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Dependencies:   mbed

LSM9DS1.h@1:57502185804c, 2021-10-30 (annotated)

Committer:
natvich
Date:
Sat Oct 30 17:17:07 2021 +0000
Revision:
1:57502185804c
Projet ATTITUDE IMU

Who changed what in which revision?

UserRevisionLine numberNew contents of line
natvich 1:57502185804c 1 /******************************************************************************
natvich 1:57502185804c 2 SFE_LSM9DS1.h
natvich 1:57502185804c 3 SFE_LSM9DS1 Library Header File
natvich 1:57502185804c 4 Jim Lindblom @ SparkFun Electronics
natvich 1:57502185804c 5 Original Creation Date: February 27, 2015
natvich 1:57502185804c 6 https://github.com/sparkfun/LSM9DS1_Breakout
natvich 1:57502185804c 7
natvich 1:57502185804c 8 This file prototypes the LSM9DS1 class, implemented in SFE_LSM9DS1.cpp. In
natvich 1:57502185804c 9 addition, it defines every register in the LSM9DS1 (both the Gyro and Accel/
natvich 1:57502185804c 10 Magnetometer registers).
natvich 1:57502185804c 11
natvich 1:57502185804c 12 Development environment specifics:
natvich 1:57502185804c 13 IDE: Arduino 1.6.0
natvich 1:57502185804c 14 Hardware Platform: Arduino Uno
natvich 1:57502185804c 15 LSM9DS1 Breakout Version: 1.0
natvich 1:57502185804c 16
natvich 1:57502185804c 17 This code is beerware; if you see me (or any other SparkFun employee) at the
natvich 1:57502185804c 18 local, and you've found our code helpful, please buy us a round!
natvich 1:57502185804c 19
natvich 1:57502185804c 20 Distributed as-is; no warranty is given.
natvich 1:57502185804c 21 ******************************************************************************/
natvich 1:57502185804c 22 #ifndef __SparkFunLSM9DS1_H__
natvich 1:57502185804c 23 #define __SparkFunLSM9DS1_H__
natvich 1:57502185804c 24
natvich 1:57502185804c 25 //#if defined(ARDUINO) && ARDUINO >= 100
natvich 1:57502185804c 26 // #include "Arduino.h"
natvich 1:57502185804c 27 //#else
natvich 1:57502185804c 28 // #include "WProgram.h"
natvich 1:57502185804c 29 // #include "pins_arduino.h"
natvich 1:57502185804c 30 //#endif
natvich 1:57502185804c 31
natvich 1:57502185804c 32 #include "mbed.h"
natvich 1:57502185804c 33 #include <stdint.h>
natvich 1:57502185804c 34 #include "LSM9DS1_Registers.h"
natvich 1:57502185804c 35 #include "LSM9DS1_Types.h"
natvich 1:57502185804c 36
natvich 1:57502185804c 37 #define LSM9DS1_AG_ADDR(sa0) ((sa0) == 0 ? 0x6A : 0x6B)
natvich 1:57502185804c 38 #define LSM9DS1_M_ADDR(sa1) ((sa1) == 0 ? 0x1C : 0x1E)
natvich 1:57502185804c 39
natvich 1:57502185804c 40 enum lsm9ds1_axis {
natvich 1:57502185804c 41 X_AXIS,
natvich 1:57502185804c 42 Y_AXIS,
natvich 1:57502185804c 43 Z_AXIS,
natvich 1:57502185804c 44 ALL_AXIS
natvich 1:57502185804c 45 };
natvich 1:57502185804c 46
natvich 1:57502185804c 47 class LSM9DS1
natvich 1:57502185804c 48 {
natvich 1:57502185804c 49 public:
natvich 1:57502185804c 50 IMUSettings settings;
natvich 1:57502185804c 51
natvich 1:57502185804c 52 // We'll store the gyro, accel, and magnetometer readings in a series of
natvich 1:57502185804c 53 // public class variables. Each sensor gets three variables -- one for each
natvich 1:57502185804c 54 // axis. Call readGyro(), readAccel(), and readMag() first, before using
natvich 1:57502185804c 55 // these variables!
natvich 1:57502185804c 56 // These values are the RAW signed 16-bit readings from the sensors.
natvich 1:57502185804c 57 int16_t gx, gy, gz; // x, y, and z axis readings of the gyroscope
natvich 1:57502185804c 58 int16_t ax, ay, az; // x, y, and z axis readings of the accelerometer
natvich 1:57502185804c 59 int16_t mx, my, mz; // x, y, and z axis readings of the magnetometer
natvich 1:57502185804c 60 int16_t temperature; // Chip temperature
natvich 1:57502185804c 61 float gBias[3], aBias[3], mBias[3];
natvich 1:57502185804c 62 int16_t gBiasRaw[3], aBiasRaw[3], mBiasRaw[3];
natvich 1:57502185804c 63
natvich 1:57502185804c 64 // LSM9DS1 -- LSM9DS1 class constructor
natvich 1:57502185804c 65 // The constructor will set up a handful of private variables, and set the
natvich 1:57502185804c 66 // communication mode as well.
natvich 1:57502185804c 67 /**Input:
natvich 1:57502185804c 68 * - interface = Either IMU_MODE_SPI or IMU_MODE_I2C, whichever you're using
natvich 1:57502185804c 69 * to talk to the IC.
