #define SENSORHUB3_REG 0x30
mbed_crane_elec 1:2cfe30ab611c 56 #define SENSORHUB4_REG 0x31
mbed_crane_elec 1:2cfe30ab611c 57 #define SENSORHUB5_REG 0x32
mbed_crane_elec 1:2cfe30ab611c 58 #define SENSORHUB6_REG 0x33
mbed_crane_elec 1:2cfe30ab611c 59 #define SENSORHUB7_REG 0x34
mbed_crane_elec 1:2cfe30ab611c 60 #define SENSORHUB8_REG 0x35
mbed_crane_elec 1:2cfe30ab611c 61 #define SENSORHUB9_REG 0x36
mbed_crane_elec 1:2cfe30ab611c 62 #define SENSORHUB10_REG 0x37
mbed_crane_elec 1:2cfe30ab611c 63 #define SENSORHUB11_REG 0x38
mbed_crane_elec 1:2cfe30ab611c 64 #define SENSORHUB12_REG 0x39
mbed_crane_elec 1:2cfe30ab611c 65 #define FIFO_STATUS1 0x3A
mbed_crane_elec 1:2cfe30ab611c 66 #define FIFO_STATUS2 0x3B
mbed_crane_elec 1:2cfe30ab611c 67 #define FIFO_STATUS3 0x3C
mbed_crane_elec 1:2cfe30ab611c 68 #define FIFO_STATUS4 0x3D
mbed_crane_elec 1:2cfe30ab611c 69 #define FIFO_DATA_OUT_L 0x3E
mbed_crane_elec 1:2cfe30ab611c 70 #define FIFO_DATA_OUT_H 0x3F
mbed_crane_elec 1:2cfe30ab611c 71 #define TIMESTAMP0_REG 0x40
mbed_crane_elec 1:2cfe30ab611c 72 #define TIMESTAMP1_REG 0x41
mbed_crane_elec 1:2cfe30ab611c 73 #define TIMESTAMP2_REG 0x42
mbed_crane_elec 1:2cfe30ab611c 74 #define STEP_COUNTER_L 0x4B
mbed_crane_elec 1:2cfe30ab611c 75 #define STEP_COUNTER_H 0x4C
mbed_crane_elec 1:2cfe30ab611c 76 #define FUNC_SR 0x53
mbed_crane_elec 1:2cfe30ab611c 77 #define TAP_CFG 0x58
mbed_crane_elec 1:2cfe30ab611c 78 #define TAP_THS_6D 0x59
mbed_crane_elec 1:2cfe30ab611c 79 #define INT_DUR2 0x5A
mbed_crane_elec 1:2cfe30ab611c 80 #define WAKE_UP_THS 0x5B
mbed_crane_elec 1:2cfe30ab611c 81 #define WAKE_UP_DUR 0x5C
mbed_crane_elec 1:2cfe30ab611c 82 #define FREE_FALL 0x5D
mbed_crane_elec 1:2cfe30ab611c 83 #define MD1_CFG 0x5E
mbed_crane_elec 1:2cfe30ab611c 84 #define MD2_CFG 0x5F
mbed_crane_elec 1:2cfe30ab611c 85
mbed_crane_elec 1:2cfe30ab611c 86 // Possible I2C addresses for the accel/gyro
mbed_crane_elec 1:2cfe30ab611c 87 #define LSM6DS3_AG_I2C_ADDR(sa0) ((sa0) ? 0xD6 : 0xD4)
mbed_crane_elec 1:2cfe30ab611c 88
mbed_crane_elec 1:2cfe30ab611c 89 /**
mbed_crane_elec 1:2cfe30ab611c 90 * LSM6DS3 Class - driver for the 9 DoF IMU
mbed_crane_elec 1:2cfe30ab611c 91 */
mbed_crane_elec 1:2cfe30ab611c 92 class LSM6DS3
mbed_crane_elec 1:2cfe30ab611c 93 {
mbed_crane_elec 1:2cfe30ab611c 94 public:
mbed_crane_elec 1:2cfe30ab611c 95
mbed_crane_elec 1:2cfe30ab611c 96 /// gyro_scale defines the possible full-scale ranges of the gyroscope:
mbed_crane_elec 1:2cfe30ab611c 97 enum gyro_scale
mbed_crane_elec 1:2cfe30ab611c 98 {
