Vincent Soubirane
/
Projet_ATTITUDE_IMU
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Revision 1:57502185804c, committed 2021-10-30
- Comitter:
- natvich
- Date:
- Sat Oct 30 17:17:07 2021 +0000
- Parent:
- 0:dbbdab7e8cdc
- Commit message:
- Projet ATTITUDE IMU
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Fusion/Fusion.h Sat Oct 30 17:17:07 2021 +0000
@@ -0,0 +1,37 @@
+/**
+ * @file Fusion.h
+ * @author Seb Madgwick
+ * @brief Main header file for the library. This is the only file that needs to
+ * be included when using the library.
+ *
+ * Fusion is an ANSI C99 compliment sensor fusion library for sensor arrays of
+ * gyroscopes, accelerometers, and magnetometers. Fusion was specifically
+ * developed for use with embedded systems and has been optimised for execution
+ * speed. The library includes modules for: attitude and heading reference
+ * system (AHRS) sensor fusion, gyroscope bias correction, and a tilt-
+ * compensated compass.
+ */
+
+#ifndef FUSION_H
+#define FUSION_H
+
+//------------------------------------------------------------------------------
+// Includes
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "FusionAhrs.h"
+#include "FusionBias.h"
+#include "FusionCalibration.h"
+//#include "FusionCompass.h"
+#include "FusionTypes.h"
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
+//------------------------------------------------------------------------------
+// End of file
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Fusion/FusionAhrs.c Sat Oct 30 17:17:07 2021 +0000
@@ -0,0 +1,292 @@
+/**
+ * @file FusionAhrs.c
+ * @author Seb Madgwick
+ * @brief The AHRS sensor fusion algorithm to combines gyroscope, accelerometer,
+ * and magnetometer measurements into a single measurement of orientation
+ * relative to the Earth (NWU convention).
+ *
+ * The algorithm behaviour is governed by a gain. A low gain will decrease the
+ * influence of the accelerometer and magnetometer so that the algorithm will
+ * better reject disturbances causes by translational motion and temporary
+ * magnetic distortions. However, a low gain will also increase the risk of
+ * drift due to gyroscope calibration errors. A typical gain value suitable for
+ * most applications is 0.5.
+ *
+ * The algorithm allows the application to define a minimum and maximum valid
+ * magnetic field magnitude. The algorithm will ignore magnetic measurements
+ * that fall outside of this range. This allows the algorithm to reject
+ * magnetic measurements that do not represent the direction of magnetic North.
+ * The typical magnitude of the Earth's magnetic field is between 20 uT and
+ * 70 uT.
+ *
+ * The algorithm can be used without a magnetometer. Measurements of
+ * orientation obtained using only gyroscope and accelerometer measurements
+ * can be expected to drift in the yaw component of orientation only. The
+ * application can reset the drift in yaw by setting the yaw to a specified
+ * angle at any time.
+ *
+ * The algorithm provides the measurement of orientation as a quaternion. The
+ * library includes functions for converting this quaternion to a rotation
+ * matrix and Euler angles.
+ *
+ * The algorithm also provides a measurement of linear acceleration and Earth
+ * acceleration. Linear acceleration is equal to the accelerometer measurement
+ * with the 1 g of gravity removed. Earth acceleration is a measurement of
+ * linear acceleration in the Earth coordinate frame.
+ */
+
+//------------------------------------------------------------------------------
+// Includes
+
+#include "FusionAhrs.h"
+#include <float.h> // FLT_MAX
+#include <math.h> // atan2f, cosf, sinf
+
+//------------------------------------------------------------------------------
+// Definitions
+
+/**
+ * @brief Initial gain used during the initialisation period. The gain used by
+ * each algorithm iteration will ramp down from this initial gain to the
+ * specified algorithm gain over the initialisation period.
+ */
+#define INITIAL_GAIN (10.0f)
+
+/**
+ * @brief Initialisation period (in seconds).
+ */
+#define INITIALISATION_PERIOD (3.0f)
+
+//------------------------------------------------------------------------------
+// Functions
+
+/**
+ * @brief Initialises the AHRS algorithm structure.
+ * @param fusionAhrs AHRS algorithm structure.
+ * @param gain AHRS algorithm gain.
+ */
+void FusionAhrsInitialise(FusionAhrs * const fusionAhrs, const float gain) {
+ fusionAhrs->gain = gain;
+ fusionAhrs->minimumMagneticFieldSquared = 0.0f;
+ fusionAhrs->maximumMagneticFieldSquared = FLT_MAX;
+ fusionAhrs->quaternion = FUSION_QUATERNION_IDENTITY;
+ fusionAhrs->linearAcceleration = FUSION_VECTOR3_ZERO;
+ fusionAhrs->rampedGain = INITIAL_GAIN;
+ fusionAhrs->zeroYawPending = false;
+}
+
+/**
+ * @brief Sets the AHRS algorithm gain. The gain must be equal or greater than
+ * zero.
+ * @param gain AHRS algorithm gain.
+ */
+void FusionAhrsSetGain(FusionAhrs * const fusionAhrs, const float gain) {
+ fusionAhrs->gain = gain;
+}
+
+/**
+ * @brief Sets the minimum and maximum valid magnetic field magnitudes in uT.
+ * @param fusionAhrs AHRS algorithm structure.
+ * @param minimumMagneticField Minimum valid magnetic field magnitude.
+ * @param maximumMagneticField Maximum valid magnetic field magnitude.
+ */
+void FusionAhrsSetMagneticField(FusionAhrs * const fusionAhrs, const float minimumMagneticField, const float maximumMagneticField) {
+ fusionAhrs->minimumMagneticFieldSquared = minimumMagneticField * minimumMagneticField;
+ fusionAhrs->maximumMagneticFieldSquared = maximumMagneticField * maximumMagneticField;
+}
+
+/**
+ * @brief Updates the AHRS algorithm. This function should be called for each
+ * new gyroscope measurement.
+ * @param fusionAhrs AHRS algorithm structure.
+ * @param gyroscope Gyroscope measurement in degrees per second.
+ * @param accelerometer Accelerometer measurement in g.
+ * @param magnetometer Magnetometer measurement in uT.
+ * @param samplePeriod Sample period in seconds. This is the difference in time
+ * between the current and previous gyroscope measurements.
+ */
+void FusionAhrsUpdate(FusionAhrs * const fusionAhrs, const FusionVector3 gyroscope, const FusionVector3 accelerometer, const FusionVector3 magnetometer, const float samplePeriod) {
+#define Q fusionAhrs->quaternion.element // define shorthand label for more readable code
+
+ // Calculate feedback error
+ FusionVector3 halfFeedbackError = FUSION_VECTOR3_ZERO; // scaled by 0.5 to avoid repeated multiplications by 2
+ do {
+ // Abandon feedback calculation if accelerometer measurement invalid
+ if ((accelerometer.axis.x == 0.0f) && (accelerometer.axis.y == 0.0f) && (accelerometer.axis.z == 0.0f)) {
+ break;
+ }
+
+ // Calculate direction of gravity assumed by quaternion
+ const FusionVector3 halfGravity = {
+ .axis.x = Q.x * Q.z - Q.w * Q.y,
+ .axis.y = Q.w * Q.x + Q.y * Q.z,
+ .axis.z = Q.w * Q.w - 0.5f + Q.z * Q.z,
+ }; // equal to 3rd column of rotation matrix representation scaled by 0.5
+
+ // Calculate accelerometer feedback error
+ halfFeedbackError = FusionVectorCrossProduct(FusionVectorFastNormalise(accelerometer), halfGravity);
+
+ // Abandon magnetometer feedback calculation if magnetometer measurement invalid
+ const float magnetometerMagnitudeSquared = FusionVectorMagnitudeSquared(magnetometer);
+ if ((magnetometerMagnitudeSquared < fusionAhrs->minimumMagneticFieldSquared) || (magnetometerMagnitudeSquared > fusionAhrs->maximumMagneticFieldSquared)) {
+ break;
+ }
+
+ // Compute direction of 'magnetic west' assumed by quaternion
+ const FusionVector3 halfWest = {
+ .axis.x = Q.x * Q.y + Q.w * Q.z,
+ .axis.y = Q.w * Q.w - 0.5f + Q.y * Q.y,
+ .axis.z = Q.y * Q.z - Q.w * Q.x
+ }; // equal to 2nd column of rotation matrix representation scaled by 0.5
+
+ // Calculate magnetometer feedback error
+ halfFeedbackError = FusionVectorAdd(halfFeedbackError, FusionVectorCrossProduct(FusionVectorFastNormalise(FusionVectorCrossProduct(accelerometer, magnetometer)), halfWest));
+
+ } while (false);
+
+ // Ramp down gain until initialisation complete
+ if (fusionAhrs->gain == 0) {
+ fusionAhrs->rampedGain = 0; // skip initialisation if gain is zero
+ }
+ float feedbackGain = fusionAhrs->gain;
+ if (fusionAhrs->rampedGain > fusionAhrs->gain) {
+ fusionAhrs->rampedGain -= (INITIAL_GAIN - fusionAhrs->gain) * samplePeriod / INITIALISATION_PERIOD;
+ feedbackGain = fusionAhrs->rampedGain;
+ }
+
+ // Convert gyroscope to radians per second scaled by 0.5
+ FusionVector3 halfGyroscope = FusionVectorMultiplyScalar(gyroscope, 0.5f * FusionDegreesToRadians(1.0f));
+
+ // Apply feedback to gyroscope
+ halfGyroscope = FusionVectorAdd(halfGyroscope, FusionVectorMultiplyScalar(halfFeedbackError, feedbackGain));
+
+ // Integrate rate of change of quaternion
+ fusionAhrs->quaternion = FusionQuaternionAdd(fusionAhrs->quaternion, FusionQuaternionMultiplyVector(fusionAhrs->quaternion, FusionVectorMultiplyScalar(halfGyroscope, samplePeriod)));
+
+ // Normalise quaternion
+ fusionAhrs->quaternion = FusionQuaternionFastNormalise(fusionAhrs->quaternion);
+
+ // Calculate linear acceleration
+ const FusionVector3 gravity = {
+ .axis.x = 2.0f * (Q.x * Q.z - Q.w * Q.y),
+ .axis.y = 2.0f * (Q.w * Q.x + Q.y * Q.z),
+ .axis.z = 2.0f * (Q.w * Q.w - 0.5f + Q.z * Q.z),
+ }; // equal to 3rd column of rotation matrix representation
+ fusionAhrs->linearAcceleration = FusionVectorSubtract(accelerometer, gravity);
+
+#undef Q // undefine shorthand label
+}
+
+/**
+ * @brief Updates the AHRS algorithm. This function should be called for each
+ * new gyroscope measurement.
+ * @param fusionAhrs AHRS algorithm structure.
+ * @param gyroscope Gyroscope measurement in degrees per second.
+ * @param accelerometer Accelerometer measurement in g.
+ * @param samplePeriod Sample period in seconds. This is the difference in time
+ * between the current and previous gyroscope measurements.
+ */
+void FusionAhrsUpdateWithoutMagnetometer(FusionAhrs * const fusionAhrs, const FusionVector3 gyroscope, const FusionVector3 accelerometer, const float samplePeriod) {
+
+ // Update AHRS algorithm
+ FusionAhrsUpdate(fusionAhrs, gyroscope, accelerometer, FUSION_VECTOR3_ZERO, samplePeriod);
+
+ // Zero yaw once initialisation complete
+ if (FusionAhrsIsInitialising(fusionAhrs) == true) {
+ fusionAhrs->zeroYawPending = true;
+ } else {
+ if (fusionAhrs->zeroYawPending == true) {
+ FusionAhrsSetYaw(fusionAhrs, 0.0f);
+ fusionAhrs->zeroYawPending = false;
+ }
+ }
+}
+
+/**
+ * @brief Gets the quaternion describing the sensor relative to the Earth.
+ * @param fusionAhrs AHRS algorithm structure.
+ * @return Quaternion describing the sensor relative to the Earth.
+ */
+FusionQuaternion FusionAhrsGetQuaternion(const FusionAhrs * const fusionAhrs) {
+ return FusionQuaternionConjugate(fusionAhrs->quaternion);
+}
+
+/**
+ * @brief Gets the linear acceleration measurement equal to the accelerometer
+ * measurement with the 1 g of gravity removed.
+ * @param fusionAhrs AHRS algorithm structure.
+ * @return Linear acceleration measurement.
+ */
+FusionVector3 FusionAhrsGetLinearAcceleration(const FusionAhrs * const fusionAhrs) {
+ return fusionAhrs->linearAcceleration;
+}
+
+/**
+ * @brief Gets the Earth acceleration measurement equal to linear acceleration
+ * in the Earth coordinate frame.
+ * @param fusionAhrs AHRS algorithm structure.
+ * @return Earth acceleration measurement.
+ */
+FusionVector3 FusionAhrsGetEarthAcceleration(const FusionAhrs * const fusionAhrs) {
+#define Q fusionAhrs->quaternion.element // define shorthand labels for more readable code
+#define A fusionAhrs->linearAcceleration.axis
+ const float qwqw = Q.w * Q.w; // calculate common terms to avoid repeated operations
+ const float qwqx = Q.w * Q.x;
+ const float qwqy = Q.w * Q.y;
+ const float qwqz = Q.w * Q.z;
+ const float qxqy = Q.x * Q.y;
+ const float qxqz = Q.x * Q.z;
+ const float qyqz = Q.y * Q.z;
+ const FusionVector3 earthAcceleration = {
+ .axis.x = 2.0f * ((qwqw - 0.5f + Q.x * Q.x) * A.x + (qxqy - qwqz) * A.y + (qxqz + qwqy) * A.z),
+ .axis.y = 2.0f * ((qxqy + qwqz) * A.x + (qwqw - 0.5f + Q.y * Q.y) * A.y + (qyqz - qwqx) * A.z),
+ .axis.z = 2.0f * ((qxqz - qwqy) * A.x + (qyqz + qwqx) * A.y + (qwqw - 0.5f + Q.z * Q.z) * A.z),
+ }; // transpose of a rotation matrix representation of the quaternion multiplied with the linear acceleration
+ return earthAcceleration;
+#undef Q // undefine shorthand label
+#undef A
+}
+
+/**
+ * @brief Reinitialise the AHRS algorithm.
+ * @param fusionAhrs AHRS algorithm structure.
+ */
+void FusionAhrsReinitialise(FusionAhrs * const fusionAhrs) {
+ fusionAhrs->quaternion = FUSION_QUATERNION_IDENTITY;
+ fusionAhrs->linearAcceleration = FUSION_VECTOR3_ZERO;
+ fusionAhrs->rampedGain = INITIAL_GAIN;
+}
+
+/**
+ * @brief Returns true while the AHRS algorithm is initialising.
+ * @param fusionAhrs AHRS algorithm structure.
+ * @return True while the AHRS algorithm is initialising.
+ */
+bool FusionAhrsIsInitialising(const FusionAhrs * const fusionAhrs) {
+ return fusionAhrs->rampedGain > fusionAhrs->gain;
+}
+
+/**
+ * @brief Sets the yaw component of the orientation measurement provided by the
+ * AHRS algorithm. This function can be used to reset drift in yaw when the
+ * AHRS algorithm is being used without a magnetometer.
+ * @param fusionAhrs AHRS algorithm structure.
+ * @param yaw Yaw angle in degrees.