natvich 1:57502185804c 70 * - xgAddr = If IMU_MODE_I2C, this is the I2C address of the accel/gyroscope.
natvich 1:57502185804c 71 * If IMU_MODE_SPI, this is the chip select pin of the gyro (CS_AG)
natvich 1:57502185804c 72 * - mAddr = If IMU_MODE_I2C, this is the I2C address of the magnetometer.
natvich 1:57502185804c 73 * If IMU_MODE_SPI, this is the cs pin of the magnetometer (CS_M)
natvich 1:57502185804c 74
natvich 1:57502185804c 75 */
natvich 1:57502185804c 76 LSM9DS1(PinName sda, PinName scl, uint8_t xgAddr, uint8_t mAddr);
natvich 1:57502185804c 77 //LSM9DS1(interface_mode interface, uint8_t xgAddr, uint8_t mAddr);
natvich 1:57502185804c 78 //LSM9DS1();
natvich 1:57502185804c 79
natvich 1:57502185804c 80
natvich 1:57502185804c 81 /** begin() -- Initialize the gyro, accelerometer, and magnetometer.
natvich 1:57502185804c 82 *This will set up the scale and output rate of each sensor. The values set
natvich 1:57502185804c 83 * in the IMUSettings struct will take effect after calling this function.
natvich 1:57502185804c 84 */
natvich 1:57502185804c 85 uint16_t begin();
natvich 1:57502185804c 86
natvich 1:57502185804c 87 void calibrate(bool autoCalc = true);
natvich 1:57502185804c 88 void calibrateMag(bool loadIn = true);
natvich 1:57502185804c 89 void magOffset(uint8_t axis, int16_t offset);
natvich 1:57502185804c 90
natvich 1:57502185804c 91 /** accelAvailable() -- Polls the accelerometer status register to check
natvich 1:57502185804c 92 * if new data is available.
natvich 1:57502185804c 93 * Output: 1 - New data available
natvich 1:57502185804c 94 * 0 - No new data available
natvich 1:57502185804c 95 */
natvich 1:57502185804c 96 uint8_t accelAvailable();
natvich 1:57502185804c 97
natvich 1:57502185804c 98 /** gyroAvailable() -- Polls the gyroscope status register to check
natvich 1:57502185804c 99 * if new data is available.
natvich 1:57502185804c 100 * Output: 1 - New data available
natvich 1:57502185804c 101 * 0 - No new data available
natvich 1:57502185804c 102 */
natvich 1:57502185804c 103 uint8_t gyroAvailable();
natvich 1:57502185804c 104
natvich 1:57502185804c 105 /** gyroAvailable() -- Polls the temperature status register to check
natvich 1:57502185804c 106 * if new data is available.
natvich 1:57502185804c 107 * Output: 1 - New data available
natvich 1:57502185804c 108 * 0 - No new data available
natvich 1:57502185804c 109 */
natvich 1:57502185804c 110 uint8_t tempAvailable();
natvich 1:57502185804c 111
natvich 1:57502185804c 112 /** magAvailable() -- Polls the accelerometer status register to check
natvich 1:57502185804c 113 * if new data is available.
natvich 1:57502185804c 114 * Input:
natvich 1:57502185804c 115 * - axis can be either X_AXIS, Y_AXIS, Z_AXIS, to check for new data
natvich 1:57502185804c 116 * on one specific axis. Or ALL_AXIS (default) to check for new data
natvich 1:57502185804c 117 * on all axes.
natvich 1:57502185804c 118 * Output: 1 - New data available
natvich 1:57502185804c 119 * 0 - No new data available
natvich 1:57502185804c 120 */
natvich 1:57502185804c 121 uint8_t magAvailable(lsm9ds1_axis axis = ALL_AXIS);
natvich 1:57502185804c 122
natvich 1:57502185804c 123 /** readGyro() -- Read the gyroscope output registers.
natvich 1:57502185804c 124 * This function will read all six gyroscope output registers.
natvich 1:57502185804c 125 * The readings are stored in the class' gx, gy, and gz variables. Read
natvich 1:57502185804c 126 * those _after_ calling readGyro().
natvich 1:57502185804c 127 */
natvich 1:57502185804c 128 void readGyro();
natvich 1:57502185804c 129
natvich 1:57502185804c 130 /** int16_t readGyro(axis) -- Read a specific axis of the gyroscope.
natvich 1:57502185804c 131 * [axis] can be any of X_AXIS, Y_AXIS, or Z_AXIS.
natvich 1:57502185804c 132 * Input:
natvich 1:57502185804c 133 * - axis: can be either X_AXIS, Y_AXIS, or Z_AXIS.
natvich 1:57502185804c 134 * Output:
natvich 1:57502185804c 135 * A 16-bit signed integer with sensor data on requested axis.
natvich 1:57502185804c 136 */
natvich 1:57502185804c 137 int16_t readGyro(lsm9ds1_axis axis);
natvich 1:57502185804c 138
natvich 1:57502185804c 139 /** readAccel() -- Read the accelerometer output registers.
natvich 1:57502185804c 140 * This function will read all six accelerometer output registers.
natvich 1:57502185804c 141 * The readings are stored in the class' ax, ay, and az variables. Read
natvich 1:57502185804c 142 * those _after_ calling readAccel().