mbed_crane_elec 1:2cfe30ab611c 99 G_SCALE_245DPS = 0x0 << 3, // 00 << 3: +/- 245 degrees per second
mbed_crane_elec 1:2cfe30ab611c 100 G_SCALE_500DPS = 0x1 << 3, // 01 << 3: +/- 500 dps
mbed_crane_elec 1:2cfe30ab611c 101 G_SCALE_1000DPS = 0x2 << 3, // 10 << 3: +/- 1000 dps
mbed_crane_elec 1:2cfe30ab611c 102 G_SCALE_2000DPS = 0x3 << 3 // 11 << 3: +/- 2000 dps
mbed_crane_elec 1:2cfe30ab611c 103 };
mbed_crane_elec 1:2cfe30ab611c 104
mbed_crane_elec 1:2cfe30ab611c 105 /// gyro_odr defines all possible data rate/bandwidth combos of the gyro:
mbed_crane_elec 1:2cfe30ab611c 106 enum gyro_odr
mbed_crane_elec 1:2cfe30ab611c 107 { // ODR (Hz) --- Cutoff
mbed_crane_elec 1:2cfe30ab611c 108 G_POWER_DOWN = 0x00, // 0 0
mbed_crane_elec 1:2cfe30ab611c 109 G_ODR_13_BW_0 = 0x10, // 12.5 0.0081 low power
mbed_crane_elec 1:2cfe30ab611c 110 G_ODR_26_BW_2 = 0x20, // 26 2.07 low power
mbed_crane_elec 1:2cfe30ab611c 111 G_ODR_52_BW_16 = 0x30, // 52 16.32 low power
mbed_crane_elec 1:2cfe30ab611c 112 G_ODR_104 = 0x40, // 104
mbed_crane_elec 1:2cfe30ab611c 113 G_ODR_208 = 0x50, // 208
mbed_crane_elec 1:2cfe30ab611c 114 G_ODR_416 = 0x60, // 416
mbed_crane_elec 1:2cfe30ab611c 115 G_ODR_833 = 0x70, // 833
mbed_crane_elec 1:2cfe30ab611c 116 G_ODR_1660 = 0x80 // 1660
mbed_crane_elec 1:2cfe30ab611c 117 };
mbed_crane_elec 1:2cfe30ab611c 118
mbed_crane_elec 1:2cfe30ab611c 119 /// accel_scale defines all possible FSR's of the accelerometer:
mbed_crane_elec 1:2cfe30ab611c 120 enum accel_scale
mbed_crane_elec 1:2cfe30ab611c 121 {
mbed_crane_elec 1:2cfe30ab611c 122 A_SCALE_2G, // 00: +/- 2g
mbed_crane_elec 1:2cfe30ab611c 123 A_SCALE_16G,// 01: +/- 16g
mbed_crane_elec 1:2cfe30ab611c 124 A_SCALE_4G, // 10: +/- 4g
mbed_crane_elec 1:2cfe30ab611c 125 A_SCALE_8G // 11: +/- 8g
mbed_crane_elec 1:2cfe30ab611c 126 };
mbed_crane_elec 1:2cfe30ab611c 127
mbed_crane_elec 1:2cfe30ab611c 128 /// accel_oder defines all possible output data rates of the accelerometer:
mbed_crane_elec 1:2cfe30ab611c 129 enum accel_odr
mbed_crane_elec 1:2cfe30ab611c 130 {
mbed_crane_elec 1:2cfe30ab611c 131 A_POWER_DOWN, // Power-down mode (0x0)
mbed_crane_elec 1:2cfe30ab611c 132 A_ODR_13, // 12.5 Hz (0x1) low power
mbed_crane_elec 1:2cfe30ab611c 133 A_ODR_26, // 26 Hz (0x2) low power
mbed_crane_elec 1:2cfe30ab611c 134 A_ODR_52, // 52 Hz (0x3) low power
mbed_crane_elec 1:2cfe30ab611c 135 A_ODR_104, // 104 Hz (0x4) normal mode
mbed_crane_elec 1:2cfe30ab611c 136 A_ODR_208, // 208 Hz (0x5) normal mode
mbed_crane_elec 1:2cfe30ab611c 137 A_ODR_416, // 416 Hz (0x6) high performance