+ */
+void FusionAhrsSetYaw(FusionAhrs * const fusionAhrs, const float yaw) {
+#define Q fusionAhrs->quaternion.element // define shorthand label for more readable code
+ fusionAhrs->quaternion = FusionQuaternionNormalise(fusionAhrs->quaternion); // quaternion must be normalised accurately (approximation not sufficient)
+ const float inverseYaw = atan2f(Q.x * Q.y + Q.w * Q.z, Q.w * Q.w - 0.5f + Q.x * Q.x); // Euler angle of conjugate
+ const float halfInverseYawMinusOffset = 0.5f * (inverseYaw - FusionDegreesToRadians(yaw));
+ const FusionQuaternion inverseYawQuaternion = {
+ .element.w = cosf(halfInverseYawMinusOffset),
+ .element.x = 0.0f,
+ .element.y = 0.0f,
+ .element.z = -1.0f * sinf(halfInverseYawMinusOffset),
+ };
+ fusionAhrs->quaternion = FusionQuaternionMultiply(inverseYawQuaternion, fusionAhrs->quaternion);
+#undef Q // undefine shorthand label
+}
+
+//------------------------------------------------------------------------------
+// End of file
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Fusion/FusionAhrs.h Sat Oct 30 17:17:07 2021 +0000
@@ -0,0 +1,82 @@
+/**
+ * @file FusionAhrs.h
+ * @author Seb Madgwick
+ * @brief The AHRS sensor fusion algorithm to combines gyroscope, accelerometer,
+ * and magnetometer measurements into a single measurement of orientation
+ * relative to the Earth (NWU convention).
+ *
+ * The algorithm behaviour is governed by a gain. A low gain will decrease the
+ * influence of the accelerometer and magnetometer so that the algorithm will
+ * better reject disturbances causes by translational motion and temporary
+ * magnetic distortions. However, a low gain will also increase the risk of
+ * drift due to gyroscope calibration errors. A typical gain value suitable for
+ * most applications is 0.5.
+ *
+ * The algorithm allows the application to define a minimum and maximum valid
+ * magnetic field magnitude. The algorithm will ignore magnetic measurements
+ * that fall outside of this range. This allows the algorithm to reject
+ * magnetic measurements that do not represent the direction of magnetic North.
+ * The typical magnitude of the Earth's magnetic field is between 20 uT and
+ * 70 uT.
+ *
+ * The algorithm can be used without a magnetometer. Measurements of
+ * orientation obtained using only gyroscope and accelerometer measurements
+ * can be expected to drift in the yaw component of orientation only. The
+ * application can reset the drift in yaw by setting the yaw to a specified
+ * angle at any time.
+ *
+ * The algorithm provides the measurement of orientation as a quaternion. The
+ * library includes functions for converting this quaternion to a rotation
+ * matrix and Euler angles.
+ *
+ * The algorithm also provides a measurement of linear acceleration and Earth
+ * acceleration. Linear acceleration is equal to the accelerometer measurement
+ * with the 1 g of gravity removed. Earth acceleration is a measurement of
+ * linear acceleration in the Earth coordinate frame.
+ */
+
+#ifndef FUSION_AHRS_H
+#define FUSION_AHRS_H
+
+//------------------------------------------------------------------------------
+// Includes
+
+#include "FusionTypes.h"
+#include <stdbool.h>
+
+//------------------------------------------------------------------------------
+// Definitions
+
+/**
+ * @brief AHRS algorithm structure. Structure members are used internally and
+ * should not be used by the user application.
+ */
+typedef struct {
+ float gain;
+ float minimumMagneticFieldSquared;
+ float maximumMagneticFieldSquared;
+ FusionQuaternion quaternion; // describes the Earth relative to the sensor
+ FusionVector3 linearAcceleration;
+ float rampedGain;
+ bool zeroYawPending;
+} FusionAhrs;
+
+//------------------------------------------------------------------------------
+// Function prototypes
+
+void FusionAhrsInitialise(FusionAhrs * const fusionAhrs, const float gain);
+void FusionAhrsSetGain(FusionAhrs * const fusionAhrs, const float gain);
+void FusionAhrsSetMagneticField(FusionAhrs * const fusionAhrs, const float minimumMagneticField, const float maximumMagneticField);
+void FusionAhrsUpdate(FusionAhrs * const fusionAhrs, const FusionVector3 gyroscope, const FusionVector3 accelerometer, const FusionVector3 magnetometer, const float samplePeriod);
+void FusionAhrsUpdateWithoutMagnetometer(FusionAhrs * const fusionAhrs, const FusionVector3 gyroscope, const FusionVector3 accelerometer, const float samplePeriod);
+FusionQuaternion FusionAhrsGetQuaternion(const FusionAhrs * const fusionAhrs);
+FusionVector3 FusionAhrsGetLinearAcceleration(const FusionAhrs * const fusionAhrs);
+FusionVector3 FusionAhrsGetEarthAcceleration(const FusionAhrs * const fusionAhrs);
+void FusionAhrsReinitialise(FusionAhrs * const fusionAhrs);
+bool FusionAhrsIsInitialising(const FusionAhrs * const fusionAhrs);
+void FusionAhrsSetYaw(FusionAhrs * const fusionAhrs, const float yaw);
+
+#endif
+
+//------------------------------------------------------------------------------
+// End of file
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Fusion/FusionBias.c Sat Oct 30 17:17:07 2021 +0000
@@ -0,0 +1,89 @@
+/**
+ * @file FusionBias.c
+ * @author Seb Madgwick
+ * @brief The gyroscope bias correction algorithm achieves run-time calibration
+ * of the gyroscope bias. The algorithm will detect when the gyroscope is
+ * stationary for a set period of time and then begin to sample gyroscope
+ * measurements to calculate the bias as an average.
+ */
+
+//------------------------------------------------------------------------------
+// Includes
+
+#include "FusionBias.h"
+#include "math.h" // fabs
+
+//------------------------------------------------------------------------------
+// Definitions
+
+/**
+ * @brief Minimum stationary period (in seconds) after which the the algorithm
+ * becomes active and begins sampling gyroscope measurements.
+ */
+#define STATIONARY_PERIOD (5.0f) // 5.0
+
+/**
+ * @brief Corner frequency (in Hz) of the high-pass filter used to sample the
+ * gyroscope bias.
+ */
+#define CORNER_FREQUENCY (0.02f) //0.02
+
+//------------------------------------------------------------------------------
+// Functions
+
+/**
+ * @brief Initialises the gyroscope bias correction algorithm.
+ * @param fusionBias FusionBias structure.
+ * @param threshold Gyroscope threshold (in degrees per second) below which the
+ * gyroscope is detected stationary.
+ * @param samplePeriod Nominal sample period (in seconds) corresponding the rate
+ * at which the application will update the algorithm.
+ */
+void FusionBiasInitialise(FusionBias * const fusionBias, const float threshold, const float samplePeriod) {
+ fusionBias->threshold = threshold;
+ fusionBias->samplePeriod = samplePeriod;
+ fusionBias->filterCoefficient = (2.0f * M_PI * CORNER_FREQUENCY) * fusionBias->samplePeriod;
+ fusionBias->stationaryTimer = 0.0f;
+ fusionBias->gyroscopeBias = FUSION_VECTOR3_ZERO;
+}
+
+/**
+ * @brief Updates the gyroscope bias correction algorithm and returns the
+ * corrected gyroscope measurement.
+ * @param fusionBias FusionBias structure.
+ * @param gyroscope Gyroscope measurement in degrees per second.
+ * @return Corrected gyroscope measurement in degrees per second.
+ */
+FusionVector3 FusionBiasUpdate(FusionBias * const fusionBias, FusionVector3 gyroscope) {
+
+ // Subtract bias from gyroscope measurement
+ gyroscope = FusionVectorSubtract(gyroscope, fusionBias->gyroscopeBias);
+
+ // Reset stationary timer if gyroscope not stationary
+ if ((fabs(gyroscope.axis.x) > fusionBias->threshold) || (fabs(gyroscope.axis.y) > fusionBias->threshold) || (fabs(gyroscope.axis.z) > fusionBias->threshold)) {
+ fusionBias->stationaryTimer = 0.0f;
+ return gyroscope;
+ }
+
+ // Increment stationary timer while gyroscope stationary
+ if (fusionBias->stationaryTimer < STATIONARY_PERIOD) {
+ fusionBias->stationaryTimer += fusionBias->samplePeriod;
+ return gyroscope;
+ }
+
+ // Adjust bias if stationary timer has elapsed
+ fusionBias->gyroscopeBias = FusionVectorAdd(fusionBias->gyroscopeBias, FusionVectorMultiplyScalar(gyroscope, fusionBias->filterCoefficient));
+ return gyroscope;
+}
+
+/**
+ * @brief Returns true if the gyroscope bias correction algorithm is active.
+ * @param fusionBias FusionBias structure.
+ * @return True if the gyroscope bias correction algorithm is active.
+ */
+bool FusionBiasIsActive(FusionBias * const fusionBias) {
+ return fusionBias->stationaryTimer >= STATIONARY_PERIOD;
+}
+
+//------------------------------------------------------------------------------
+// End of file
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Fusion/FusionBias.h Sat Oct 30 17:17:07 2021 +0000
@@ -0,0 +1,44 @@
+/**
+ * @file FusionBias.h
+ * @author Seb Madgwick
+ * @brief The gyroscope bias correction algorithm achieves run-time calibration
+ * of the gyroscope bias. The algorithm will detect when the gyroscope is
+ * stationary for a set period of time and then begin to sample gyroscope
+ * measurements to calculate the bias as an average.
+ */
+
+#ifndef FUSION_BIAS_H
+#define FUSION_BIAS_H
+
+//------------------------------------------------------------------------------
+// Includes
+
+#include "FusionTypes.h"
+#include <stdbool.h>
+
+//------------------------------------------------------------------------------
+// Definitions
+
+/**
+ * @brief Gyroscope bias correction algorithm structure. Structure members are
+ * used internally and should not be used by the user application.
+ */
+typedef struct {
+ float threshold;
+ float samplePeriod;
+ float filterCoefficient;
+ float stationaryTimer;
+ FusionVector3 gyroscopeBias;
+} FusionBias;
+
+//------------------------------------------------------------------------------
+// Function prototypes
+
+void FusionBiasInitialise(FusionBias * const fusionBias, const float threshold, const float samplePeriod);
+FusionVector3 FusionBiasUpdate(FusionBias * const fusionBias, FusionVector3 gyroscope);
+bool FusionBiasIsActive(FusionBias * const fusionBias);
+
+#endif
+
+//------------------------------------------------------------------------------
+// End of file
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Fusion/FusionCalibration.h Sat Oct 30 17:17:07 2021 +0000
@@ -0,0 +1,49 @@
+/**
+ * @file FusionCalibration.h
+ * @author Seb Madgwick
+ * @brief Gyroscope, accelerometer, and magnetometer calibration model.
+ *
+ * Static inline implementations are used to optimise for increased execution
+ * speed.
+ */
+
+#ifndef FUSION_CALIBRATION_H
+#define FUSION_CALIBRATION_H
+
+//------------------------------------------------------------------------------
+// Includes
+
+#include "FusionTypes.h"
+
+//------------------------------------------------------------------------------
+// Inline functions
+
+/**
+ * @brief Gyroscope and accelerometer calibration model.
+ * @param uncalibrated Uncalibrated gyroscope or accelerometer measurement in
+ * lsb.
+ * @param misalignment Misalignment matrix (may not be a true rotation matrix).
+ * @param sensitivity Sensitivity in g per lsb for an accelerometer and degrees
+ * per second per lsb for a gyroscope.
+ * @param bias Bias in lsb.
+ * @return Calibrated gyroscope or accelerometer measurement.
+ */
+static inline __attribute__((always_inline)) FusionVector3 FusionCalibrationInertial(const FusionVector3 uncalibrated, const FusionRotationMatrix misalignment, const FusionVector3 sensitivity, const FusionVector3 bias) {
+ return FusionRotationMatrixMultiplyVector(misalignment, FusionVectorHadamardProduct(FusionVectorSubtract(uncalibrated, bias), sensitivity));
+}
+
+/**
+ * @brief Magnetometer calibration model.
+ * @param magnetometer Uncalibrated magnetometer measurement in uT.
+ * @param softIronMatrix Soft-iron matrix (may not be a true rotation matrix).
+ * @param hardIronBias Hard-iron bias in uT.
+ * @return Calibrated magnetometer measurement.
+ */
+static inline __attribute__((always_inline)) FusionVector3 FusionCalibrationMagnetic(const FusionVector3 uncalibrated, const FusionRotationMatrix softIronMatrix, const FusionVector3 hardIronBias) {
+ return FusionVectorSubtract(FusionRotationMatrixMultiplyVector(softIronMatrix, uncalibrated), hardIronBias);
+}
+
+#endif
+
+//------------------------------------------------------------------------------
+// End of file
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Fusion/FusionTypes.h Sat Oct 30 17:17:07 2021 +0000
@@ -0,0 +1,473 @@
+/**
+ * @file FusionTypes.h
+ * @author Seb Madgwick
+ * @brief Common types and their associated operations.
+ *
+ * Static inline implementations are used to optimise for increased execution
+ * speed.
+ */
+
+#ifndef FUSION_TYPES_H
+#define FUSION_TYPES_H
+
+//------------------------------------------------------------------------------
+// Includes
+
+#include <math.h> // M_PI, sqrtf, atan2f, asinf
+#include <stdint.h> // int32_t
+
+//------------------------------------------------------------------------------
+// Definitions
+
+/**
+ * @brief Three-dimensional spacial vector.
+ */
+typedef union {
+ float array[3];
+
+ struct {
+ float x;
+ float y;
+ float z;
+ } axis;
+} FusionVector3;
+
+/**
+ * @brief Quaternion. This library uses the conversion of placing the 'w'
+ * element as the first element. Other implementations may place the 'w'
+ * element as the last element.
+ */
+typedef union {
+ float array[4];
+
+ struct {
+ float w;
+ float x;
+ float y;
+ float z;
+ } element;
+} FusionQuaternion;
+
+/**
+ * @brief Rotation matrix in row-major order.
+ * See http://en.wikipedia.org/wiki/Row-major_order
+ */
+typedef union {
+ float array[9];
+
+ struct {
+ float xx;
+ float xy;
+ float xz;
+ float yx;
+ float yy;
+ float yz;
+ float zx;
+ float zy;
+ float zz;
+ } element;
+} FusionRotationMatrix;
+
+/**
+ * @brief Euler angles union. The Euler angles are in the Aerospace sequence
+ * also known as the ZYX sequence.
+ */
+typedef union {
+ float array[3];
+
+ struct {
+ float roll;
+ float pitch;
+ float yaw;
+ } angle;
+} FusionEulerAngles;
+
+/**
+ * @brief Zero-length vector definition.
+ */
+#define FUSION_VECTOR3_ZERO ((FusionVector3){ .array = {0.0f, 0.0f, 0.0f} })
+
+/**
+ * @brief Quaternion identity definition to represent an aligned of
+ * orientation.
+ */
+#define FUSION_QUATERNION_IDENTITY ((FusionQuaternion){ .array = {1.0f, 0.0f, 0.0f, 0.0f} })
+
+/**
+ * @brief Rotation matrix identity definition to represent an aligned of
+ * orientation.
+ */
+#define FUSION_ROTATION_MATRIX_IDENTITY ((FusionRotationMatrix){ .array = {1.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 1.0f} })
+
+/**
+ * @brief Euler angles zero definition to represent an aligned of orientation.
+ */
+#define FUSION_EULER_ANGLES_ZERO ((FusionEulerAngles){ .array = {0.0f, 0.0f, 0.0f} })
+
+/**
+ * @brief Definition of M_PI. Some compilers may not define this in math.h.
+ */
+#ifndef M_PI
+#define M_PI 3.14159265358979323846
+#endif
+
+//------------------------------------------------------------------------------
+// Inline functions - Degrees and radians conversion
+
+/**
+ * @brief Converts degrees to radians.
+ * @param degrees Degrees.
+ * @return Radians.
+ */
+static inline __attribute__((always_inline)) float FusionDegreesToRadians(const float degrees) {
+ return degrees * ((float) M_PI / 180.0f);
+}
+
+/**
+ * @brief Converts radians to degrees.
+ * @param radians Radians.
+ * @return Degrees.