natvich 1:57502185804c 143 */
natvich 1:57502185804c 144 void readAccel();
natvich 1:57502185804c 145
natvich 1:57502185804c 146 /** int16_t readAccel(axis) -- Read a specific axis of the accelerometer.
natvich 1:57502185804c 147 * [axis] can be any of X_AXIS, Y_AXIS, or Z_AXIS.
natvich 1:57502185804c 148 * Input:
natvich 1:57502185804c 149 * - axis: can be either X_AXIS, Y_AXIS, or Z_AXIS.
natvich 1:57502185804c 150 * Output:
natvich 1:57502185804c 151 * A 16-bit signed integer with sensor data on requested axis.
natvich 1:57502185804c 152 */
natvich 1:57502185804c 153 int16_t readAccel(lsm9ds1_axis axis);
natvich 1:57502185804c 154
natvich 1:57502185804c 155 /** readMag() -- Read the magnetometer output registers.
natvich 1:57502185804c 156 * This function will read all six magnetometer output registers.
natvich 1:57502185804c 157 * The readings are stored in the class' mx, my, and mz variables. Read
natvich 1:57502185804c 158 * those _after_ calling readMag().
natvich 1:57502185804c 159 */
natvich 1:57502185804c 160 void readMag();
natvich 1:57502185804c 161
natvich 1:57502185804c 162 /** int16_t readMag(axis) -- Read a specific axis of the magnetometer.
natvich 1:57502185804c 163 * [axis] can be any of X_AXIS, Y_AXIS, or Z_AXIS.
natvich 1:57502185804c 164 * Input:
natvich 1:57502185804c 165 * - axis: can be either X_AXIS, Y_AXIS, or Z_AXIS.
natvich 1:57502185804c 166 * Output:
natvich 1:57502185804c 167 * A 16-bit signed integer with sensor data on requested axis.
natvich 1:57502185804c 168 */
natvich 1:57502185804c 169 int16_t readMag(lsm9ds1_axis axis);
natvich 1:57502185804c 170
natvich 1:57502185804c 171 /** readTemp() -- Read the temperature output register.
natvich 1:57502185804c 172 * This function will read two temperature output registers.
natvich 1:57502185804c 173 * The combined readings are stored in the class' temperature variables. Read
natvich 1:57502185804c 174 * those _after_ calling readTemp().
natvich 1:57502185804c 175 */
natvich 1:57502185804c 176 void readTemp();
natvich 1:57502185804c 177
natvich 1:57502185804c 178 /** calcGyro() -- Convert from RAW signed 16-bit value to degrees per second
natvich 1:57502185804c 179 * This function reads in a signed 16-bit value and returns the scaled
natvich 1:57502185804c 180 * DPS. This function relies on gScale and gRes being correct.
natvich 1:57502185804c 181 * Input:
natvich 1:57502185804c 182 * - gyro = A signed 16-bit raw reading from the gyroscope.
natvich 1:57502185804c 183 */
natvich 1:57502185804c 184 float calcGyro(int16_t gyro);
natvich 1:57502185804c 185
natvich 1:57502185804c 186 /** calcAccel() -- Convert from RAW signed 16-bit value to gravity (g's).
natvich 1:57502185804c 187 * This function reads in a signed 16-bit value and returns the scaled
natvich 1:57502185804c 188 * g's. This function relies on aScale and aRes being correct.
natvich 1:57502185804c 189 * Input:
natvich 1:57502185804c 190 * - accel = A signed 16-bit raw reading from the accelerometer.
natvich 1:57502185804c 191 */
natvich 1:57502185804c 192 float calcAccel(int16_t accel);
natvich 1:57502185804c 193
natvich 1:57502185804c 194 /** calcMag() -- Convert from RAW signed 16-bit value to Gauss (Gs)
natvich 1:57502185804c 195 * This function reads in a signed 16-bit value and returns the scaled
natvich 1:57502185804c 196 * Gs. This function relies on mScale and mRes being correct.
natvich 1:57502185804c 197 * Input:
natvich 1:57502185804c 198 * - mag = A signed 16-bit raw reading from the magnetometer.
natvich 1:57502185804c 199 */
natvich 1:57502185804c 200 float calcMag(int16_t mag);
natvich 1:57502185804c 201
natvich 1:57502185804c 202 /** setGyroScale() -- Set the full-scale range of the gyroscope.
natvich 1:57502185804c 203 * This function can be called to set the scale of the gyroscope to
natvich 1:57502185804c 204 * 245, 500, or 200 degrees per second.
natvich 1:57502185804c 205 * Input:
natvich 1:57502185804c 206 * - gScl = The desired gyroscope scale. Must be one of three possible
natvich 1:57502185804c 207 * values from the gyro_scale.
natvich 1:57502185804c 208 */
natvich 1:57502185804c 209 void setGyroScale(uint16_t gScl);
natvich 1:57502185804c 210
natvich 1:57502185804c 211 /** setAccelScale() -- Set the full-scale range of the accelerometer.
natvich 1:57502185804c 212 * This function can be called to set the scale of the accelerometer to
natvich 1:57502185804c 213 * 2, 4, 6, 8, or 16 g's.
natvich 1:57502185804c 214 * Input:
natvich 1:57502185804c 215 * - aScl = The desired accelerometer scale. Must be one of five possible
natvich 1:57502185804c 216 * values from the accel_scale.