mbed_crane_elec 1:2cfe30ab611c 138 A_ODR_833, // 833 Hz (0x7) high performance
mbed_crane_elec 1:2cfe30ab611c 139 A_ODR_1660, // 1.66 kHz (0x8) high performance
mbed_crane_elec 1:2cfe30ab611c 140 A_ODR_3330, // 3.33 kHz (0x9) high performance
mbed_crane_elec 1:2cfe30ab611c 141 A_ODR_6660, // 6.66 kHz (0xA) high performance
mbed_crane_elec 1:2cfe30ab611c 142 };
mbed_crane_elec 1:2cfe30ab611c 143
mbed_crane_elec 1:2cfe30ab611c 144 // accel_bw defines all possible bandwiths for low-pass filter of the accelerometer:
mbed_crane_elec 1:2cfe30ab611c 145 enum accel_bw
mbed_crane_elec 1:2cfe30ab611c 146 {
mbed_crane_elec 1:2cfe30ab611c 147 A_BW_AUTO_SCALE = 0x0, // Automatic BW scaling (0x0)
mbed_crane_elec 1:2cfe30ab611c 148 A_BW_408 = 0x4, // 408 Hz (0x4)
mbed_crane_elec 1:2cfe30ab611c 149 A_BW_211 = 0x5, // 211 Hz (0x5)
mbed_crane_elec 1:2cfe30ab611c 150 A_BW_105 = 0x6, // 105 Hz (0x6)
mbed_crane_elec 1:2cfe30ab611c 151 A_BW_50 = 0x7 // 50 Hz (0x7)
mbed_crane_elec 1:2cfe30ab611c 152 };
mbed_crane_elec 1:2cfe30ab611c 153
mbed_crane_elec 1:2cfe30ab611c 154
mbed_crane_elec 1:2cfe30ab611c 155
mbed_crane_elec 1:2cfe30ab611c 156 // We'll store the gyro, and accel, readings in a series of
mbed_crane_elec 1:2cfe30ab611c 157 // public class variables. Each sensor gets three variables -- one for each
mbed_crane_elec 1:2cfe30ab611c 158 // axis. Call readGyro(), and readAccel() first, before using
mbed_crane_elec 1:2cfe30ab611c 159 // these variables!
mbed_crane_elec 1:2cfe30ab611c 160 // These values are the RAW signed 16-bit readings from the sensors.
mbed_crane_elec 1:2cfe30ab611c 161 int16_t gx_raw, gy_raw, gz_raw; // x, y, and z axis readings of the gyroscope
mbed_crane_elec 1:2cfe30ab611c 162 int16_t ax_raw, ay_raw, az_raw; // x, y, and z axis readings of the accelerometer
mbed_crane_elec 1:2cfe30ab611c 163 int16_t temperature_raw;
mbed_crane_elec 1:2cfe30ab611c 164
mbed_crane_elec 1:2cfe30ab611c 165 // floating-point values of scaled data in real-world units
mbed_crane_elec 1:2cfe30ab611c 166 float gx, gy, gz;
mbed_crane_elec 1:2cfe30ab611c 167 float ax, ay, az;
mbed_crane_elec 1:2cfe30ab611c 168 float temperature_c, temperature_f; // temperature in celcius and fahrenheit
mbed_crane_elec 1:2cfe30ab611c 169 float intr;
mbed_crane_elec 1:2cfe30ab611c 170
mbed_crane_elec 1:2cfe30ab611c 171
mbed_crane_elec 1:2cfe30ab611c 172 /** LSM6DS3 -- LSM6DS3 class constructor
mbed_crane_elec 1:2cfe30ab611c 173 * The constructor will set up a handful of private variables, and set the
mbed_crane_elec 1:2cfe30ab611c 174 * communication mode as well.