+ */
+static inline __attribute__((always_inline)) float FusionRadiansToDegrees(const float radians) {
+ return radians * (180.0f / (float) M_PI);
+}
+
+//------------------------------------------------------------------------------
+// Inline functions - Fast inverse square root
+
+/**
+ * @brief Calculates the reciprocal of the square root.
+ * See http://en.wikipedia.org/wiki/Fast_inverse_square_root
+ * @param x Operand.
+ * @return Reciprocal of the square root of x.
+ */
+static inline __attribute__((always_inline)) float FusionFastInverseSqrt(const float x) {
+ float halfx = 0.5f * x;
+ float y = x;
+ int32_t i = *(int32_t*) & y;
+ i = 0x5f3759df - (i >> 1);
+ y = *(float*) &i;
+ y = y * (1.5f - (halfx * y * y));
+ return y;
+}
+
+//------------------------------------------------------------------------------
+// Inline functions - Vector operations
+
+/**
+ * @brief Adds two vectors.
+ * @param vectorA First vector of the operation.
+ * @param vectorB Second vector of the operation.
+ * @return Sum of vectorA and vectorB.
+ */
+static inline __attribute__((always_inline)) FusionVector3 FusionVectorAdd(const FusionVector3 vectorA, const FusionVector3 vectorB) {
+ FusionVector3 result;
+ result.axis.x = vectorA.axis.x + vectorB.axis.x;
+ result.axis.y = vectorA.axis.y + vectorB.axis.y;
+ result.axis.z = vectorA.axis.z + vectorB.axis.z;
+ return result;
+}
+
+/**
+ * @brief Subtracts two vectors.
+ * @param vectorA First vector of the operation.
+ * @param vectorB Second vector of the operation.
+ * @return vectorB subtracted from vectorA.
+ */
+static inline __attribute__((always_inline)) FusionVector3 FusionVectorSubtract(const FusionVector3 vectorA, const FusionVector3 vectorB) {
+ FusionVector3 result;
+ result.axis.x = vectorA.axis.x - vectorB.axis.x;
+ result.axis.y = vectorA.axis.y - vectorB.axis.y;
+ result.axis.z = vectorA.axis.z - vectorB.axis.z;
+ return result;
+}
+
+/**
+ * @brief Multiplies vector by a scalar.
+ * @param vector Vector to be multiplied.
+ * @param scalar Scalar to be multiplied.
+ * @return Vector multiplied by scalar.
+ */
+static inline __attribute__((always_inline)) FusionVector3 FusionVectorMultiplyScalar(const FusionVector3 vector, const float scalar) {
+ FusionVector3 result;
+ result.axis.x = vector.axis.x * scalar;
+ result.axis.y = vector.axis.y * scalar;
+ result.axis.z = vector.axis.z * scalar;
+ return result;
+}
+
+/**
+ * @brief Calculates the Hadamard product (element-wise multiplication) of two
+ * vectors.
+ * @param vectorA First vector of the operation.
+ * @param vectorB Second vector of the operation.
+ * @return Hadamard product of vectorA and vectorB.
+ */
+static inline __attribute__((always_inline)) FusionVector3 FusionVectorHadamardProduct(const FusionVector3 vectorA, const FusionVector3 vectorB) {
+ FusionVector3 result;
+ result.axis.x = vectorA.axis.x * vectorB.axis.x;
+ result.axis.y = vectorA.axis.y * vectorB.axis.y;
+ result.axis.z = vectorA.axis.z * vectorB.axis.z;
+ return result;
+}
+
+/**
+ * @brief Calculates the cross-product of two vectors.
+ * @param vectorA First vector of the operation.
+ * @param vectorB Second vector of the operation.
+ * @return Cross-product of vectorA and vectorB.
+ */
+static inline __attribute__((always_inline)) FusionVector3 FusionVectorCrossProduct(const FusionVector3 vectorA, const FusionVector3 vectorB) {
+#define A vectorA.axis // define shorthand labels for more readable code
+#define B vectorB.axis
+ FusionVector3 result;
+ result.axis.x = A.y * B.z - A.z * B.y;
+ result.axis.y = A.z * B.x - A.x * B.z;
+ result.axis.z = A.x * B.y - A.y * B.x;
+ return result;
+#undef A // undefine shorthand labels
+#undef B
+}
+
+/**
+ * @brief Calculates the vector magnitude squared.
+ * @param vector Vector of the operation.
+ * @return Vector magnitude squared.
+ */
+static inline __attribute__((always_inline)) float FusionVectorMagnitudeSquared(const FusionVector3 vector) {
+#define V vector.axis // define shorthand label for more readable code
+ return V.x * V.x + V.y * V.y + V.z * V.z;
+#undef V // undefine shorthand label
+}
+
+/**
+ * @brief Calculates the magnitude of a vector.
+ * @param vector Vector to be used in calculation.
+ * @return Vector magnitude.
+ */
+static inline __attribute__((always_inline)) float FusionVectorMagnitude(const FusionVector3 vector) {
+ return sqrtf(FusionVectorMagnitudeSquared(vector));
+}
+
+/**
+ * @brief Normalises a vector to be of unit magnitude.
+ * @param vector Vector to be normalised.
+ * @return Normalised vector.
+ */
+static inline __attribute__((always_inline)) FusionVector3 FusionVectorNormalise(const FusionVector3 vector) {
+ const float magnitudeReciprocal = 1.0f / sqrtf(FusionVectorMagnitudeSquared(vector));
+ return FusionVectorMultiplyScalar(vector, magnitudeReciprocal);
+}
+
+/**
+ * @brief Normalises a vector to be of unit magnitude using the fast inverse
+ * square root approximation.
+ * @param vector Vector to be normalised.
+ * @return Normalised vector.
+ */
+static inline __attribute__((always_inline)) FusionVector3 FusionVectorFastNormalise(const FusionVector3 vector) {
+ const float magnitudeReciprocal = FusionFastInverseSqrt(FusionVectorMagnitudeSquared(vector));
+ return FusionVectorMultiplyScalar(vector, magnitudeReciprocal);
+}
+
+//------------------------------------------------------------------------------
+// Inline functions - Quaternion operations
+
+/**
+ * @brief Adds two quaternions.
+ * @param quaternionA First quaternion of the operation.
+ * @param quaternionB Second quaternion of the operation.
+ * @return Sum of quaternionA and quaternionB.
+ */
+static inline __attribute__((always_inline)) FusionQuaternion FusionQuaternionAdd(const FusionQuaternion quaternionA, const FusionQuaternion quaternionB) {
+ FusionQuaternion result;
+ result.element.w = quaternionA.element.w + quaternionB.element.w;
+ result.element.x = quaternionA.element.x + quaternionB.element.x;
+ result.element.y = quaternionA.element.y + quaternionB.element.y;
+ result.element.z = quaternionA.element.z + quaternionB.element.z;
+ return result;
+}
+
+/**
+ * @brief Multiplies two quaternions.
+ * @param quaternionA First quaternion of the operation.
+ * @param quaternionB Second quaternion of the operation.
+ * @return quaternionA multiplied by quaternionB.
+ */
+static inline __attribute__((always_inline)) FusionQuaternion FusionQuaternionMultiply(const FusionQuaternion quaternionA, const FusionQuaternion quaternionB) {
+#define A quaternionA.element // define shorthand labels for more readable code
+#define B quaternionB.element
+ FusionQuaternion result;
+ result.element.w = A.w * B.w - A.x * B.x - A.y * B.y - A.z * B.z;
+ result.element.x = A.w * B.x + A.x * B.w + A.y * B.z - A.z * B.y;
+ result.element.y = A.w * B.y - A.x * B.z + A.y * B.w + A.z * B.x;
+ result.element.z = A.w * B.z + A.x * B.y - A.y * B.x + A.z * B.w;
+ return result;
+#undef A // undefine shorthand labels
+#undef B
+}
+
+/**
+ * @brief Multiplies quaternion by a vector. This is a normal quaternion
+ * multiplication where the vector is treated a quaternion with a 'w' element
+ * value of 0. The quaternion is post multiplied by the vector.
+ * @param quaternion Quaternion to be multiplied.
+ * @param vector Vector to be multiplied.
+ * @return Quaternion multiplied by vector.
+ */
+static inline __attribute__((always_inline)) FusionQuaternion FusionQuaternionMultiplyVector(const FusionQuaternion quaternion, const FusionVector3 vector) {
+#define Q quaternion.element // define shorthand labels for more readable code
+#define V vector.axis
+ FusionQuaternion result;
+ result.element.w = -Q.x * V.x - Q.y * V.y - Q.z * V.z;
+ result.element.x = Q.w * V.x + Q.y * V.z - Q.z * V.y;
+ result.element.y = Q.w * V.y - Q.x * V.z + Q.z * V.x;
+ result.element.z = Q.w * V.z + Q.x * V.y - Q.y * V.x;
+ return result;
+#undef Q // undefine shorthand labels
+#undef V
+}
+
+/**
+ * @brief Returns the quaternion conjugate.
+ * @param quaternion Quaternion to be conjugated.
+ * @return Conjugated quaternion.
+ */
+static inline __attribute__((always_inline)) FusionQuaternion FusionQuaternionConjugate(const FusionQuaternion quaternion) {
+ FusionQuaternion conjugate;
+ conjugate.element.w = quaternion.element.w;
+ conjugate.element.x = -1.0f * quaternion.element.x;
+ conjugate.element.y = -1.0f * quaternion.element.y;
+ conjugate.element.z = -1.0f * quaternion.element.z;
+ return conjugate;
+}
+
+/**
+ * @brief Normalises a quaternion to be of unit magnitude.
+ * @param quaternion Quaternion to be normalised.
+ * @return Normalised quaternion.
+ */
+static inline __attribute__((always_inline)) FusionQuaternion FusionQuaternionNormalise(const FusionQuaternion quaternion) {
+#define Q quaternion.element // define shorthand label for more readable code
+ const float magnitudeReciprocal = 1.0f / sqrtf(Q.w * Q.w + Q.x * Q.x + Q.y * Q.y + Q.z * Q.z);
+ FusionQuaternion normalisedQuaternion;
+ normalisedQuaternion.element.w = Q.w * magnitudeReciprocal;
+ normalisedQuaternion.element.x = Q.x * magnitudeReciprocal;
+ normalisedQuaternion.element.y = Q.y * magnitudeReciprocal;
+ normalisedQuaternion.element.z = Q.z * magnitudeReciprocal;
+ return normalisedQuaternion;
+#undef Q // undefine shorthand label
+}
+
+/**
+ * @brief Normalises a quaternion to be of unit magnitude using the fast inverse
+ * square root approximation.
+ * @param quaternion Quaternion to be normalised.
+ * @return Normalised quaternion.
+ */
+static inline __attribute__((always_inline)) FusionQuaternion FusionQuaternionFastNormalise(const FusionQuaternion quaternion) {
+#define Q quaternion.element // define shorthand label for more readable code
+ const float magnitudeReciprocal = FusionFastInverseSqrt(Q.w * Q.w + Q.x * Q.x + Q.y * Q.y + Q.z * Q.z);
+ FusionQuaternion normalisedQuaternion;
+ normalisedQuaternion.element.w = Q.w * magnitudeReciprocal;
+ normalisedQuaternion.element.x = Q.x * magnitudeReciprocal;
+ normalisedQuaternion.element.y = Q.y * magnitudeReciprocal;
+ normalisedQuaternion.element.z = Q.z * magnitudeReciprocal;
+ return normalisedQuaternion;
+#undef Q // undefine shorthand label
+}
+
+//------------------------------------------------------------------------------
+// Inline functions - Rotation matrix operations
+
+/**
+ * @brief Multiplies two rotation matrices.
+ * @param rotationMatrixA First rotation matrix of the operation.
+ * @param rotationMatrixB Second rotation matrix of the operation.
+ * @return rotationMatrixA with rotationMatrixB.
+ */
+static inline __attribute__((always_inline)) FusionRotationMatrix FusionRotationMatrixMultiply(const FusionRotationMatrix rotationMatrixA, const FusionRotationMatrix rotationMatrixB) {
+#define A rotationMatrixA.element // define shorthand label for more readable code
+#define B rotationMatrixB.element
+ FusionRotationMatrix result;
+ result.element.xx = A.xx * B.xx + A.xy * B.yx + A.xz * B.zx;
+ result.element.xy = A.xx * B.xy + A.xy * B.yy + A.xz * B.zy;
+ result.element.xz = A.xx * B.xz + A.xy * B.yz + A.xz * B.zz;
+ result.element.yx = A.yx * B.xx + A.yy * B.yx + A.yz * B.zx;
+ result.element.yy = A.yx * B.xy + A.yy * B.yy + A.yz * B.zy;
+ result.element.yz = A.yx * B.xz + A.yy * B.yz + A.yz * B.zz;
+ result.element.zx = A.zx * B.xx + A.zy * B.yx + A.zz * B.zx;
+ result.element.zy = A.zx * B.xy + A.zy * B.yy + A.zz * B.zy;
+ result.element.zz = A.zx * B.xz + A.zy * B.yz + A.zz * B.zz;
+ return result;
+#undef A // undefine shorthand label
+#undef B
+}
+
+/**
+ * @brief Multiplies rotation matrix with scalar.
+ * @param rotationMatrix Rotation matrix to be multiplied.
+ * @param vector Vector to be multiplied.
+ * @return Rotation matrix multiplied with scalar.
+ */
+static inline __attribute__((always_inline)) FusionVector3 FusionRotationMatrixMultiplyVector(const FusionRotationMatrix rotationMatrix, const FusionVector3 vector) {
+#define R rotationMatrix.element // define shorthand label for more readable code
+ FusionVector3 result;
+ result.axis.x = R.xx * vector.axis.x + R.xy * vector.axis.y + R.xz * vector.axis.z;
+ result.axis.y = R.yx * vector.axis.x + R.yy * vector.axis.y + R.yz * vector.axis.z;
+ result.axis.z = R.zx * vector.axis.x + R.zy * vector.axis.y + R.zz * vector.axis.z;
+ return result;
+#undef R // undefine shorthand label
+}
+
+//------------------------------------------------------------------------------
+// Inline functions - Conversion operations
+
+/**
+ * @brief Converts a quaternion to a rotation matrix.
+ * @param quaternion Quaternion to be converted.
+ * @return Rotation matrix.
+ */
+static inline __attribute__((always_inline)) FusionRotationMatrix FusionQuaternionToRotationMatrix(const FusionQuaternion quaternion) {
+#define Q quaternion.element // define shorthand label for more readable code
+ const float qwqw = Q.w * Q.w; // calculate common terms to avoid repeated operations
+ const float qwqx = Q.w * Q.x;
+ const float qwqy = Q.w * Q.y;
+ const float qwqz = Q.w * Q.z;
+ const float qxqy = Q.x * Q.y;
+ const float qxqz = Q.x * Q.z;
+ const float qyqz = Q.y * Q.z;
+ FusionRotationMatrix rotationMatrix;
+ rotationMatrix.element.xx = 2.0f * (qwqw - 0.5f + Q.x * Q.x);
+ rotationMatrix.element.xy = 2.0f * (qxqy + qwqz);
+ rotationMatrix.element.xz = 2.0f * (qxqz - qwqy);
+ rotationMatrix.element.yx = 2.0f * (qxqy - qwqz);
+ rotationMatrix.element.yy = 2.0f * (qwqw - 0.5f + Q.y * Q.y);
+ rotationMatrix.element.yz = 2.0f * (qyqz + qwqx);
+ rotationMatrix.element.zx = 2.0f * (qxqz + qwqy);
+ rotationMatrix.element.zy = 2.0f * (qyqz - qwqx);
+ rotationMatrix.element.zz = 2.0f * (qwqw - 0.5f + Q.z * Q.z);
+ return rotationMatrix;
+#undef Q // undefine shorthand label
+}
+
+/**
+ * @brief Converts a quaternion to Euler angles in degrees.