natvich 1:57502185804c 217 */
natvich 1:57502185804c 218 void setAccelScale(uint8_t aScl);
natvich 1:57502185804c 219
natvich 1:57502185804c 220 /** setMagScale() -- Set the full-scale range of the magnetometer.
natvich 1:57502185804c 221 * This function can be called to set the scale of the magnetometer to
natvich 1:57502185804c 222 * 2, 4, 8, or 12 Gs.
natvich 1:57502185804c 223 * Input:
natvich 1:57502185804c 224 * - mScl = The desired magnetometer scale. Must be one of four possible
natvich 1:57502185804c 225 * values from the mag_scale.
natvich 1:57502185804c 226 */
natvich 1:57502185804c 227 void setMagScale(uint8_t mScl);
natvich 1:57502185804c 228
natvich 1:57502185804c 229 /** setGyroODR() -- Set the output data rate and bandwidth of the gyroscope
natvich 1:57502185804c 230 * Input:
natvich 1:57502185804c 231 * - gRate = The desired output rate and cutoff frequency of the gyro.
natvich 1:57502185804c 232 */
natvich 1:57502185804c 233 void setGyroODR(uint8_t gRate);
natvich 1:57502185804c 234
natvich 1:57502185804c 235 // setAccelODR() -- Set the output data rate of the accelerometer
natvich 1:57502185804c 236 // Input:
natvich 1:57502185804c 237 // - aRate = The desired output rate of the accel.
natvich 1:57502185804c 238 void setAccelODR(uint8_t aRate);
natvich 1:57502185804c 239
natvich 1:57502185804c 240 // setMagODR() -- Set the output data rate of the magnetometer
natvich 1:57502185804c 241 // Input:
natvich 1:57502185804c 242 // - mRate = The desired output rate of the mag.
natvich 1:57502185804c 243 void setMagODR(uint8_t mRate);
natvich 1:57502185804c 244
natvich 1:57502185804c 245 // configInactivity() -- Configure inactivity interrupt parameters
natvich 1:57502185804c 246 // Input:
natvich 1:57502185804c 247 // - duration = Inactivity duration - actual value depends on gyro ODR
natvich 1:57502185804c 248 // - threshold = Activity Threshold
natvich 1:57502185804c 249 // - sleepOn = Gyroscope operating mode during inactivity.
natvich 1:57502185804c 250 // true: gyroscope in sleep mode
natvich 1:57502185804c 251 // false: gyroscope in power-down
natvich 1:57502185804c 252 void configInactivity(uint8_t duration, uint8_t threshold, bool sleepOn);
natvich 1:57502185804c 253
natvich 1:57502185804c 254 // configAccelInt() -- Configure Accelerometer Interrupt Generator
natvich 1:57502185804c 255 // Input:
natvich 1:57502185804c 256 // - generator = Interrupt axis/high-low events
natvich 1:57502185804c 257 // Any OR'd combination of ZHIE_XL, ZLIE_XL, YHIE_XL, YLIE_XL, XHIE_XL, XLIE_XL
natvich 1:57502185804c 258 // - andInterrupts = AND/OR combination of interrupt events
natvich 1:57502185804c 259 // true: AND combination
natvich 1:57502185804c 260 // false: OR combination
natvich 1:57502185804c 261 void configAccelInt(uint8_t generator, bool andInterrupts = false);
natvich 1:57502185804c 262
natvich 1:57502185804c 263 // configAccelThs() -- Configure the threshold of an accelereomter axis
natvich 1:57502185804c 264 // Input:
natvich 1:57502185804c 265 // - threshold = Interrupt threshold. Possible values: 0-255.
natvich 1:57502185804c 266 // Multiply by 128 to get the actual raw accel value.
natvich 1:57502185804c 267 // - axis = Axis to be configured. Either X_AXIS, Y_AXIS, or Z_AXIS
natvich 1:57502185804c 268 // - duration = Duration value must be above or below threshold to trigger interrupt
natvich 1:57502185804c 269 // - wait = Wait function on duration counter
natvich 1:57502185804c 270 // true: Wait for duration samples before exiting interrupt
natvich 1:57502185804c 271 // false: Wait function off
natvich 1:57502185804c 272 void configAccelThs(uint8_t threshold, lsm9ds1_axis axis, uint8_t duration = 0, bool wait = 0);
natvich 1:57502185804c 273
natvich 1:57502185804c 274 // configGyroInt() -- Configure Gyroscope Interrupt Generator
natvich 1:57502185804c 275 // Input:
natvich 1:57502185804c 276 // - generator = Interrupt axis/high-low events
natvich 1:57502185804c 277 // Any OR'd combination of ZHIE_G, ZLIE_G, YHIE_G, YLIE_G, XHIE_G, XLIE_G
natvich 1:57502185804c 278 // - aoi = AND/OR combination of interrupt events
natvich 1:57502185804c 279 // true: AND combination
natvich 1:57502185804c 280 // false: OR combination
natvich 1:57502185804c 281 // - latch: latch gyroscope interrupt request.
natvich 1:57502185804c 282 void configGyroInt(uint8_t generator, bool aoi, bool latch);
natvich 1:57502185804c 283
natvich 1:57502185804c 284 // configGyroThs() -- Configure the threshold of a gyroscope axis
natvich 1:57502185804c 285 // Input:
natvich 1:57502185804c 286 // - threshold = Interrupt threshold. Possible values: 0-0x7FF.