mbed_crane_elec 1:2cfe30ab611c 175 * Input:
mbed_crane_elec 1:2cfe30ab611c 176 * - interface = Either MODE_SPI or MODE_I2C, whichever you're using
mbed_crane_elec 1:2cfe30ab611c 177 * to talk to the IC.
mbed_crane_elec 1:2cfe30ab611c 178 * - xgAddr = If MODE_I2C, this is the I2C address of the accel/gyro.
mbed_crane_elec 1:2cfe30ab611c 179 * If MODE_SPI, this is the chip select pin of the accel/gyro (CS_A/G)
mbed_crane_elec 1:2cfe30ab611c 180 */
mbed_crane_elec 1:2cfe30ab611c 181 LSM6DS3(PinName sda, PinName scl, uint8_t xgAddr = LSM6DS3_AG_I2C_ADDR(1));
mbed_crane_elec 1:2cfe30ab611c 182
mbed_crane_elec 1:2cfe30ab611c 183 /** begin() -- Initialize the gyro, and accelerometer.
mbed_crane_elec 1:2cfe30ab611c 184 * This will set up the scale and output rate of each sensor. It'll also
mbed_crane_elec 1:2cfe30ab611c 185 * "turn on" every sensor and every axis of every sensor.
mbed_crane_elec 1:2cfe30ab611c 186 * Input:
mbed_crane_elec 1:2cfe30ab611c 187 * - gScl = The scale of the gyroscope. This should be a gyro_scale value.
mbed_crane_elec 1:2cfe30ab611c 188 * - aScl = The scale of the accelerometer. Should be a accel_scale value.
mbed_crane_elec 1:2cfe30ab611c 189 * - gODR = Output data rate of the gyroscope. gyro_odr value.
mbed_crane_elec 1:2cfe30ab611c 190 * - aODR = Output data rate of the accelerometer. accel_odr value.
mbed_crane_elec 1:2cfe30ab611c 191 * Output: The function will return an unsigned 16-bit value. The most-sig
mbed_crane_elec 1:2cfe30ab611c 192 * bytes of the output are the WHO_AM_I reading of the accel/gyro.
mbed_crane_elec 1:2cfe30ab611c 193 * All parameters have a defaulted value, so you can call just "begin()".
mbed_crane_elec 1:2cfe30ab611c 194 * Default values are FSR's of: +/- 245DPS, 4g, 2Gs; ODRs of 119 Hz for
mbed_crane_elec 1:2cfe30ab611c 195 * gyro, 119 Hz for accelerometer.
mbed_crane_elec 1:2cfe30ab611c 196 * Use the return value of this function to verify communication.
mbed_crane_elec 1:2cfe30ab611c 197 */
mbed_crane_elec 1:2cfe30ab611c 198 uint16_t begin(gyro_scale gScl = G_SCALE_245DPS,
mbed_crane_elec 1:2cfe30ab611c 199 accel_scale aScl = A_SCALE_2G, gyro_odr gODR = G_ODR_104,
mbed_crane_elec 1:2cfe30ab611c 200 accel_odr aODR = A_ODR_104);
mbed_crane_elec 1:2cfe30ab611c 201
mbed_crane_elec 1:2cfe30ab611c 202 /** readGyro() -- Read the gyroscope output registers.
mbed_crane_elec 1:2cfe30ab611c 203 * This function will read all six gyroscope output registers.
mbed_crane_elec 1:2cfe30ab611c 204 * The readings are stored in the class' gx_raw, gy_raw, and gz_raw variables. Read
mbed_crane_elec 1:2cfe30ab611c 205 * those _after_ calling readGyro().
mbed_crane_elec 1:2cfe30ab611c 206 */
mbed_crane_elec 1:2cfe30ab611c 207 void readGyro();
mbed_crane_elec 1:2cfe30ab611c 208
mbed_crane_elec 1:2cfe30ab611c 209 /** readAccel() -- Read the accelerometer output registers.
mbed_crane_elec 1:2cfe30ab611c 210 * This function will read all six accelerometer output registers.
mbed_crane_elec 1:2cfe30ab611c 211 * The readings are stored in the class' ax_raw, ay_raw, and az_raw variables. Read
mbed_crane_elec 1:2cfe30ab611c 212 * those _after_ calling readAccel().