+ * @param quaternion Quaternion to be converted.
+ * @return Euler angles in degrees.
+ */
+static inline __attribute__((always_inline)) FusionEulerAngles FusionQuaternionToEulerAngles(const FusionQuaternion quaternion) {
+#define Q quaternion.element // define shorthand label for more readable code
+ const float qwqwMinusHalf = Q.w * Q.w - 0.5f; // calculate common terms to avoid repeated operations
+ FusionEulerAngles eulerAngles;
+ eulerAngles.angle.roll = FusionRadiansToDegrees(atan2f(Q.y * Q.z - Q.w * Q.x, qwqwMinusHalf + Q.z * Q.z));
+ eulerAngles.angle.pitch = FusionRadiansToDegrees(-1.0f * asinf(2.0f * (Q.x * Q.z + Q.w * Q.y)));
+ eulerAngles.angle.yaw = FusionRadiansToDegrees(atan2f(Q.x * Q.y - Q.w * Q.z, qwqwMinusHalf + Q.x * Q.x));
+ return eulerAngles;
+#undef Q // undefine shorthand label
+}
+
+#endif
+
+//------------------------------------------------------------------------------
+// End of file
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/LSM9DS1.cpp Sat Oct 30 17:17:07 2021 +0000
@@ -0,0 +1,1198 @@
+/******************************************************************************
+SFE_LSM9DS1.cpp
+SFE_LSM9DS1 Library Source File
+Jim Lindblom @ SparkFun Electronics
+Original Creation Date: February 27, 2015
+https://github.com/sparkfun/LSM9DS1_Breakout
+
+This file implements all functions of the LSM9DS1 class. Functions here range
+from higher level stuff, like reading/writing LSM9DS1 registers to low-level,
+hardware reads and writes. Both SPI and I2C handler functions can be found
+towards the bottom of this file.
+
+Development environment specifics:
+ IDE: Arduino 1.6
+ Hardware Platform: Arduino Uno
+ LSM9DS1 Breakout Version: 1.0
+
+This code is beerware; if you see me (or any other SparkFun employee) at the
+local, and you've found our code helpful, please buy us a round!
+
+Distributed as-is; no warranty is given.
+******************************************************************************/
+
+#include "LSM9DS1.h"
+#include "LSM9DS1_Registers.h"
+#include "LSM9DS1_Types.h"
+//#include <Wire.h> // Wire library is used for I2C
+//#include <SPI.h> // SPI library is used for...SPI.
+
+//#if defined(ARDUINO) && ARDUINO >= 100
+// #include "Arduino.h"
+//#else
+// #include "WProgram.h"
+//#endif
+
+#define LSM9DS1_COMMUNICATION_TIMEOUT 1000
+
+float magSensitivity[4] = {0.00014, 0.00029, 0.00043, 0.00058};
+extern Serial pc;
+
+LSM9DS1::LSM9DS1(PinName sda, PinName scl, uint8_t xgAddr, uint8_t mAddr)
+ :i2c(sda, scl)
+{
+ init(IMU_MODE_I2C, xgAddr, mAddr); // dont know about 0xD6 or 0x3B
+}
+/*
+LSM9DS1::LSM9DS1()
+{
+ init(IMU_MODE_I2C, LSM9DS1_AG_ADDR(1), LSM9DS1_M_ADDR(1));
+}
+
+LSM9DS1::LSM9DS1(interface_mode interface, uint8_t xgAddr, uint8_t mAddr)
+{
+ init(interface, xgAddr, mAddr);
+}
+*/
+
+void LSM9DS1::init(interface_mode interface, uint8_t xgAddr, uint8_t mAddr)
+{
+ settings.device.commInterface = interface;
+ settings.device.agAddress = xgAddr;
+ settings.device.mAddress = mAddr;
+
+ settings.gyro.enabled = true;
+ settings.gyro.enableX = true;
+ settings.gyro.enableY = true;
+ settings.gyro.enableZ = true;
+ // gyro scale can be 245, 500, or 2000
+ settings.gyro.scale = 245;
+ // gyro sample rate: value between 1-6
+ // 1 = 14.9 4 = 238
+ // 2 = 59.5 5 = 476
+ // 3 = 119 6 = 952
+ settings.gyro.sampleRate = 6;
+ // gyro cutoff frequency: value between 0-3
+ // Actual value of cutoff frequency depends
+ // on sample rate.
+ settings.gyro.bandwidth = 0;
+ settings.gyro.lowPowerEnable = false;
+ settings.gyro.HPFEnable = false;
+ // Gyro HPF cutoff frequency: value between 0-9
+ // Actual value depends on sample rate. Only applies
+ // if gyroHPFEnable is true.
+ settings.gyro.HPFCutoff = 0;
+ settings.gyro.flipX = false;
+ settings.gyro.flipY = false;
+ settings.gyro.flipZ = false;
+ settings.gyro.orientation = 0;
+ settings.gyro.latchInterrupt = true;
+
+ settings.accel.enabled = true;
+ settings.accel.enableX = true;
+ settings.accel.enableY = true;
+ settings.accel.enableZ = true;
+ // accel scale can be 2, 4, 8, or 16
+ settings.accel.scale = 2;
+ // accel sample rate can be 1-6
+ // 1 = 10 Hz 4 = 238 Hz
+ // 2 = 50 Hz 5 = 476 Hz
+ // 3 = 119 Hz 6 = 952 Hz
+ settings.accel.sampleRate = 6;
+ // Accel cutoff freqeuncy can be any value between -1 - 3.
+ // -1 = bandwidth determined by sample rate
+ // 0 = 408 Hz 2 = 105 Hz
+ // 1 = 211 Hz 3 = 50 Hz
+ settings.accel.bandwidth = -1;
+ settings.accel.highResEnable = false;
+ // accelHighResBandwidth can be any value between 0-3
+ // LP cutoff is set to a factor of sample rate
+ // 0 = ODR/50 2 = ODR/9
+ // 1 = ODR/100 3 = ODR/400
+ settings.accel.highResBandwidth = 0;
+
+ settings.mag.enabled = true;
+ // mag scale can be 4, 8, 12, or 16
+ settings.mag.scale = 4;
+ // mag data rate can be 0-7
+ // 0 = 0.625 Hz 4 = 10 Hz
+ // 1 = 1.25 Hz 5 = 20 Hz
+ // 2 = 2.5 Hz 6 = 40 Hz
+ // 3 = 5 Hz 7 = 80 Hz
+ settings.mag.sampleRate = 7;
+ settings.mag.tempCompensationEnable = false;
+ // magPerformance can be any value between 0-3
+ // 0 = Low power mode 2 = high performance
+ // 1 = medium performance 3 = ultra-high performance
+ settings.mag.XYPerformance = 3;
+ settings.mag.ZPerformance = 3;
+ settings.mag.lowPowerEnable = false;
+ // magOperatingMode can be 0-2
+ // 0 = continuous conversion
+ // 1 = single-conversion
+ // 2 = power down
+ settings.mag.operatingMode = 0;
+
+ settings.temp.enabled = true;
+ for (int i=0; i<3; i++)
+ {
+ gBias[i] = 0;
+ aBias[i] = 0;
+ mBias[i] = 0;
+ gBiasRaw[i] = 0;
+ aBiasRaw[i] = 0;
+ mBiasRaw[i] = 0;
+ }
+ _autoCalc = false;
+}
+
+
+uint16_t LSM9DS1::begin()
+{
+ //! Todo: don't use _xgAddress or _mAddress, duplicating memory
+ _xgAddress = settings.device.agAddress;
+ _mAddress = settings.device.mAddress;
+
+ constrainScales();
+ // Once we have the scale values, we can calculate the resolution
+ // of each sensor. That's what these functions are for. One for each sensor
+ calcgRes(); // Calculate DPS / ADC tick, stored in gRes variable
+ calcmRes(); // Calculate Gs / ADC tick, stored in mRes variable
+ calcaRes(); // Calculate g / ADC tick, stored in aRes variable
+
+ // Now, initialize our hardware interface.
+ if (settings.device.commInterface == IMU_MODE_I2C) // If we're using I2C
+ initI2C(); // Initialize I2C
+ else if (settings.device.commInterface == IMU_MODE_SPI) // else, if we're using SPI
+ initSPI(); // Initialize SPI
+
+ // To verify communication, we can read from the WHO_AM_I register of
+ // each device. Store those in a variable so we can return them.
+
+ uint8_t mTest = mReadByte(WHO_AM_I_M); // Read the gyro WHO_AM_I
+ uint8_t xgTest = xgReadByte(WHO_AM_I_XG); // Read the accel/mag WHO_AM_I
+ // pc.printf("%x, %x, %x, %x\n\r", mTest, xgTest, _xgAddress, _mAddress);
+ uint16_t whoAmICombined = (xgTest << 8) | mTest;
+
+ if (whoAmICombined != ((WHO_AM_I_AG_RSP << 8) | WHO_AM_I_M_RSP))
+ return 0;
+
+ // Gyro initialization stuff:
+ initGyro(); // This will "turn on" the gyro. Setting up interrupts, etc.
+
+ // Accelerometer initialization stuff:
+ initAccel(); // "Turn on" all axes of the accel. Set up interrupts, etc.
+
+ // Magnetometer initialization stuff:
+ initMag(); // "Turn on" all axes of the mag. Set up interrupts, etc.
+
+ // Once everything is initialized, return the WHO_AM_I registers we read:
+ // return whoAmICombined;
+}
+
+void LSM9DS1::initGyro()
+{
+ uint8_t tempRegValue = 0;
+
+ // CTRL_REG1_G (Default value: 0x00)
+ // [ODR_G2][ODR_G1][ODR_G0][FS_G1][FS_G0][0][BW_G1][BW_G0]
+ // ODR_G[2:0] - Output data rate selection
+ // FS_G[1:0] - Gyroscope full-scale selection
+ // BW_G[1:0] - Gyroscope bandwidth selection
+
+ // To disable gyro, set sample rate bits to 0. We'll only set sample
+ // rate if the gyro is enabled.
+ if (settings.gyro.enabled)
+ {
+ tempRegValue = (settings.gyro.sampleRate & 0x07) << 5;
+ }
+ switch (settings.gyro.scale)
+ {
+ case 500:
+ tempRegValue |= (0x1 << 3);
+ break;
+ case 2000:
+ tempRegValue |= (0x3 << 3);
+ break;
+ // Otherwise we'll set it to 245 dps (0x0 << 4)
+ }
+ tempRegValue |= (settings.gyro.bandwidth & 0x3);
+ xgWriteByte(CTRL_REG1_G, tempRegValue);
+
+ // CTRL_REG2_G (Default value: 0x00)
+ // [0][0][0][0][INT_SEL1][INT_SEL0][OUT_SEL1][OUT_SEL0]
+ // INT_SEL[1:0] - INT selection configuration
+ // OUT_SEL[1:0] - Out selection configuration
+ xgWriteByte(CTRL_REG2_G, 0x00);
+
+ // CTRL_REG3_G (Default value: 0x00)
+ // [LP_mode][HP_EN][0][0][HPCF3_G][HPCF2_G][HPCF1_G][HPCF0_G]
+ // LP_mode - Low-power mode enable (0: disabled, 1: enabled)
+ // HP_EN - HPF enable (0:disabled, 1: enabled)
+ // HPCF_G[3:0] - HPF cutoff frequency
+ tempRegValue = settings.gyro.lowPowerEnable ? (1<<7) : 0;
+ if (settings.gyro.HPFEnable)
+ {
+ tempRegValue |= (1<<6) | (settings.gyro.HPFCutoff & 0x0F);
+ }
+ xgWriteByte(CTRL_REG3_G, tempRegValue);
+
+ // CTRL_REG4 (Default value: 0x38)
+ // [0][0][Zen_G][Yen_G][Xen_G][0][LIR_XL1][4D_XL1]
+ // Zen_G - Z-axis output enable (0:disable, 1:enable)
+ // Yen_G - Y-axis output enable (0:disable, 1:enable)
+ // Xen_G - X-axis output enable (0:disable, 1:enable)
+ // LIR_XL1 - Latched interrupt (0:not latched, 1:latched)
+ // 4D_XL1 - 4D option on interrupt (0:6D used, 1:4D used)
+ tempRegValue = 0;
+ if (settings.gyro.enableZ) tempRegValue |= (1<<5);
+ if (settings.gyro.enableY) tempRegValue |= (1<<4);
+ if (settings.gyro.enableX) tempRegValue |= (1<<3);
+ if (settings.gyro.latchInterrupt) tempRegValue |= (1<<1);
+ xgWriteByte(CTRL_REG4, tempRegValue);
+
+ // ORIENT_CFG_G (Default value: 0x00)
+ // [0][0][SignX_G][SignY_G][SignZ_G][Orient_2][Orient_1][Orient_0]
+ // SignX_G - Pitch axis (X) angular rate sign (0: positive, 1: negative)
+ // Orient [2:0] - Directional user orientation selection
+ tempRegValue = 0;
+ if (settings.gyro.flipX) tempRegValue |= (1<<5);
+ if (settings.gyro.flipY) tempRegValue |= (1<<4);
+ if (settings.gyro.flipZ) tempRegValue |= (1<<3);
+ xgWriteByte(ORIENT_CFG_G, tempRegValue);
+}
+
+void LSM9DS1::initAccel()
+{
+ uint8_t tempRegValue = 0;
+
+ // CTRL_REG5_XL (0x1F) (Default value: 0x38)
+ // [DEC_1][DEC_0][Zen_XL][Yen_XL][Zen_XL][0][0][0]
+ // DEC[0:1] - Decimation of accel data on OUT REG and FIFO.
+ // 00: None, 01: 2 samples, 10: 4 samples 11: 8 samples
+ // Zen_XL - Z-axis output enabled
+ // Yen_XL - Y-axis output enabled
+ // Xen_XL - X-axis output enabled
+ if (settings.accel.enableZ) tempRegValue |= (1<<5);
+ if (settings.accel.enableY) tempRegValue |= (1<<4);
+ if (settings.accel.enableX) tempRegValue |= (1<<3);
+
+ xgWriteByte(CTRL_REG5_XL, tempRegValue);
+
+ // CTRL_REG6_XL (0x20) (Default value: 0x00)
+ // [ODR_XL2][ODR_XL1][ODR_XL0][FS1_XL][FS0_XL][BW_SCAL_ODR][BW_XL1][BW_XL0]
+ // ODR_XL[2:0] - Output data rate & power mode selection
+ // FS_XL[1:0] - Full-scale selection
+ // BW_SCAL_ODR - Bandwidth selection
+ // BW_XL[1:0] - Anti-aliasing filter bandwidth selection
+ tempRegValue = 0;
+ // To disable the accel, set the sampleRate bits to 0.
+ if (settings.accel.enabled)
+ {
+ tempRegValue |= (settings.accel.sampleRate & 0x07) << 5;
+ }
+ switch (settings.accel.scale)
+ {
+ case 4:
+ tempRegValue |= (0x2 << 3);
+ break;
+ case 8:
+ tempRegValue |= (0x3 << 3);
+ break;
+ case 16:
+ tempRegValue |= (0x1 << 3);
+ break;
+ // Otherwise it'll be set to 2g (0x0 << 3)
+ }
+ if (settings.accel.bandwidth >= 0)
+ {
+ tempRegValue |= (1<<2); // Set BW_SCAL_ODR
+ tempRegValue |= (settings.accel.bandwidth & 0x03);
+ }
+ xgWriteByte(CTRL_REG6_XL, tempRegValue);
+
+ // CTRL_REG7_XL (0x21) (Default value: 0x00)
+ // [HR][DCF1][DCF0][0][0][FDS][0][HPIS1]
+ // HR - High resolution mode (0: disable, 1: enable)
+ // DCF[1:0] - Digital filter cutoff frequency
+ // FDS - Filtered data selection
+ // HPIS1 - HPF enabled for interrupt function
+ tempRegValue = 0;
+ if (settings.accel.highResEnable)
+ {
+ tempRegValue |= (1<<7); // Set HR bit
+ tempRegValue |= (settings.accel.highResBandwidth & 0x3) << 5;
+ }
+ xgWriteByte(CTRL_REG7_XL, tempRegValue);
+}
+
+// This is a function that uses the FIFO to accumulate sample of accelerometer and gyro data, average
+// them, scales them to gs and deg/s, respectively, and then passes the biases to the main sketch
+// for subtraction from all subsequent data. There are no gyro and accelerometer bias registers to store
+// the data as there are in the ADXL345, a precursor to the LSM9DS0, or the MPU-9150, so we have to
+// subtract the biases ourselves. This results in a more accurate measurement in general and can
+// remove errors due to imprecise or varying initial placement. Calibration of sensor data in this manner
+// is good practice.