natvich 1:57502185804c 287 // Value is equivalent to raw gyroscope value.
natvich 1:57502185804c 288 // - axis = Axis to be configured. Either X_AXIS, Y_AXIS, or Z_AXIS
natvich 1:57502185804c 289 // - duration = Duration value must be above or below threshold to trigger interrupt
natvich 1:57502185804c 290 // - wait = Wait function on duration counter
natvich 1:57502185804c 291 // true: Wait for duration samples before exiting interrupt
natvich 1:57502185804c 292 // false: Wait function off
natvich 1:57502185804c 293 void configGyroThs(int16_t threshold, lsm9ds1_axis axis, uint8_t duration, bool wait);
natvich 1:57502185804c 294
natvich 1:57502185804c 295 // configInt() -- Configure INT1 or INT2 (Gyro and Accel Interrupts only)
natvich 1:57502185804c 296 // Input:
natvich 1:57502185804c 297 // - interrupt = Select INT1 or INT2
natvich 1:57502185804c 298 // Possible values: XG_INT1 or XG_INT2
natvich 1:57502185804c 299 // - generator = Or'd combination of interrupt generators.
natvich 1:57502185804c 300 // Possible values: INT_DRDY_XL, INT_DRDY_G, INT1_BOOT (INT1 only), INT2_DRDY_TEMP (INT2 only)
natvich 1:57502185804c 301 // INT_FTH, INT_OVR, INT_FSS5, INT_IG_XL (INT1 only), INT1_IG_G (INT1 only), INT2_INACT (INT2 only)
natvich 1:57502185804c 302 // - activeLow = Interrupt active configuration
natvich 1:57502185804c 303 // Can be either INT_ACTIVE_HIGH or INT_ACTIVE_LOW
natvich 1:57502185804c 304 // - pushPull = Push-pull or open drain interrupt configuration
natvich 1:57502185804c 305 // Can be either INT_PUSH_PULL or INT_OPEN_DRAIN
natvich 1:57502185804c 306 void configInt(interrupt_select interupt, uint8_t generator,
natvich 1:57502185804c 307 h_lactive activeLow = INT_ACTIVE_LOW, pp_od pushPull = INT_PUSH_PULL);
natvich 1:57502185804c 308
natvich 1:57502185804c 309 /** configMagInt() -- Configure Magnetometer Interrupt Generator
natvich 1:57502185804c 310 * Input:
natvich 1:57502185804c 311 * - generator = Interrupt axis/high-low events
natvich 1:57502185804c 312 * Any OR'd combination of ZIEN, YIEN, XIEN
natvich 1:57502185804c 313 * - activeLow = Interrupt active configuration
natvich 1:57502185804c 314 * Can be either INT_ACTIVE_HIGH or INT_ACTIVE_LOW
natvich 1:57502185804c 315 * - latch: latch gyroscope interrupt request.
natvich 1:57502185804c 316 */
natvich 1:57502185804c 317 void configMagInt(uint8_t generator, h_lactive activeLow, bool latch = true);
natvich 1:57502185804c 318
natvich 1:57502185804c 319 /** configMagThs() -- Configure the threshold of a gyroscope axis
natvich 1:57502185804c 320 * Input:
natvich 1:57502185804c 321 * - threshold = Interrupt threshold. Possible values: 0-0x7FF.
natvich 1:57502185804c 322 * Value is equivalent to raw magnetometer value.
natvich 1:57502185804c 323 */
natvich 1:57502185804c 324 void configMagThs(uint16_t threshold);
natvich 1:57502185804c 325
natvich 1:57502185804c 326 //! getGyroIntSrc() -- Get contents of Gyroscope interrupt source register
natvich 1:57502185804c 327 uint8_t getGyroIntSrc();
natvich 1:57502185804c 328
natvich 1:57502185804c 329 //! getGyroIntSrc() -- Get contents of accelerometer interrupt source register
natvich 1:57502185804c 330 uint8_t getAccelIntSrc();
natvich 1:57502185804c 331
natvich 1:57502185804c 332 //! getGyroIntSrc() -- Get contents of magnetometer interrupt source register
natvich 1:57502185804c 333 uint8_t getMagIntSrc();
natvich 1:57502185804c 334
natvich 1:57502185804c 335 //! getGyroIntSrc() -- Get status of inactivity interrupt
natvich 1:57502185804c 336 uint8_t getInactivity();
natvich 1:57502185804c 337
natvich 1:57502185804c 338 /** sleepGyro() -- Sleep or wake the gyroscope
natvich 1:57502185804c 339 * Input:
natvich 1:57502185804c 340 * - enable: True = sleep gyro. False = wake gyro.
natvich 1:57502185804c 341 */
natvich 1:57502185804c 342 void sleepGyro(bool enable = true);
natvich 1:57502185804c 343
natvich 1:57502185804c 344 /** enableFIFO() - Enable or disable the FIFO
natvich 1:57502185804c 345 * Input:
natvich 1:57502185804c 346 * - enable: true = enable, false = disable.