mbed_crane_elec 1:2cfe30ab611c 213 */
mbed_crane_elec 1:2cfe30ab611c 214 void readAccel();
mbed_crane_elec 1:2cfe30ab611c 215
mbed_crane_elec 1:2cfe30ab611c 216 /** readTemp() -- Read the temperature output register.
mbed_crane_elec 1:2cfe30ab611c 217 * This function will read two temperature output registers.
mbed_crane_elec 1:2cfe30ab611c 218 * The combined readings are stored in the class' temperature variables. Read
mbed_crane_elec 1:2cfe30ab611c 219 * those _after_ calling readTemp().
mbed_crane_elec 1:2cfe30ab611c 220 */
mbed_crane_elec 1:2cfe30ab611c 221 void readTemp();
mbed_crane_elec 1:2cfe30ab611c 222
mbed_crane_elec 1:2cfe30ab611c 223 /** Read Interrupt **/
mbed_crane_elec 1:2cfe30ab611c 224 void readIntr();
mbed_crane_elec 1:2cfe30ab611c 225
mbed_crane_elec 1:2cfe30ab611c 226 /** setGyroScale() -- Set the full-scale range of the gyroscope.
mbed_crane_elec 1:2cfe30ab611c 227 * This function can be called to set the scale of the gyroscope to
mbed_crane_elec 1:2cfe30ab611c 228 * 245, 500, or 2000 degrees per second.
mbed_crane_elec 1:2cfe30ab611c 229 * Input:
mbed_crane_elec 1:2cfe30ab611c 230 * - gScl = The desired gyroscope scale. Must be one of three possible
mbed_crane_elec 1:2cfe30ab611c 231 * values from the gyro_scale enum.
mbed_crane_elec 1:2cfe30ab611c 232 */
mbed_crane_elec 1:2cfe30ab611c 233 void setGyroScale(gyro_scale gScl);
mbed_crane_elec 1:2cfe30ab611c 234
mbed_crane_elec 1:2cfe30ab611c 235 /** setAccelScale() -- Set the full-scale range of the accelerometer.
mbed_crane_elec 1:2cfe30ab611c 236 * This function can be called to set the scale of the accelerometer to
mbed_crane_elec 1:2cfe30ab611c 237 * 2, 4, 8, or 16 g's.
mbed_crane_elec 1:2cfe30ab611c 238 * Input:
mbed_crane_elec 1:2cfe30ab611c 239 * - aScl = The desired accelerometer scale. Must be one of five possible
mbed_crane_elec 1:2cfe30ab611c 240 * values from the accel_scale enum.
mbed_crane_elec 1:2cfe30ab611c 241 */
mbed_crane_elec 1:2cfe30ab611c 242 void setAccelScale(accel_scale aScl);
mbed_crane_elec 1:2cfe30ab611c 243
mbed_crane_elec 1:2cfe30ab611c 244 /** setGyroODR() -- Set the output data rate and bandwidth of the gyroscope
mbed_crane_elec 1:2cfe30ab611c 245 * Input:
mbed_crane_elec 1:2cfe30ab611c 246 * - gRate = The desired output rate and cutoff frequency of the gyro.
mbed_crane_elec 1:2cfe30ab611c 247 * Must be a value from the gyro_odr enum (check above).
mbed_crane_elec 1:2cfe30ab611c 248 */
mbed_crane_elec 1:2cfe30ab611c 249 void setGyroODR(gyro_odr gRate);
mbed_crane_elec 1:2cfe30ab611c 250
mbed_crane_elec 1:2cfe30ab611c 251 /** setAccelODR() -- Set the output data rate of the accelerometer
mbed_crane_elec 1:2cfe30ab611c 252 * Input:
mbed_crane_elec 1:2cfe30ab611c 253 * - aRate = The desired output rate of the accel.
mbed_crane_elec 1:2cfe30ab611c 254 * Must be a value from the accel_odr enum (check above).