+void LSM9DS1::calibrate(bool autoCalc)
+{
+ uint8_t data[6] = {0, 0, 0, 0, 0, 0};
+ uint8_t samples = 0;
+ int ii;
+ int32_t aBiasRawTemp[3] = {0, 0, 0};
+ int32_t gBiasRawTemp[3] = {0, 0, 0};
+
+ // Turn on FIFO and set threshold to 32 samples
+ enableFIFO(true);
+ setFIFO(FIFO_THS, 0x1F);
+ while (samples < 0x1F)
+ {
+ samples = (xgReadByte(FIFO_SRC) & 0x3F); // Read number of stored samples
+ }
+ for(ii = 0; ii < samples ; ii++)
+ { // Read the gyro data stored in the FIFO
+ readGyro();
+ gBiasRawTemp[0] += gx;
+ gBiasRawTemp[1] += gy;
+ gBiasRawTemp[2] += gz;
+ readAccel();
+ aBiasRawTemp[0] += ax;
+ aBiasRawTemp[1] += ay;
+ aBiasRawTemp[2] += az - (int16_t)(1./aRes); // Assumes sensor facing up!
+ }
+ for (ii = 0; ii < 3; ii++)
+ {
+ gBiasRaw[ii] = gBiasRawTemp[ii] / samples;
+ gBias[ii] = calcGyro(gBiasRaw[ii]);
+ aBiasRaw[ii] = aBiasRawTemp[ii] / samples;
+ aBias[ii] = calcAccel(aBiasRaw[ii]);
+ }
+
+ enableFIFO(false);
+ setFIFO(FIFO_OFF, 0x00);
+
+ if (autoCalc) _autoCalc = true;
+}
+
+void LSM9DS1::calibrateMag(bool loadIn)
+{
+ int i, j;
+ int16_t magMin[3] = {0, 0, 0};
+ int16_t magMax[3] = {0, 0, 0}; // The road warrior
+
+ for (i=0; i<128; i++)
+ {
+ while (!magAvailable())
+ ;
+ readMag();
+ int16_t magTemp[3] = {0, 0, 0};
+ magTemp[0] = mx;
+ magTemp[1] = my;
+ magTemp[2] = mz;
+ for (j = 0; j < 3; j++)
+ {
+ if (magTemp[j] > magMax[j]) magMax[j] = magTemp[j];
+ if (magTemp[j] < magMin[j]) magMin[j] = magTemp[j];
+ }
+ }
+ for (j = 0; j < 3; j++)
+ {
+ mBiasRaw[j] = (magMax[j] + magMin[j]) / 2;
+ mBias[j] = calcMag(mBiasRaw[j]);
+ if (loadIn)
+ magOffset(j, mBiasRaw[j]);
+ }
+
+}
+void LSM9DS1::magOffset(uint8_t axis, int16_t offset)
+{
+ if (axis > 2)
+ return;
+ uint8_t msb, lsb;
+ msb = (offset & 0xFF00) >> 8;
+ lsb = offset & 0x00FF;
+ mWriteByte(OFFSET_X_REG_L_M + (2 * axis), lsb);
+ mWriteByte(OFFSET_X_REG_H_M + (2 * axis), msb);
+}
+
+void LSM9DS1::initMag()
+{
+ uint8_t tempRegValue = 0;
+
+ // CTRL_REG1_M (Default value: 0x10)
+ // [TEMP_COMP][OM1][OM0][DO2][DO1][DO0][0][ST]
+ // TEMP_COMP - Temperature compensation
+ // OM[1:0] - X & Y axes op mode selection
+ // 00:low-power, 01:medium performance
+ // 10: high performance, 11:ultra-high performance
+ // DO[2:0] - Output data rate selection
+ // ST - Self-test enable
+ if (settings.mag.tempCompensationEnable) tempRegValue |= (1<<7);
+ tempRegValue |= (settings.mag.XYPerformance & 0x3) << 5;
+ tempRegValue |= (settings.mag.sampleRate & 0x7) << 2;
+ mWriteByte(CTRL_REG1_M, tempRegValue);
+
+ // CTRL_REG2_M (Default value 0x00)
+ // [0][FS1][FS0][0][REBOOT][SOFT_RST][0][0]
+ // FS[1:0] - Full-scale configuration
+ // REBOOT - Reboot memory content (0:normal, 1:reboot)
+ // SOFT_RST - Reset config and user registers (0:default, 1:reset)
+ tempRegValue = 0;
+ switch (settings.mag.scale)
+ {
+ case 8:
+ tempRegValue |= (0x1 << 5);
+ break;
+ case 12:
+ tempRegValue |= (0x2 << 5);
+ break;
+ case 16:
+ tempRegValue |= (0x3 << 5);
+ break;
+ // Otherwise we'll default to 4 gauss (00)
+ }
+ mWriteByte(CTRL_REG2_M, tempRegValue); // +/-4Gauss
+
+ // CTRL_REG3_M (Default value: 0x03)
+ // [I2C_DISABLE][0][LP][0][0][SIM][MD1][MD0]
+ // I2C_DISABLE - Disable I2C interace (0:enable, 1:disable)
+ // LP - Low-power mode cofiguration (1:enable)
+ // SIM - SPI mode selection (0:write-only, 1:read/write enable)
+ // MD[1:0] - Operating mode
+ // 00:continuous conversion, 01:single-conversion,
+ // 10,11: Power-down
+ tempRegValue = 0;
+ if (settings.mag.lowPowerEnable) tempRegValue |= (1<<5);
+ tempRegValue |= (settings.mag.operatingMode & 0x3);
+ mWriteByte(CTRL_REG3_M, tempRegValue); // Continuous conversion mode
+
+ // CTRL_REG4_M (Default value: 0x00)
+ // [0][0][0][0][OMZ1][OMZ0][BLE][0]
+ // OMZ[1:0] - Z-axis operative mode selection
+ // 00:low-power mode, 01:medium performance
+ // 10:high performance, 10:ultra-high performance
+ // BLE - Big/little endian data
+ tempRegValue = 0;
+ tempRegValue = (settings.mag.ZPerformance & 0x3) << 2;
+ mWriteByte(CTRL_REG4_M, tempRegValue);
+
+ // CTRL_REG5_M (Default value: 0x00)
+ // [0][BDU][0][0][0][0][0][0]
+ // BDU - Block data update for magnetic data
+ // 0:continuous, 1:not updated until MSB/LSB are read
+ tempRegValue = 0;
+ mWriteByte(CTRL_REG5_M, tempRegValue);
+}
+
+uint8_t LSM9DS1::accelAvailable()
+{
+ uint8_t status = xgReadByte(STATUS_REG_1);
+
+ return (status & (1<<0));
+}
+
+uint8_t LSM9DS1::gyroAvailable()
+{
+ uint8_t status = xgReadByte(STATUS_REG_1);
+
+ return ((status & (1<<1)) >> 1);
+}
+
+uint8_t LSM9DS1::tempAvailable()
+{
+ uint8_t status = xgReadByte(STATUS_REG_1);
+
+ return ((status & (1<<2)) >> 2);
+}
+
+uint8_t LSM9DS1::magAvailable(lsm9ds1_axis axis)
+{
+ uint8_t status;
+ status = mReadByte(STATUS_REG_M);
+
+ return ((status & (1<<axis)) >> axis);
+}
+
+void LSM9DS1::readAccel()
+{
+ uint8_t temp[6]; // We'll read six bytes from the accelerometer into temp
+ xgReadBytes(OUT_X_L_XL, temp, 6); // Read 6 bytes, beginning at OUT_X_L_XL
+ ax = (temp[1] << 8) | temp[0]; // Store x-axis values into ax
+ ay = (temp[3] << 8) | temp[2]; // Store y-axis values into ay
+ az = (temp[5] << 8) | temp[4]; // Store z-axis values into az
+ if (_autoCalc)
+ {
+ ax -= aBiasRaw[X_AXIS];
+ ay -= aBiasRaw[Y_AXIS];
+ az -= aBiasRaw[Z_AXIS];
+ }
+}
+
+int16_t LSM9DS1::readAccel(lsm9ds1_axis axis)
+{
+ uint8_t temp[2];
+ int16_t value;
+ xgReadBytes(OUT_X_L_XL + (2 * axis), temp, 2);
+ value = (temp[1] << 8) | temp[0];
+
+ if (_autoCalc)
+ value -= aBiasRaw[axis];
+
+ return value;
+}
+
+void LSM9DS1::readMag()
+{
+ uint8_t temp[6]; // We'll read six bytes from the mag into temp
+ mReadBytes(OUT_X_L_M, temp, 6); // Read 6 bytes, beginning at OUT_X_L_M
+ mx = (temp[1] << 8) | temp[0]; // Store x-axis values into mx
+ my = (temp[3] << 8) | temp[2]; // Store y-axis values into my
+ mz = (temp[5] << 8) | temp[4]; // Store z-axis values into mz
+}
+
+int16_t LSM9DS1::readMag(lsm9ds1_axis axis)
+{
+ uint8_t temp[2];
+ mReadBytes(OUT_X_L_M + (2 * axis), temp, 2);
+ return (temp[1] << 8) | temp[0];
+}
+
+void LSM9DS1::readTemp()
+{
+ uint8_t temp[2]; // We'll read two bytes from the temperature sensor into temp
+ xgReadBytes(OUT_TEMP_L, temp, 2); // Read 2 bytes, beginning at OUT_TEMP_L
+ temperature = ((int16_t)temp[1] << 8) | temp[0];
+}
+
+void LSM9DS1::readGyro()
+{
+ uint8_t temp[6]; // We'll read six bytes from the gyro into temp
+ xgReadBytes(OUT_X_L_G, temp, 6); // Read 6 bytes, beginning at OUT_X_L_G
+ gx = (temp[1] << 8) | temp[0]; // Store x-axis values into gx
+ gy = (temp[3] << 8) | temp[2]; // Store y-axis values into gy
+ gz = (temp[5] << 8) | temp[4]; // Store z-axis values into gz
+ if (_autoCalc)
+ {
+ gx -= gBiasRaw[X_AXIS];
+ gy -= gBiasRaw[Y_AXIS];
+ gz -= gBiasRaw[Z_AXIS];
+ }
+}
+
+int16_t LSM9DS1::readGyro(lsm9ds1_axis axis)
+{
+ uint8_t temp[2];
+ int16_t value;
+
+ xgReadBytes(OUT_X_L_G + (2 * axis), temp, 2);
+
+ value = (temp[1] << 8) | temp[0];
+
+ if (_autoCalc)
+ value -= gBiasRaw[axis];
+
+ return value;
+}
+
+float LSM9DS1::calcGyro(int16_t gyro)
+{
+ // Return the gyro raw reading times our pre-calculated DPS / (ADC tick):
+ return gRes * gyro;
+}
+
+float LSM9DS1::calcAccel(int16_t accel)
+{
+ // Return the accel raw reading times our pre-calculated g's / (ADC tick):
+ return aRes * accel;
+}
+
+float LSM9DS1::calcMag(int16_t mag)
+{
+ // Return the mag raw reading times our pre-calculated Gs / (ADC tick):
+ return mRes * mag;
+}
+
+void LSM9DS1::setGyroScale(uint16_t gScl)
+{
+ // Read current value of CTRL_REG1_G:
+ uint8_t ctrl1RegValue = xgReadByte(CTRL_REG1_G);
+ // Mask out scale bits (3 & 4):
+ ctrl1RegValue &= 0xE7;
+ switch (gScl)
+ {
+ case 500:
+ ctrl1RegValue |= (0x1 << 3);
+ settings.gyro.scale = 500;
+ break;
+ case 2000:
+ ctrl1RegValue |= (0x3 << 3);
+ settings.gyro.scale = 2000;
+ break;
+ default: // Otherwise we'll set it to 245 dps (0x0 << 4)
+ settings.gyro.scale = 245;
+ break;
+ }
+ xgWriteByte(CTRL_REG1_G, ctrl1RegValue);
+
+ calcgRes();
+}
+
+void LSM9DS1::setAccelScale(uint8_t aScl)
+{
+ // We need to preserve the other bytes in CTRL_REG6_XL. So, first read it:
+ uint8_t tempRegValue = xgReadByte(CTRL_REG6_XL);
+ // Mask out accel scale bits:
+ tempRegValue &= 0xE7;
+
+ switch (aScl)
+ {
+ case 4:
+ tempRegValue |= (0x2 << 3);
+ settings.accel.scale = 4;
+ break;
+ case 8:
+ tempRegValue |= (0x3 << 3);
+ settings.accel.scale = 8;
+ break;
+ case 16:
+ tempRegValue |= (0x1 << 3);
+ settings.accel.scale = 16;
+ break;
+ default: // Otherwise it'll be set to 2g (0x0 << 3)
+ settings.accel.scale = 2;
+ break;
+ }
+ xgWriteByte(CTRL_REG6_XL, tempRegValue);
+
+ // Then calculate a new aRes, which relies on aScale being set correctly:
+ calcaRes();
+}
+
+void LSM9DS1::setMagScale(uint8_t mScl)
+{
+ // We need to preserve the other bytes in CTRL_REG6_XM. So, first read it:
+ uint8_t temp = mReadByte(CTRL_REG2_M);
+ // Then mask out the mag scale bits:
+ temp &= 0xFF^(0x3 << 5);
+
+ switch (mScl)
+ {
+ case 8:
+ temp |= (0x1 << 5);
+ settings.mag.scale = 8;
+ break;
+ case 12:
+ temp |= (0x2 << 5);
+ settings.mag.scale = 12;
+ break;
+ case 16:
+ temp |= (0x3 << 5);
+ settings.mag.scale = 16;
+ break;
+ default: // Otherwise we'll default to 4 gauss (00)
+ settings.mag.scale = 4;
+ break;
+ }
+
+ // And write the new register value back into CTRL_REG6_XM:
+ mWriteByte(CTRL_REG2_M, temp);
+
+ // We've updated the sensor, but we also need to update our class variables
+ // First update mScale:
+ //mScale = mScl;
+ // Then calculate a new mRes, which relies on mScale being set correctly:
+ calcmRes();
+}
+
+void LSM9DS1::setGyroODR(uint8_t gRate)
+{
+ // Only do this if gRate is not 0 (which would disable the gyro)
+ if ((gRate & 0x07) != 0)
+ {
+ // We need to preserve the other bytes in CTRL_REG1_G. So, first read it:
+ uint8_t temp = xgReadByte(CTRL_REG1_G);
+ // Then mask out the gyro ODR bits:
+ temp &= 0xFF^(0x7 << 5);
+ temp |= (gRate & 0x07) << 5;
+ // Update our settings struct
+ settings.gyro.sampleRate = gRate & 0x07;
+ // And write the new register value back into CTRL_REG1_G:
+ xgWriteByte(CTRL_REG1_G, temp);
+ }
+}
+
+void LSM9DS1::setAccelODR(uint8_t aRate)
+{
+ // Only do this if aRate is not 0 (which would disable the accel)
+ if ((aRate & 0x07) != 0)
+ {
+ // We need to preserve the other bytes in CTRL_REG1_XM. So, first read it:
+ uint8_t temp = xgReadByte(CTRL_REG6_XL);
+ // Then mask out the accel ODR bits:
+ temp &= 0x1F;
+ // Then shift in our new ODR bits:
+ temp |= ((aRate & 0x07) << 5);
+ settings.accel.sampleRate = aRate & 0x07;
+ // And write the new register value back into CTRL_REG1_XM:
+ xgWriteByte(CTRL_REG6_XL, temp);
+ }
+}
+
+void LSM9DS1::setMagODR(uint8_t mRate)
+{
+ // We need to preserve the other bytes in CTRL_REG5_XM. So, first read it:
+ uint8_t temp = mReadByte(CTRL_REG1_M);
+ // Then mask out the mag ODR bits:
+ temp &= 0xFF^(0x7 << 2);
+ // Then shift in our new ODR bits:
+ temp |= ((mRate & 0x07) << 2);
+ settings.mag.sampleRate = mRate & 0x07;
+ // And write the new register value back into CTRL_REG5_XM:
+ mWriteByte(CTRL_REG1_M, temp);
+}
+
+void LSM9DS1::calcgRes()
+{
+ gRes = ((float) settings.gyro.scale) / 32768.0;
+}
+
+void LSM9DS1::calcaRes()
+{
+ aRes = ((float) settings.accel.scale) / 32768.0;
+}
+
+void LSM9DS1::calcmRes()
+{
+ //mRes = ((float) settings.mag.scale) / 32768.0;
+ switch (settings.mag.scale)
+ {
+ case 4:
+ mRes = magSensitivity[0];
+ break;
+ case 8:
+ mRes = magSensitivity[1];
+ break;
+ case 12:
+ mRes = magSensitivity[2];
+ break;
+ case 16:
+ mRes = magSensitivity[3];
+ break;
+ }
+
+}
+
+void LSM9DS1::configInt(interrupt_select interrupt, uint8_t generator,
+ h_lactive activeLow, pp_od pushPull)
+{
+ // Write to INT1_CTRL or INT2_CTRL. [interupt] should already be one of
+ // those two values.