natvich 1:57502185804c 347 */
natvich 1:57502185804c 348 void enableFIFO(bool enable = true);
natvich 1:57502185804c 349
natvich 1:57502185804c 350 /** setFIFO() - Configure FIFO mode and Threshold
natvich 1:57502185804c 351 * Input:
natvich 1:57502185804c 352 * - fifoMode: Set FIFO mode to off, FIFO (stop when full), continuous, bypass
natvich 1:57502185804c 353 * Possible inputs: FIFO_OFF, FIFO_THS, FIFO_CONT_TRIGGER, FIFO_OFF_TRIGGER, FIFO_CONT
natvich 1:57502185804c 354 * - fifoThs: FIFO threshold level setting
natvich 1:57502185804c 355 * Any value from 0-0x1F is acceptable.
natvich 1:57502185804c 356 */
natvich 1:57502185804c 357 void setFIFO(fifoMode_type fifoMode, uint8_t fifoThs);
natvich 1:57502185804c 358
natvich 1:57502185804c 359 //! getFIFOSamples() - Get number of FIFO samples
natvich 1:57502185804c 360 uint8_t getFIFOSamples();
natvich 1:57502185804c 361
natvich 1:57502185804c 362
natvich 1:57502185804c 363 protected:
natvich 1:57502185804c 364 // x_mAddress and gAddress store the I2C address or SPI chip select pin
natvich 1:57502185804c 365 // for each sensor.
natvich 1:57502185804c 366 uint8_t _mAddress, _xgAddress;
natvich 1:57502185804c 367
natvich 1:57502185804c 368 // gRes, aRes, and mRes store the current resolution for each sensor.
natvich 1:57502185804c 369 // Units of these values would be DPS (or g's or Gs's) per ADC tick.
natvich 1:57502185804c 370 // This value is calculated as (sensor scale) / (2^15).
natvich 1:57502185804c 371 float gRes, aRes, mRes;
natvich 1:57502185804c 372
natvich 1:57502185804c 373 // _autoCalc keeps track of whether we're automatically subtracting off
natvich 1:57502185804c 374 // accelerometer and gyroscope bias calculated in calibrate().
natvich 1:57502185804c 375 bool _autoCalc;
natvich 1:57502185804c 376
natvich 1:57502185804c 377 // init() -- Sets up gyro, accel, and mag settings to default.
natvich 1:57502185804c 378 // - interface - Sets the interface mode (IMU_MODE_I2C or IMU_MODE_SPI)
natvich 1:57502185804c 379 // - xgAddr - Sets either the I2C address of the accel/gyro or SPI chip
natvich 1:57502185804c 380 // select pin connected to the CS_XG pin.
natvich 1:57502185804c 381 // - mAddr - Sets either the I2C address of the magnetometer or SPI chip
natvich 1:57502185804c 382 // select pin connected to the CS_M pin.
natvich 1:57502185804c 383 void init(interface_mode interface, uint8_t xgAddr, uint8_t mAddr);
natvich 1:57502185804c 384
natvich 1:57502185804c 385 // initGyro() -- Sets up the gyroscope to begin reading.
natvich 1:57502185804c 386 // This function steps through all five gyroscope control registers.
natvich 1:57502185804c 387 // Upon exit, the following parameters will be set:
natvich 1:57502185804c 388 // - CTRL_REG1_G = 0x0F: Normal operation mode, all axes enabled.
natvich 1:57502185804c 389 // 95 Hz ODR, 12.5 Hz cutoff frequency.
natvich 1:57502185804c 390 // - CTRL_REG2_G = 0x00: HPF set to normal mode, cutoff frequency
natvich 1:57502185804c 391 // set to 7.2 Hz (depends on ODR).
natvich 1:57502185804c 392 // - CTRL_REG3_G = 0x88: Interrupt enabled on INT_G (set to push-pull and
natvich 1:57502185804c 393 // active high). Data-ready output enabled on DRDY_G.
natvich 1:57502185804c 394 // - CTRL_REG4_G = 0x00: Continuous update mode. Data LSB stored in lower
natvich 1:57502185804c 395 // address. Scale set to 245 DPS. SPI mode set to 4-wire.
natvich 1:57502185804c 396 // - CTRL_REG5_G = 0x00: FIFO disabled. HPF disabled.
natvich 1:57502185804c 397 void initGyro();
natvich 1:57502185804c 398
natvich 1:57502185804c 399 // initAccel() -- Sets up the accelerometer to begin reading.
natvich 1:57502185804c 400 // This function steps through all accelerometer related control registers.
natvich 1:57502185804c 401 // Upon exit these registers will be set as:
natvich 1:57502185804c 402 // - CTRL_REG0_XM = 0x00: FIFO disabled. HPF bypassed. Normal mode.
natvich 1:57502185804c 403 // - CTRL_REG1_XM = 0x57: 100 Hz data rate. Continuous update.
natvich 1:57502185804c 404 // all axes enabled.
natvich 1:57502185804c 405 // - CTRL_REG2_XM = 0x00: 2g scale. 773 Hz anti-alias filter BW.
natvich 1:57502185804c 406 // - CTRL_REG3_XM = 0x04: Accel data ready signal on INT1_XM pin.
natvich 1:57502185804c 407 void initAccel();
natvich 1:57502185804c 408
natvich 1:57502185804c 409 // initMag() -- Sets up the magnetometer to begin reading.
natvich 1:57502185804c 410 // This function steps through all magnetometer-related control registers.