mbed_crane_elec 1:2cfe30ab611c 255 */
mbed_crane_elec 1:2cfe30ab611c 256 void setAccelODR(accel_odr aRate);
mbed_crane_elec 1:2cfe30ab611c 257
mbed_crane_elec 1:2cfe30ab611c 258
mbed_crane_elec 1:2cfe30ab611c 259 private:
mbed_crane_elec 1:2cfe30ab611c 260 /** xgAddress store the I2C address
mbed_crane_elec 1:2cfe30ab611c 261 * for each sensor.
mbed_crane_elec 1:2cfe30ab611c 262 */
mbed_crane_elec 1:2cfe30ab611c 263 uint8_t xgAddress;
mbed_crane_elec 1:2cfe30ab611c 264
mbed_crane_elec 1:2cfe30ab611c 265 // I2C bus
mbed_crane_elec 1:2cfe30ab611c 266 I2C i2c;
mbed_crane_elec 1:2cfe30ab611c 267
mbed_crane_elec 1:2cfe30ab611c 268 /** gScale, and aScale store the current scale range for each
mbed_crane_elec 1:2cfe30ab611c 269 * sensor. Should be updated whenever that value changes.
mbed_crane_elec 1:2cfe30ab611c 270 */
mbed_crane_elec 1:2cfe30ab611c 271 gyro_scale gScale;
mbed_crane_elec 1:2cfe30ab611c 272 accel_scale aScale;
mbed_crane_elec 1:2cfe30ab611c 273
mbed_crane_elec 1:2cfe30ab611c 274 /** gRes, and aRes store the current resolution for each sensor.
mbed_crane_elec 1:2cfe30ab611c 275 * Units of these values would be DPS (or g's or Gs's) per ADC tick.
mbed_crane_elec 1:2cfe30ab611c 276 * This value is calculated as (sensor scale) / (2^15).
mbed_crane_elec 1:2cfe30ab611c 277 */
mbed_crane_elec 1:2cfe30ab611c 278 float gRes, aRes;
mbed_crane_elec 1:2cfe30ab611c 279
mbed_crane_elec 1:2cfe30ab611c 280 /** initGyro() -- Sets up the gyroscope to begin reading.
mbed_crane_elec 1:2cfe30ab611c 281 * This function steps through all three gyroscope control registers.
mbed_crane_elec 1:2cfe30ab611c 282 */
mbed_crane_elec 1:2cfe30ab611c 283 void initGyro();
mbed_crane_elec 1:2cfe30ab611c 284
mbed_crane_elec 1:2cfe30ab611c 285 /** initAccel() -- Sets up the accelerometer to begin reading.
mbed_crane_elec 1:2cfe30ab611c 286 * This function steps through all accelerometer related control registers.
mbed_crane_elec 1:2cfe30ab611c 287 */
mbed_crane_elec 1:2cfe30ab611c 288 void initAccel();
mbed_crane_elec 1:2cfe30ab611c 289
mbed_crane_elec 1:2cfe30ab611c 290 /** Setup Interrupt **/
mbed_crane_elec 1:2cfe30ab611c 291 void initIntr();
mbed_crane_elec 1:2cfe30ab611c 292
mbed_crane_elec 1:2cfe30ab611c 293 /** calcgRes() -- Calculate the resolution of the gyroscope.
mbed_crane_elec 1:2cfe30ab611c 294 * This function will set the value of the gRes variable. gScale must
mbed_crane_elec 1:2cfe30ab611c 295 * be set prior to calling this function.
mbed_crane_elec 1:2cfe30ab611c 296 */
mbed_crane_elec 1:2cfe30ab611c 297 void calcgRes();
mbed_crane_elec 1:2cfe30ab611c 298
mbed_crane_elec 1:2cfe30ab611c 299 /** calcaRes() -- Calculate the resolution of the accelerometer.
mbed_crane_elec 1:2cfe30ab611c 300 * This function will set the value of the aRes variable. aScale must
mbed_crane_elec 1:2cfe30ab611c 301 * be set prior to calling this function.
mbed_crane_elec 1:2cfe30ab611c 302 */
mbed_crane_elec 1:2cfe30ab611c 303 void calcaRes();
mbed_crane_elec 1:2cfe30ab611c 304 };
mbed_crane_elec 1:2cfe30ab611c 305
mbed_crane_elec 1:2cfe30ab611c 306 #endif // _LSM6DS3_H //