+ // [generator] should be an OR'd list of values from the interrupt_generators enum
+ xgWriteByte(interrupt, generator);
+
+ // Configure CTRL_REG8
+ uint8_t temp;
+ temp = xgReadByte(CTRL_REG8);
+
+ if (activeLow) temp |= (1<<5);
+ else temp &= ~(1<<5);
+
+ if (pushPull) temp &= ~(1<<4);
+ else temp |= (1<<4);
+
+ xgWriteByte(CTRL_REG8, temp);
+}
+
+void LSM9DS1::configInactivity(uint8_t duration, uint8_t threshold, bool sleepOn)
+{
+ uint8_t temp = 0;
+
+ temp = threshold & 0x7F;
+ if (sleepOn) temp |= (1<<7);
+ xgWriteByte(ACT_THS, temp);
+
+ xgWriteByte(ACT_DUR, duration);
+}
+
+uint8_t LSM9DS1::getInactivity()
+{
+ uint8_t temp = xgReadByte(STATUS_REG_0);
+ temp &= (0x10);
+ return temp;
+}
+
+void LSM9DS1::configAccelInt(uint8_t generator, bool andInterrupts)
+{
+ // Use variables from accel_interrupt_generator, OR'd together to create
+ // the [generator]value.
+ uint8_t temp = generator;
+ if (andInterrupts) temp |= 0x80;
+ xgWriteByte(INT_GEN_CFG_XL, temp);
+}
+
+void LSM9DS1::configAccelThs(uint8_t threshold, lsm9ds1_axis axis, uint8_t duration, bool wait)
+{
+ // Write threshold value to INT_GEN_THS_?_XL.
+ // axis will be 0, 1, or 2 (x, y, z respectively)
+ xgWriteByte(INT_GEN_THS_X_XL + axis, threshold);
+
+ // Write duration and wait to INT_GEN_DUR_XL
+ uint8_t temp;
+ temp = (duration & 0x7F);
+ if (wait) temp |= 0x80;
+ xgWriteByte(INT_GEN_DUR_XL, temp);
+}
+
+uint8_t LSM9DS1::getAccelIntSrc()
+{
+ uint8_t intSrc = xgReadByte(INT_GEN_SRC_XL);
+
+ // Check if the IA_XL (interrupt active) bit is set
+ if (intSrc & (1<<6))
+ {
+ return (intSrc & 0x3F);
+ }
+
+ return 0;
+}
+
+void LSM9DS1::configGyroInt(uint8_t generator, bool aoi, bool latch)
+{
+ // Use variables from accel_interrupt_generator, OR'd together to create
+ // the [generator]value.
+ uint8_t temp = generator;
+ if (aoi) temp |= 0x80;
+ if (latch) temp |= 0x40;
+ xgWriteByte(INT_GEN_CFG_G, temp);
+}
+
+void LSM9DS1::configGyroThs(int16_t threshold, lsm9ds1_axis axis, uint8_t duration, bool wait)
+{
+ uint8_t buffer[2];
+ buffer[0] = (threshold & 0x7F00) >> 8;
+ buffer[1] = (threshold & 0x00FF);
+ // Write threshold value to INT_GEN_THS_?H_G and INT_GEN_THS_?L_G.
+ // axis will be 0, 1, or 2 (x, y, z respectively)
+ xgWriteByte(INT_GEN_THS_XH_G + (axis * 2), buffer[0]);
+ xgWriteByte(INT_GEN_THS_XH_G + 1 + (axis * 2), buffer[1]);
+
+ // Write duration and wait to INT_GEN_DUR_XL
+ uint8_t temp;
+ temp = (duration & 0x7F);
+ if (wait) temp |= 0x80;
+ xgWriteByte(INT_GEN_DUR_G, temp);
+}
+
+uint8_t LSM9DS1::getGyroIntSrc()
+{
+ uint8_t intSrc = xgReadByte(INT_GEN_SRC_G);
+
+ // Check if the IA_G (interrupt active) bit is set
+ if (intSrc & (1<<6))
+ {
+ return (intSrc & 0x3F);
+ }
+
+ return 0;
+}
+
+void LSM9DS1::configMagInt(uint8_t generator, h_lactive activeLow, bool latch)
+{
+ // Mask out non-generator bits (0-4)
+ uint8_t config = (generator & 0xE0);
+ // IEA bit is 0 for active-low, 1 for active-high.
+ if (activeLow == INT_ACTIVE_HIGH) config |= (1<<2);
+ // IEL bit is 0 for latched, 1 for not-latched
+ if (!latch) config |= (1<<1);
+ // As long as we have at least 1 generator, enable the interrupt
+ if (generator != 0) config |= (1<<0);
+
+ mWriteByte(INT_CFG_M, config);
+}
+
+void LSM9DS1::configMagThs(uint16_t threshold)
+{
+ // Write high eight bits of [threshold] to INT_THS_H_M
+ mWriteByte(INT_THS_H_M, uint8_t((threshold & 0x7F00) >> 8));
+ // Write low eight bits of [threshold] to INT_THS_L_M
+ mWriteByte(INT_THS_L_M, uint8_t(threshold & 0x00FF));
+}
+
+uint8_t LSM9DS1::getMagIntSrc()
+{
+ uint8_t intSrc = mReadByte(INT_SRC_M);
+
+ // Check if the INT (interrupt active) bit is set
+ if (intSrc & (1<<0))
+ {
+ return (intSrc & 0xFE);
+ }
+
+ return 0;
+}
+
+void LSM9DS1::sleepGyro(bool enable)
+{
+ uint8_t temp = xgReadByte(CTRL_REG9);
+ if (enable) temp |= (1<<6);
+ else temp &= ~(1<<6);
+ xgWriteByte(CTRL_REG9, temp);
+}
+
+void LSM9DS1::enableFIFO(bool enable)
+{
+ uint8_t temp = xgReadByte(CTRL_REG9);
+ if (enable) temp |= (1<<1);
+ else temp &= ~(1<<1);
+ xgWriteByte(CTRL_REG9, temp);
+}
+
+void LSM9DS1::setFIFO(fifoMode_type fifoMode, uint8_t fifoThs)
+{
+ // Limit threshold - 0x1F (31) is the maximum. If more than that was asked
+ // limit it to the maximum.
+ uint8_t threshold = fifoThs <= 0x1F ? fifoThs : 0x1F;
+ xgWriteByte(FIFO_CTRL, ((fifoMode & 0x7) << 5) | (threshold & 0x1F));
+}
+
+uint8_t LSM9DS1::getFIFOSamples()
+{
+ return (xgReadByte(FIFO_SRC) & 0x3F);
+}
+
+void LSM9DS1::constrainScales()
+{
+ if ((settings.gyro.scale != 245) && (settings.gyro.scale != 500) &&
+ (settings.gyro.scale != 2000))
+ {
+ settings.gyro.scale = 245;
+ }
+
+ if ((settings.accel.scale != 2) && (settings.accel.scale != 4) &&
+ (settings.accel.scale != 8) && (settings.accel.scale != 16))
+ {
+ settings.accel.scale = 2;
+ }
+
+ if ((settings.mag.scale != 4) && (settings.mag.scale != 8) &&
+ (settings.mag.scale != 12) && (settings.mag.scale != 16))
+ {
+ settings.mag.scale = 4;
+ }
+}
+
+void LSM9DS1::xgWriteByte(uint8_t subAddress, uint8_t data)
+{
+ // Whether we're using I2C or SPI, write a byte using the
+ // gyro-specific I2C address or SPI CS pin.
+ if (settings.device.commInterface == IMU_MODE_I2C) {
+ printf("yo");
+ I2CwriteByte(_xgAddress, subAddress, data);
+ } else if (settings.device.commInterface == IMU_MODE_SPI) {
+ SPIwriteByte(_xgAddress, subAddress, data);
+ }
+}
+
+void LSM9DS1::mWriteByte(uint8_t subAddress, uint8_t data)
+{
+ // Whether we're using I2C or SPI, write a byte using the
+ // accelerometer-specific I2C address or SPI CS pin.
+ if (settings.device.commInterface == IMU_MODE_I2C)
+ return I2CwriteByte(_mAddress, subAddress, data);
+ else if (settings.device.commInterface == IMU_MODE_SPI)
+ return SPIwriteByte(_mAddress, subAddress, data);
+}
+
+uint8_t LSM9DS1::xgReadByte(uint8_t subAddress)
+{
+ // Whether we're using I2C or SPI, read a byte using the
+ // gyro-specific I2C address or SPI CS pin.
+ if (settings.device.commInterface == IMU_MODE_I2C)
+ return I2CreadByte(_xgAddress, subAddress);
+ else if (settings.device.commInterface == IMU_MODE_SPI)
+ return SPIreadByte(_xgAddress, subAddress);
+}
+
+void LSM9DS1::xgReadBytes(uint8_t subAddress, uint8_t * dest, uint8_t count)
+{
+ // Whether we're using I2C or SPI, read multiple bytes using the
+ // gyro-specific I2C address or SPI CS pin.
+ if (settings.device.commInterface == IMU_MODE_I2C) {
+ I2CreadBytes(_xgAddress, subAddress, dest, count);
+ } else if (settings.device.commInterface == IMU_MODE_SPI) {
+ SPIreadBytes(_xgAddress, subAddress, dest, count);
+ }
+}
+
+uint8_t LSM9DS1::mReadByte(uint8_t subAddress)
+{
+ // Whether we're using I2C or SPI, read a byte using the
+ // accelerometer-specific I2C address or SPI CS pin.
+ if (settings.device.commInterface == IMU_MODE_I2C)
+ return I2CreadByte(_mAddress, subAddress);
+ else if (settings.device.commInterface == IMU_MODE_SPI)
+ return SPIreadByte(_mAddress, subAddress);
+}
+
+void LSM9DS1::mReadBytes(uint8_t subAddress, uint8_t * dest, uint8_t count)
+{
+ // Whether we're using I2C or SPI, read multiple bytes using the
+ // accelerometer-specific I2C address or SPI CS pin.
+ if (settings.device.commInterface == IMU_MODE_I2C)
+ I2CreadBytes(_mAddress, subAddress, dest, count);
+ else if (settings.device.commInterface == IMU_MODE_SPI)
+ SPIreadBytes(_mAddress, subAddress, dest, count);
+}
+
+void LSM9DS1::initSPI()
+{
+ /*
+ pinMode(_xgAddress, OUTPUT);
+ digitalWrite(_xgAddress, HIGH);
+ pinMode(_mAddress, OUTPUT);
+ digitalWrite(_mAddress, HIGH);
+
+ SPI.begin();
+ // Maximum SPI frequency is 10MHz, could divide by 2 here:
+ SPI.setClockDivider(SPI_CLOCK_DIV2);
+ // Data is read and written MSb first.
+ SPI.setBitOrder(MSBFIRST);
+ // Data is captured on rising edge of clock (CPHA = 0)
+ // Base value of the clock is HIGH (CPOL = 1)
+ SPI.setDataMode(SPI_MODE0);
+ */
+}
+
+void LSM9DS1::SPIwriteByte(uint8_t csPin, uint8_t subAddress, uint8_t data)
+{
+ /*
+ digitalWrite(csPin, LOW); // Initiate communication
+
+ // If write, bit 0 (MSB) should be 0
+ // If single write, bit 1 should be 0
+ SPI.transfer(subAddress & 0x3F); // Send Address
+ SPI.transfer(data); // Send data
+
+ digitalWrite(csPin, HIGH); // Close communication
+ */
+}
+
+uint8_t LSM9DS1::SPIreadByte(uint8_t csPin, uint8_t subAddress)
+{
+ uint8_t temp;
+ // Use the multiple read function to read 1 byte.
+ // Value is returned to `temp`.
+ SPIreadBytes(csPin, subAddress, &temp, 1);
+ return temp;
+}
+
+void LSM9DS1::SPIreadBytes(uint8_t csPin, uint8_t subAddress,
+ uint8_t * dest, uint8_t count)
+{
+ // To indicate a read, set bit 0 (msb) of first byte to 1
+ uint8_t rAddress = 0x80 | (subAddress & 0x3F);
+ // Mag SPI port is different. If we're reading multiple bytes,
+ // set bit 1 to 1. The remaining six bytes are the address to be read
+ if ((csPin == _mAddress) && count > 1)
+ rAddress |= 0x40;
+
+ /*
+ digitalWrite(csPin, LOW); // Initiate communication
+ SPI.transfer(rAddress);
+ for (int i=0; i<count; i++)
+ {
+ dest[i] = SPI.transfer(0x00); // Read into destination array
+ }
+ digitalWrite(csPin, HIGH); // Close communication
+ */
+}
+
+void LSM9DS1::initI2C()
+{
+ /*
+ Wire.begin(); // Initialize I2C library
+ */
+
+ //already initialized in constructor!
+}
+
+// Wire.h read and write protocols
+void LSM9DS1::I2CwriteByte(uint8_t address, uint8_t subAddress, uint8_t data)
+{
+ /*
+ Wire.beginTransmission(address); // Initialize the Tx buffer
+ Wire.write(subAddress); // Put slave register address in Tx buffer
+ Wire.write(data); // Put data in Tx buffer
+ Wire.endTransmission(); // Send the Tx buffer
+ */
+ char temp_data[2] = {subAddress, data};
+ i2c.write(address, temp_data, 2);
+}
+
+uint8_t LSM9DS1::I2CreadByte(uint8_t address, uint8_t subAddress)
+{
+ /*
+ int timeout = LSM9DS1_COMMUNICATION_TIMEOUT;
+ uint8_t data; // `data` will store the register data
+
+ Wire.beginTransmission(address); // Initialize the Tx buffer
+ Wire.write(subAddress); // Put slave register address in Tx buffer
+ Wire.endTransmission(true); // Send the Tx buffer, but send a restart to keep connection alive
+ Wire.requestFrom(address, (uint8_t) 1); // Read one byte from slave register address
+ while ((Wire.available() < 1) && (timeout-- > 0))
+ delay(1);
+
+ if (timeout <= 0)
+ return 255; //! Bad! 255 will be misinterpreted as a good value.