natvich 1:57502185804c 411 // Upon exit these registers will be set as:
natvich 1:57502185804c 412 // - CTRL_REG4_XM = 0x04: Mag data ready signal on INT2_XM pin.
natvich 1:57502185804c 413 // - CTRL_REG5_XM = 0x14: 100 Hz update rate. Low resolution. Interrupt
natvich 1:57502185804c 414 // requests don't latch. Temperature sensor disabled.
natvich 1:57502185804c 415 // - CTRL_REG6_XM = 0x00: 2 Gs scale.
natvich 1:57502185804c 416 // - CTRL_REG7_XM = 0x00: Continuous conversion mode. Normal HPF mode.
natvich 1:57502185804c 417 // - INT_CTRL_REG_M = 0x09: Interrupt active-high. Enable interrupts.
natvich 1:57502185804c 418 void initMag();
natvich 1:57502185804c 419
natvich 1:57502185804c 420 // gReadByte() -- Reads a byte from a specified gyroscope register.
natvich 1:57502185804c 421 // Input:
natvich 1:57502185804c 422 // - subAddress = Register to be read from.
natvich 1:57502185804c 423 // Output:
natvich 1:57502185804c 424 // - An 8-bit value read from the requested address.
natvich 1:57502185804c 425 uint8_t mReadByte(uint8_t subAddress);
natvich 1:57502185804c 426
natvich 1:57502185804c 427 // gReadBytes() -- Reads a number of bytes -- beginning at an address
natvich 1:57502185804c 428 // and incrementing from there -- from the gyroscope.
natvich 1:57502185804c 429 // Input:
natvich 1:57502185804c 430 // - subAddress = Register to be read from.
natvich 1:57502185804c 431 // - * dest = A pointer to an array of uint8_t's. Values read will be
natvich 1:57502185804c 432 // stored in here on return.
natvich 1:57502185804c 433 // - count = The number of bytes to be read.
natvich 1:57502185804c 434 // Output: No value is returned, but the `dest` array will store
natvich 1:57502185804c 435 // the data read upon exit.
natvich 1:57502185804c 436 void mReadBytes(uint8_t subAddress, uint8_t * dest, uint8_t count);
natvich 1:57502185804c 437
natvich 1:57502185804c 438 // gWriteByte() -- Write a byte to a register in the gyroscope.
natvich 1:57502185804c 439 // Input:
natvich 1:57502185804c 440 // - subAddress = Register to be written to.
natvich 1:57502185804c 441 // - data = data to be written to the register.
natvich 1:57502185804c 442 void mWriteByte(uint8_t subAddress, uint8_t data);
natvich 1:57502185804c 443
natvich 1:57502185804c 444 // xmReadByte() -- Read a byte from a register in the accel/mag sensor
natvich 1:57502185804c 445 // Input:
natvich 1:57502185804c 446 // - subAddress = Register to be read from.
natvich 1:57502185804c 447 // Output:
natvich 1:57502185804c 448 // - An 8-bit value read from the requested register.
natvich 1:57502185804c 449 uint8_t xgReadByte(uint8_t subAddress);
natvich 1:57502185804c 450
natvich 1:57502185804c 451 // xmReadBytes() -- Reads a number of bytes -- beginning at an address
natvich 1:57502185804c 452 // and incrementing from there -- from the accelerometer/magnetometer.
natvich 1:57502185804c 453 // Input:
natvich 1:57502185804c 454 // - subAddress = Register to be read from.
natvich 1:57502185804c 455 // - * dest = A pointer to an array of uint8_t's. Values read will be
natvich 1:57502185804c 456 // stored in here on return.
natvich 1:57502185804c 457 // - count = The number of bytes to be read.
natvich 1:57502185804c 458 // Output: No value is returned, but the `dest` array will store
natvich 1:57502185804c 459 // the data read upon exit.
natvich 1:57502185804c 460 void xgReadBytes(uint8_t subAddress, uint8_t * dest, uint8_t count);
natvich 1:57502185804c 461
natvich 1:57502185804c 462 // xmWriteByte() -- Write a byte to a register in the accel/mag sensor.
natvich 1:57502185804c 463 // Input:
natvich 1:57502185804c 464 // - subAddress = Register to be written to.
natvich 1:57502185804c 465 // - data = data to be written to the register.
natvich 1:57502185804c 466 void xgWriteByte(uint8_t subAddress, uint8_t data);
natvich 1:57502185804c 467
natvich 1:57502185804c 468 // calcgRes() -- Calculate the resolution of the gyroscope.
natvich 1:57502185804c 469 // This function will set the value of the gRes variable. gScale must
natvich 1:57502185804c 470 // be set prior to calling this function.
natvich 1:57502185804c 471 void calcgRes();
natvich 1:57502185804c 472
natvich 1:57502185804c 473 // calcmRes() -- Calculate the resolution of the magnetometer.
natvich 1:57502185804c 474 // This function will set the value of the mRes variable. mScale must
natvich 1:57502185804c 475 // be set prior to calling this function.
natvich 1:57502185804c 476 void calcmRes();
natvich 1:57502185804c 477
natvich 1:57502185804c 478 // calcaRes() -- Calculate the resolution of the accelerometer.
natvich 1:57502185804c 479 // This function will set the value of the aRes variable. aScale must
natvich 1:57502185804c 480 // be set prior to calling this function.