+
+ data = Wire.read(); // Fill Rx buffer with result
+ return data; // Return data read from slave register
+ */
+ char data;
+ char temp[1] = {subAddress};
+
+ i2c.write(address, temp, 1);
+ //i2c.write(address & 0xFE);
+ temp[1] = 0x00;
+ i2c.write(address, temp, 1);
+ //i2c.write( address | 0x01);
+ int a = i2c.read(address, &data, 1);
+ return data;
+}
+
+uint8_t LSM9DS1::I2CreadBytes(uint8_t address, uint8_t subAddress, uint8_t * dest, uint8_t count)
+{
+ /*
+ int timeout = LSM9DS1_COMMUNICATION_TIMEOUT;
+ Wire.beginTransmission(address); // Initialize the Tx buffer
+ // Next send the register to be read. OR with 0x80 to indicate multi-read.
+ Wire.write(subAddress | 0x80); // Put slave register address in Tx buffer
+
+ Wire.endTransmission(true); // Send the Tx buffer, but send a restart to keep connection alive
+ uint8_t i = 0;
+ Wire.requestFrom(address, count); // Read bytes from slave register address
+ while ((Wire.available() < count) && (timeout-- > 0))
+ delay(1);
+ if (timeout <= 0)
+ return -1;
+
+ for (int i=0; i<count;)
+ {
+ if (Wire.available())
+ {
+ dest[i++] = Wire.read();
+ }
+ }
+ return count;
+ */
+ int i;
+ char temp_dest[count];
+ char temp[1] = {subAddress};
+ i2c.write(address, temp, 1);
+ i2c.read(address, temp_dest, count);
+
+ //i2c doesn't take uint8_ts, but rather chars so do this nasty af conversion
+ for (i=0; i < count; i++) {
+ dest[i] = temp_dest[i];
+ }
+ return count;
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/LSM9DS1.h Sat Oct 30 17:17:07 2021 +0000
@@ -0,0 +1,557 @@
+/******************************************************************************
+SFE_LSM9DS1.h
+SFE_LSM9DS1 Library Header File
+Jim Lindblom @ SparkFun Electronics
+Original Creation Date: February 27, 2015
+https://github.com/sparkfun/LSM9DS1_Breakout
+
+This file prototypes the LSM9DS1 class, implemented in SFE_LSM9DS1.cpp. In
+addition, it defines every register in the LSM9DS1 (both the Gyro and Accel/
+Magnetometer registers).
+
+Development environment specifics:
+ IDE: Arduino 1.6.0
+ Hardware Platform: Arduino Uno
+ LSM9DS1 Breakout Version: 1.0
+
+This code is beerware; if you see me (or any other SparkFun employee) at the
+local, and you've found our code helpful, please buy us a round!
+
+Distributed as-is; no warranty is given.
+******************************************************************************/
+#ifndef __SparkFunLSM9DS1_H__
+#define __SparkFunLSM9DS1_H__
+
+//#if defined(ARDUINO) && ARDUINO >= 100
+// #include "Arduino.h"
+//#else
+// #include "WProgram.h"
+// #include "pins_arduino.h"
+//#endif
+
+#include "mbed.h"
+#include <stdint.h>
+#include "LSM9DS1_Registers.h"
+#include "LSM9DS1_Types.h"
+
+#define LSM9DS1_AG_ADDR(sa0) ((sa0) == 0 ? 0x6A : 0x6B)
+#define LSM9DS1_M_ADDR(sa1) ((sa1) == 0 ? 0x1C : 0x1E)
+
+enum lsm9ds1_axis {
+ X_AXIS,
+ Y_AXIS,
+ Z_AXIS,
+ ALL_AXIS
+};
+
+class LSM9DS1
+{
+public:
+ IMUSettings settings;
+
+ // We'll store the gyro, accel, and magnetometer readings in a series of
+ // public class variables. Each sensor gets three variables -- one for each
+ // axis. Call readGyro(), readAccel(), and readMag() first, before using
+ // these variables!
+ // These values are the RAW signed 16-bit readings from the sensors.
+ int16_t gx, gy, gz; // x, y, and z axis readings of the gyroscope
+ int16_t ax, ay, az; // x, y, and z axis readings of the accelerometer
+ int16_t mx, my, mz; // x, y, and z axis readings of the magnetometer
+ int16_t temperature; // Chip temperature
+ float gBias[3], aBias[3], mBias[3];
+ int16_t gBiasRaw[3], aBiasRaw[3], mBiasRaw[3];
+
+ // LSM9DS1 -- LSM9DS1 class constructor
+ // The constructor will set up a handful of private variables, and set the
+ // communication mode as well.
+ /**Input:
+ * - interface = Either IMU_MODE_SPI or IMU_MODE_I2C, whichever you're using
+ * to talk to the IC.
+ * - xgAddr = If IMU_MODE_I2C, this is the I2C address of the accel/gyroscope.
+ * If IMU_MODE_SPI, this is the chip select pin of the gyro (CS_AG)
+ * - mAddr = If IMU_MODE_I2C, this is the I2C address of the magnetometer.
+ * If IMU_MODE_SPI, this is the cs pin of the magnetometer (CS_M)
+
+ */
+ LSM9DS1(PinName sda, PinName scl, uint8_t xgAddr, uint8_t mAddr);
+ //LSM9DS1(interface_mode interface, uint8_t xgAddr, uint8_t mAddr);
+ //LSM9DS1();
+
+
+ /** begin() -- Initialize the gyro, accelerometer, and magnetometer.
+ *This will set up the scale and output rate of each sensor. The values set
+ * in the IMUSettings struct will take effect after calling this function.
+ */
+ uint16_t begin();
+
+ void calibrate(bool autoCalc = true);
+ void calibrateMag(bool loadIn = true);
+ void magOffset(uint8_t axis, int16_t offset);
+
+ /** accelAvailable() -- Polls the accelerometer status register to check
+ * if new data is available.
+ * Output: 1 - New data available
+ * 0 - No new data available
+ */
+ uint8_t accelAvailable();
+
+ /** gyroAvailable() -- Polls the gyroscope status register to check
+ * if new data is available.
+ * Output: 1 - New data available
+ * 0 - No new data available
+ */
+ uint8_t gyroAvailable();
+
+ /** gyroAvailable() -- Polls the temperature status register to check
+ * if new data is available.
+ * Output: 1 - New data available
+ * 0 - No new data available
+ */
+ uint8_t tempAvailable();
+
+ /** magAvailable() -- Polls the accelerometer status register to check
+ * if new data is available.
+ * Input:
+ * - axis can be either X_AXIS, Y_AXIS, Z_AXIS, to check for new data
+ * on one specific axis. Or ALL_AXIS (default) to check for new data
+ * on all axes.
+ * Output: 1 - New data available
+ * 0 - No new data available
+ */
+ uint8_t magAvailable(lsm9ds1_axis axis = ALL_AXIS);
+
+ /** readGyro() -- Read the gyroscope output registers.
+ * This function will read all six gyroscope output registers.
+ * The readings are stored in the class' gx, gy, and gz variables. Read
+ * those _after_ calling readGyro().
+ */
+ void readGyro();
+
+ /** int16_t readGyro(axis) -- Read a specific axis of the gyroscope.
+ * [axis] can be any of X_AXIS, Y_AXIS, or Z_AXIS.
+ * Input:
+ * - axis: can be either X_AXIS, Y_AXIS, or Z_AXIS.
+ * Output:
+ * A 16-bit signed integer with sensor data on requested axis.
+ */
+ int16_t readGyro(lsm9ds1_axis axis);
+
+ /** readAccel() -- Read the accelerometer output registers.
+ * This function will read all six accelerometer output registers.
+ * The readings are stored in the class' ax, ay, and az variables. Read
+ * those _after_ calling readAccel().
+ */
+ void readAccel();
+
+ /** int16_t readAccel(axis) -- Read a specific axis of the accelerometer.
+ * [axis] can be any of X_AXIS, Y_AXIS, or Z_AXIS.
+ * Input:
+ * - axis: can be either X_AXIS, Y_AXIS, or Z_AXIS.
+ * Output:
+ * A 16-bit signed integer with sensor data on requested axis.
+ */
+ int16_t readAccel(lsm9ds1_axis axis);
+
+ /** readMag() -- Read the magnetometer output registers.
+ * This function will read all six magnetometer output registers.
+ * The readings are stored in the class' mx, my, and mz variables. Read
+ * those _after_ calling readMag().
+ */
+ void readMag();
+
+ /** int16_t readMag(axis) -- Read a specific axis of the magnetometer.
+ * [axis] can be any of X_AXIS, Y_AXIS, or Z_AXIS.
+ * Input:
+ * - axis: can be either X_AXIS, Y_AXIS, or Z_AXIS.
+ * Output:
+ * A 16-bit signed integer with sensor data on requested axis.
+ */
+ int16_t readMag(lsm9ds1_axis axis);
+
+ /** readTemp() -- Read the temperature output register.
+ * This function will read two temperature output registers.
+ * The combined readings are stored in the class' temperature variables. Read
+ * those _after_ calling readTemp().
+ */
+ void readTemp();
+
+ /** calcGyro() -- Convert from RAW signed 16-bit value to degrees per second
+ * This function reads in a signed 16-bit value and returns the scaled
+ * DPS. This function relies on gScale and gRes being correct.
+ * Input:
+ * - gyro = A signed 16-bit raw reading from the gyroscope.
+ */
+ float calcGyro(int16_t gyro);
+
+ /** calcAccel() -- Convert from RAW signed 16-bit value to gravity (g's).
+ * This function reads in a signed 16-bit value and returns the scaled
+ * g's. This function relies on aScale and aRes being correct.
+ * Input:
+ * - accel = A signed 16-bit raw reading from the accelerometer.
+ */
+ float calcAccel(int16_t accel);
+
+ /** calcMag() -- Convert from RAW signed 16-bit value to Gauss (Gs)
+ * This function reads in a signed 16-bit value and returns the scaled
+ * Gs. This function relies on mScale and mRes being correct.
+ * Input:
+ * - mag = A signed 16-bit raw reading from the magnetometer.
+ */
+ float calcMag(int16_t mag);
+
+ /** setGyroScale() -- Set the full-scale range of the gyroscope.
+ * This function can be called to set the scale of the gyroscope to
+ * 245, 500, or 200 degrees per second.
+ * Input:
+ * - gScl = The desired gyroscope scale. Must be one of three possible
+ * values from the gyro_scale.
+ */
+ void setGyroScale(uint16_t gScl);
+
+ /** setAccelScale() -- Set the full-scale range of the accelerometer.
+ * This function can be called to set the scale of the accelerometer to
+ * 2, 4, 6, 8, or 16 g's.
+ * Input:
+ * - aScl = The desired accelerometer scale. Must be one of five possible
+ * values from the accel_scale.
+ */
+ void setAccelScale(uint8_t aScl);
+
+ /** setMagScale() -- Set the full-scale range of the magnetometer.
+ * This function can be called to set the scale of the magnetometer to
+ * 2, 4, 8, or 12 Gs.
+ * Input:
+ * - mScl = The desired magnetometer scale. Must be one of four possible
+ * values from the mag_scale.
+ */
+ void setMagScale(uint8_t mScl);
+
+ /** setGyroODR() -- Set the output data rate and bandwidth of the gyroscope
+ * Input:
+ * - gRate = The desired output rate and cutoff frequency of the gyro.
+ */
+ void setGyroODR(uint8_t gRate);
+
+ // setAccelODR() -- Set the output data rate of the accelerometer
+ // Input:
+ // - aRate = The desired output rate of the accel.
+ void setAccelODR(uint8_t aRate);
+
+ // setMagODR() -- Set the output data rate of the magnetometer
+ // Input:
+ // - mRate = The desired output rate of the mag.
+ void setMagODR(uint8_t mRate);
+
+ // configInactivity() -- Configure inactivity interrupt parameters
+ // Input:
+ // - duration = Inactivity duration - actual value depends on gyro ODR
+ // - threshold = Activity Threshold
+ // - sleepOn = Gyroscope operating mode during inactivity.
+ // true: gyroscope in sleep mode
+ // false: gyroscope in power-down
+ void configInactivity(uint8_t duration, uint8_t threshold, bool sleepOn);
+
+ // configAccelInt() -- Configure Accelerometer Interrupt Generator
+ // Input:
+ // - generator = Interrupt axis/high-low events
+ // Any OR'd combination of ZHIE_XL, ZLIE_XL, YHIE_XL, YLIE_XL, XHIE_XL, XLIE_XL
+ // - andInterrupts = AND/OR combination of interrupt events
+ // true: AND combination
+ // false: OR combination
+ void configAccelInt(uint8_t generator, bool andInterrupts = false);
+
+ // configAccelThs() -- Configure the threshold of an accelereomter axis
+ // Input:
+ // - threshold = Interrupt threshold. Possible values: 0-255.
+ // Multiply by 128 to get the actual raw accel value.
+ // - axis = Axis to be configured. Either X_AXIS, Y_AXIS, or Z_AXIS
+ // - duration = Duration value must be above or below threshold to trigger interrupt
+ // - wait = Wait function on duration counter
+ // true: Wait for duration samples before exiting interrupt
+ // false: Wait function off
+ void configAccelThs(uint8_t threshold, lsm9ds1_axis axis, uint8_t duration = 0, bool wait = 0);
+
+ // configGyroInt() -- Configure Gyroscope Interrupt Generator
+ // Input:
+ // - generator = Interrupt axis/high-low events
+ // Any OR'd combination of ZHIE_G, ZLIE_G, YHIE_G, YLIE_G, XHIE_G, XLIE_G
+ // - aoi = AND/OR combination of interrupt events
+ // true: AND combination
+ // false: OR combination
+ // - latch: latch gyroscope interrupt request.
+ void configGyroInt(uint8_t generator, bool aoi, bool latch);
+
+ // configGyroThs() -- Configure the threshold of a gyroscope axis
+ // Input:
+ // - threshold = Interrupt threshold. Possible values: 0-0x7FF.
+ // Value is equivalent to raw gyroscope value.
+ // - axis = Axis to be configured. Either X_AXIS, Y_AXIS, or Z_AXIS
+ // - duration = Duration value must be above or below threshold to trigger interrupt
+ // - wait = Wait function on duration counter
+ // true: Wait for duration samples before exiting interrupt
+ // false: Wait function off
+ void configGyroThs(int16_t threshold, lsm9ds1_axis axis, uint8_t duration, bool wait);
+
+ // configInt() -- Configure INT1 or INT2 (Gyro and Accel Interrupts only)
+ // Input:
+ // - interrupt = Select INT1 or INT2
+ // Possible values: XG_INT1 or XG_INT2
+ // - generator = Or'd combination of interrupt generators.
+ // Possible values: INT_DRDY_XL, INT_DRDY_G, INT1_BOOT (INT1 only), INT2_DRDY_TEMP (INT2 only)
+ // INT_FTH, INT_OVR, INT_FSS5, INT_IG_XL (INT1 only), INT1_IG_G (INT1 only), INT2_INACT (INT2 only)
+ // - activeLow = Interrupt active configuration
+ // Can be either INT_ACTIVE_HIGH or INT_ACTIVE_LOW
+ // - pushPull = Push-pull or open drain interrupt configuration
+ // Can be either INT_PUSH_PULL or INT_OPEN_DRAIN
+ void configInt(interrupt_select interupt, uint8_t generator,
+ h_lactive activeLow = INT_ACTIVE_LOW, pp_od pushPull = INT_PUSH_PULL);
+
+ /** configMagInt() -- Configure Magnetometer Interrupt Generator
+ * Input:
+ * - generator = Interrupt axis/high-low events
+ * Any OR'd combination of ZIEN, YIEN, XIEN
+ * - activeLow = Interrupt active configuration
+ * Can be either INT_ACTIVE_HIGH or INT_ACTIVE_LOW
+ * - latch: latch gyroscope interrupt request.