natvich 1:57502185804c 481 void calcaRes();
natvich 1:57502185804c 482
natvich 1:57502185804c 483 //////////////////////
natvich 1:57502185804c 484 // Helper Functions //
natvich 1:57502185804c 485 //////////////////////
natvich 1:57502185804c 486 void constrainScales();
natvich 1:57502185804c 487
natvich 1:57502185804c 488 ///////////////////
natvich 1:57502185804c 489 // SPI Functions //
natvich 1:57502185804c 490 ///////////////////
natvich 1:57502185804c 491 // initSPI() -- Initialize the SPI hardware.
natvich 1:57502185804c 492 // This function will setup all SPI pins and related hardware.
natvich 1:57502185804c 493 void initSPI();
natvich 1:57502185804c 494
natvich 1:57502185804c 495 // SPIwriteByte() -- Write a byte out of SPI to a register in the device
natvich 1:57502185804c 496 // Input:
natvich 1:57502185804c 497 // - csPin = The chip select pin of the slave device.
natvich 1:57502185804c 498 // - subAddress = The register to be written to.
natvich 1:57502185804c 499 // - data = Byte to be written to the register.
natvich 1:57502185804c 500 void SPIwriteByte(uint8_t csPin, uint8_t subAddress, uint8_t data);
natvich 1:57502185804c 501
natvich 1:57502185804c 502 // SPIreadByte() -- Read a single byte from a register over SPI.
natvich 1:57502185804c 503 // Input:
natvich 1:57502185804c 504 // - csPin = The chip select pin of the slave device.
natvich 1:57502185804c 505 // - subAddress = The register to be read from.
natvich 1:57502185804c 506 // Output:
natvich 1:57502185804c 507 // - The byte read from the requested address.
natvich 1:57502185804c 508 uint8_t SPIreadByte(uint8_t csPin, uint8_t subAddress);
natvich 1:57502185804c 509
natvich 1:57502185804c 510 // SPIreadBytes() -- Read a series of bytes, starting at a register via SPI
natvich 1:57502185804c 511 // Input:
natvich 1:57502185804c 512 // - csPin = The chip select pin of a slave device.
natvich 1:57502185804c 513 // - subAddress = The register to begin reading.
natvich 1:57502185804c 514 // - * dest = Pointer to an array where we'll store the readings.
natvich 1:57502185804c 515 // - count = Number of registers to be read.
natvich 1:57502185804c 516 // Output: No value is returned by the function, but the registers read are
natvich 1:57502185804c 517 // all stored in the *dest array given.
natvich 1:57502185804c 518 void SPIreadBytes(uint8_t csPin, uint8_t subAddress,
natvich 1:57502185804c 519 uint8_t * dest, uint8_t count);
natvich 1:57502185804c 520
natvich 1:57502185804c 521 ///////////////////
natvich 1:57502185804c 522 // I2C Functions //
natvich 1:57502185804c 523 ///////////////////
natvich 1:57502185804c 524 // initI2C() -- Initialize the I2C hardware.
natvich 1:57502185804c 525 // This function will setup all I2C pins and related hardware.
natvich 1:57502185804c 526 void initI2C();
natvich 1:57502185804c 527
natvich 1:57502185804c 528 // I2CwriteByte() -- Write a byte out of I2C to a register in the device
natvich 1:57502185804c 529 // Input:
natvich 1:57502185804c 530 // - address = The 7-bit I2C address of the slave device.
natvich 1:57502185804c 531 // - subAddress = The register to be written to.
natvich 1:57502185804c 532 // - data = Byte to be written to the register.
natvich 1:57502185804c 533 void I2CwriteByte(uint8_t address, uint8_t subAddress, uint8_t data);
natvich 1:57502185804c 534
natvich 1:57502185804c 535 // I2CreadByte() -- Read a single byte from a register over I2C.
natvich 1:57502185804c 536 // Input:
natvich 1:57502185804c 537 // - address = The 7-bit I2C address of the slave device.
natvich 1:57502185804c 538 // - subAddress = The register to be read from.
natvich 1:57502185804c 539 // Output:
natvich 1:57502185804c 540 // - The byte read from the requested address.
natvich 1:57502185804c 541 uint8_t I2CreadByte(uint8_t address, uint8_t subAddress);
natvich 1:57502185804c 542
natvich 1:57502185804c 543 // I2CreadBytes() -- Read a series of bytes, starting at a register via SPI
natvich 1:57502185804c 544 // Input:
natvich 1:57502185804c 545 // - address = The 7-bit I2C address of the slave device.
natvich 1:57502185804c 546 // - subAddress = The register to begin reading.
natvich 1:57502185804c 547 // - * dest = Pointer to an array where we'll store the readings.
natvich 1:57502185804c 548 // - count = Number of registers to be read.
natvich 1:57502185804c 549 // Output: No value is returned by the function, but the registers read are
natvich 1:57502185804c 550 // all stored in the *dest array given.
natvich 1:57502185804c 551 uint8_t I2CreadBytes(uint8_t address, uint8_t subAddress, uint8_t * dest, uint8_t count);
natvich 1:57502185804c 552
natvich 1:57502185804c 553 private:
natvich 1:57502185804c 554 I2C i2c;
natvich 1:57502185804c 555 };
natvich 1:57502185804c 556
natvich 1:57502185804c 557 #endif // SFE_LSM9DS1_H //