+ */
+ void configMagInt(uint8_t generator, h_lactive activeLow, bool latch = true);
+
+ /** configMagThs() -- Configure the threshold of a gyroscope axis
+ * Input:
+ * - threshold = Interrupt threshold. Possible values: 0-0x7FF.
+ * Value is equivalent to raw magnetometer value.
+ */
+ void configMagThs(uint16_t threshold);
+
+ //! getGyroIntSrc() -- Get contents of Gyroscope interrupt source register
+ uint8_t getGyroIntSrc();
+
+ //! getGyroIntSrc() -- Get contents of accelerometer interrupt source register
+ uint8_t getAccelIntSrc();
+
+ //! getGyroIntSrc() -- Get contents of magnetometer interrupt source register
+ uint8_t getMagIntSrc();
+
+ //! getGyroIntSrc() -- Get status of inactivity interrupt
+ uint8_t getInactivity();
+
+ /** sleepGyro() -- Sleep or wake the gyroscope
+ * Input:
+ * - enable: True = sleep gyro. False = wake gyro.
+ */
+ void sleepGyro(bool enable = true);
+
+ /** enableFIFO() - Enable or disable the FIFO
+ * Input:
+ * - enable: true = enable, false = disable.
+ */
+ void enableFIFO(bool enable = true);
+
+ /** setFIFO() - Configure FIFO mode and Threshold
+ * Input:
+ * - fifoMode: Set FIFO mode to off, FIFO (stop when full), continuous, bypass
+ * Possible inputs: FIFO_OFF, FIFO_THS, FIFO_CONT_TRIGGER, FIFO_OFF_TRIGGER, FIFO_CONT
+ * - fifoThs: FIFO threshold level setting
+ * Any value from 0-0x1F is acceptable.
+ */
+ void setFIFO(fifoMode_type fifoMode, uint8_t fifoThs);
+
+ //! getFIFOSamples() - Get number of FIFO samples
+ uint8_t getFIFOSamples();
+
+
+protected:
+ // x_mAddress and gAddress store the I2C address or SPI chip select pin
+ // for each sensor.
+ uint8_t _mAddress, _xgAddress;
+
+ // gRes, aRes, and mRes store the current resolution for each sensor.
+ // Units of these values would be DPS (or g's or Gs's) per ADC tick.
+ // This value is calculated as (sensor scale) / (2^15).
+ float gRes, aRes, mRes;
+
+ // _autoCalc keeps track of whether we're automatically subtracting off
+ // accelerometer and gyroscope bias calculated in calibrate().
+ bool _autoCalc;
+
+ // init() -- Sets up gyro, accel, and mag settings to default.
+ // - interface - Sets the interface mode (IMU_MODE_I2C or IMU_MODE_SPI)
+ // - xgAddr - Sets either the I2C address of the accel/gyro or SPI chip
+ // select pin connected to the CS_XG pin.
+ // - mAddr - Sets either the I2C address of the magnetometer or SPI chip
+ // select pin connected to the CS_M pin.
+ void init(interface_mode interface, uint8_t xgAddr, uint8_t mAddr);
+
+ // initGyro() -- Sets up the gyroscope to begin reading.
+ // This function steps through all five gyroscope control registers.
+ // Upon exit, the following parameters will be set:
+ // - CTRL_REG1_G = 0x0F: Normal operation mode, all axes enabled.
+ // 95 Hz ODR, 12.5 Hz cutoff frequency.
+ // - CTRL_REG2_G = 0x00: HPF set to normal mode, cutoff frequency
+ // set to 7.2 Hz (depends on ODR).
+ // - CTRL_REG3_G = 0x88: Interrupt enabled on INT_G (set to push-pull and
+ // active high). Data-ready output enabled on DRDY_G.
+ // - CTRL_REG4_G = 0x00: Continuous update mode. Data LSB stored in lower
+ // address. Scale set to 245 DPS. SPI mode set to 4-wire.
+ // - CTRL_REG5_G = 0x00: FIFO disabled. HPF disabled.
+ void initGyro();
+
+ // initAccel() -- Sets up the accelerometer to begin reading.
+ // This function steps through all accelerometer related control registers.
+ // Upon exit these registers will be set as:
+ // - CTRL_REG0_XM = 0x00: FIFO disabled. HPF bypassed. Normal mode.
+ // - CTRL_REG1_XM = 0x57: 100 Hz data rate. Continuous update.
+ // all axes enabled.
+ // - CTRL_REG2_XM = 0x00: 2g scale. 773 Hz anti-alias filter BW.
+ // - CTRL_REG3_XM = 0x04: Accel data ready signal on INT1_XM pin.
+ void initAccel();
+
+ // initMag() -- Sets up the magnetometer to begin reading.
+ // This function steps through all magnetometer-related control registers.
+ // Upon exit these registers will be set as:
+ // - CTRL_REG4_XM = 0x04: Mag data ready signal on INT2_XM pin.
+ // - CTRL_REG5_XM = 0x14: 100 Hz update rate. Low resolution. Interrupt
+ // requests don't latch. Temperature sensor disabled.
+ // - CTRL_REG6_XM = 0x00: 2 Gs scale.
+ // - CTRL_REG7_XM = 0x00: Continuous conversion mode. Normal HPF mode.
+ // - INT_CTRL_REG_M = 0x09: Interrupt active-high. Enable interrupts.
+ void initMag();
+
+ // gReadByte() -- Reads a byte from a specified gyroscope register.
+ // Input:
+ // - subAddress = Register to be read from.
+ // Output:
+ // - An 8-bit value read from the requested address.
+ uint8_t mReadByte(uint8_t subAddress);
+
+ // gReadBytes() -- Reads a number of bytes -- beginning at an address
+ // and incrementing from there -- from the gyroscope.
+ // Input:
+ // - subAddress = Register to be read from.
+ // - * dest = A pointer to an array of uint8_t's. Values read will be
+ // stored in here on return.
+ // - count = The number of bytes to be read.
+ // Output: No value is returned, but the `dest` array will store
+ // the data read upon exit.
+ void mReadBytes(uint8_t subAddress, uint8_t * dest, uint8_t count);
+
+ // gWriteByte() -- Write a byte to a register in the gyroscope.
+ // Input:
+ // - subAddress = Register to be written to.
+ // - data = data to be written to the register.
+ void mWriteByte(uint8_t subAddress, uint8_t data);
+
+ // xmReadByte() -- Read a byte from a register in the accel/mag sensor
+ // Input:
+ // - subAddress = Register to be read from.
+ // Output:
+ // - An 8-bit value read from the requested register.
+ uint8_t xgReadByte(uint8_t subAddress);
+
+ // xmReadBytes() -- Reads a number of bytes -- beginning at an address
+ // and incrementing from there -- from the accelerometer/magnetometer.
+ // Input:
+ // - subAddress = Register to be read from.
+ // - * dest = A pointer to an array of uint8_t's. Values read will be
+ // stored in here on return.
+ // - count = The number of bytes to be read.
+ // Output: No value is returned, but the `dest` array will store
+ // the data read upon exit.
+ void xgReadBytes(uint8_t subAddress, uint8_t * dest, uint8_t count);
+
+ // xmWriteByte() -- Write a byte to a register in the accel/mag sensor.
+ // Input:
+ // - subAddress = Register to be written to.
+ // - data = data to be written to the register.
+ void xgWriteByte(uint8_t subAddress, uint8_t data);
+
+ // calcgRes() -- Calculate the resolution of the gyroscope.
+ // This function will set the value of the gRes variable. gScale must
+ // be set prior to calling this function.
+ void calcgRes();
+
+ // calcmRes() -- Calculate the resolution of the magnetometer.
+ // This function will set the value of the mRes variable. mScale must
+ // be set prior to calling this function.
+ void calcmRes();
+
+ // calcaRes() -- Calculate the resolution of the accelerometer.
+ // This function will set the value of the aRes variable. aScale must
+ // be set prior to calling this function.
+ void calcaRes();
+
+ //////////////////////
+ // Helper Functions //
+ //////////////////////
+ void constrainScales();
+
+ ///////////////////
+ // SPI Functions //
+ ///////////////////
+ // initSPI() -- Initialize the SPI hardware.
+ // This function will setup all SPI pins and related hardware.
+ void initSPI();
+
+ // SPIwriteByte() -- Write a byte out of SPI to a register in the device
+ // Input:
+ // - csPin = The chip select pin of the slave device.
+ // - subAddress = The register to be written to.
+ // - data = Byte to be written to the register.
+ void SPIwriteByte(uint8_t csPin, uint8_t subAddress, uint8_t data);
+
+ // SPIreadByte() -- Read a single byte from a register over SPI.
+ // Input:
+ // - csPin = The chip select pin of the slave device.
+ // - subAddress = The register to be read from.
+ // Output:
+ // - The byte read from the requested address.
+ uint8_t SPIreadByte(uint8_t csPin, uint8_t subAddress);
+
+ // SPIreadBytes() -- Read a series of bytes, starting at a register via SPI
+ // Input:
+ // - csPin = The chip select pin of a slave device.
+ // - subAddress = The register to begin reading.
+ // - * dest = Pointer to an array where we'll store the readings.
+ // - count = Number of registers to be read.
+ // Output: No value is returned by the function, but the registers read are
+ // all stored in the *dest array given.
+ void SPIreadBytes(uint8_t csPin, uint8_t subAddress,
+ uint8_t * dest, uint8_t count);
+
+ ///////////////////
+ // I2C Functions //
+ ///////////////////
+ // initI2C() -- Initialize the I2C hardware.
+ // This function will setup all I2C pins and related hardware.
+ void initI2C();
+
+ // I2CwriteByte() -- Write a byte out of I2C to a register in the device
+ // Input:
+ // - address = The 7-bit I2C address of the slave device.
+ // - subAddress = The register to be written to.
+ // - data = Byte to be written to the register.
+ void I2CwriteByte(uint8_t address, uint8_t subAddress, uint8_t data);
+
+ // I2CreadByte() -- Read a single byte from a register over I2C.
+ // Input:
+ // - address = The 7-bit I2C address of the slave device.
+ // - subAddress = The register to be read from.
+ // Output:
+ // - The byte read from the requested address.
+ uint8_t I2CreadByte(uint8_t address, uint8_t subAddress);
+
+ // I2CreadBytes() -- Read a series of bytes, starting at a register via SPI
+ // Input:
+ // - address = The 7-bit I2C address of the slave device.
+ // - subAddress = The register to begin reading.
+ // - * dest = Pointer to an array where we'll store the readings.
+ // - count = Number of registers to be read.
+ // Output: No value is returned by the function, but the registers read are
+ // all stored in the *dest array given.
+ uint8_t I2CreadBytes(uint8_t address, uint8_t subAddress, uint8_t * dest, uint8_t count);
+
+private:
+ I2C i2c;
+};
+
+#endif // SFE_LSM9DS1_H //
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/LSM9DS1_Registers.h Sat Oct 30 17:17:07 2021 +0000 @@ -0,0 +1,112 @@ +/****************************************************************************** +LSM9DS1_Registers.h +SFE_LSM9DS1 Library - LSM9DS1 Register Map +Jim Lindblom @ SparkFun Electronics +Original Creation Date: April 21, 2015 +https://github.com/sparkfun/LSM9DS1_Breakout + +This file defines all registers internal to the gyro/accel and magnetometer +devices in the LSM9DS1. + +Development environment specifics: + IDE: Arduino 1.6.0 + Hardware Platform: Arduino Uno + LSM9DS1 Breakout Version: 1.0 + +This code is beerware; if you see me (or any other SparkFun employee) at the +local, and you've found our code helpful, please buy us a round! + +Distributed as-is; no warranty is given. +******************************************************************************/ + +#ifndef __LSM9DS1_Registers_H__ +#define __LSM9DS1_Registers_H__ + +///////////////////////////////////////// +// LSM9DS1 Accel/Gyro (XL/G) Registers // +///////////////////////////////////////// +#define ACT_THS 0x04 +#define ACT_DUR 0x05 +#define INT_GEN_CFG_XL 0x06 +#define INT_GEN_THS_X_XL 0x07 +#define INT_GEN_THS_Y_XL 0x08 +#define INT_GEN_THS_Z_XL 0x09 +#define INT_GEN_DUR_XL 0x0A +#define REFERENCE_G 0x0B +#define INT1_CTRL 0x0C +#define INT2_CTRL 0x0D +#define WHO_AM_I_XG 0x0F +#define CTRL_REG1_G 0x10 +#define CTRL_REG2_G 0x11 +#define CTRL_REG3_G 0x12 +#define ORIENT_CFG_G 0x13 +#define INT_GEN_SRC_G 0x14 +#define OUT_TEMP_L 0x15 +#define OUT_TEMP_H 0x16 +#define STATUS_REG_0 0x17 +#define OUT_X_L_G 0x18 +#define OUT_X_H_G 0x19 +#define OUT_Y_L_G 0x1A +#define OUT_Y_H_G 0x1B +#define OUT_Z_L_G 0x1C +#define OUT_Z_H_G 0x1D +#define CTRL_REG4 0x1E +#define CTRL_REG5_XL 0x1F +#define CTRL_REG6_XL 0x20 +#define CTRL_REG7_XL 0x21 +#define CTRL_REG8 0x22 +#define CTRL_REG9 0x23 +#define CTRL_REG10 0x24 +#define INT_GEN_SRC_XL 0x26 +#define STATUS_REG_1 0x27 +#define OUT_X_L_XL 0x28 +#define OUT_X_H_XL 0x29 +#define OUT_Y_L_XL 0x2A +#define OUT_Y_H_XL 0x2B +#define OUT_Z_L_XL 0x2C +#define OUT_Z_H_XL 0x2D +#define FIFO_CTRL 0x2E +#define FIFO_SRC 0x2F +#define INT_GEN_CFG_G 0x30 +#define INT_GEN_THS_XH_G 0x31 +#define INT_GEN_THS_XL_G 0x32 +#define INT_GEN_THS_YH_G 0x33 +#define INT_GEN_THS_YL_G 0x34 +#define INT_GEN_THS_ZH_G 0x35 +#define INT_GEN_THS_ZL_G 0x36 +#define INT_GEN_DUR_G 0x37 + +/////////////////////////////// +// LSM9DS1 Magneto Registers // +/////////////////////////////// +#define OFFSET_X_REG_L_M 0x05 +#define OFFSET_X_REG_H_M 0x06 +#define OFFSET_Y_REG_L_M 0x07 +#define OFFSET_Y_REG_H_M 0x08 +#define OFFSET_Z_REG_L_M 0x09 +#define OFFSET_Z_REG_H_M 0x0A +#define WHO_AM_I_M 0x0F +#define CTRL_REG1_M 0x20 +#define CTRL_REG2_M 0x21 +#define CTRL_REG3_M 0x22 +#define CTRL_REG4_M 0x23 +#define CTRL_REG5_M 0x24 +#define STATUS_REG_M 0x27 +#define OUT_X_L_M 0x28 +#define OUT_X_H_M 0x29 +#define OUT_Y_L_M 0x2A +#define OUT_Y_H_M 0x2B +#define OUT_Z_L_M 0x2C +#define OUT_Z_H_M 0x2D +#define INT_CFG_M 0x30 +#define INT_SRC_M 0x30 +#define INT_THS_L_M 0x32 +#define INT_THS_H_M 0x33 + +//////////////////////////////// +// LSM9DS1 WHO_AM_I Responses // +//////////////////////////////// +#define WHO_AM_I_AG_RSP 0x68 +#define WHO_AM_I_M_RSP 0x3D + +#endif \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/LSM9DS1_Types.h Sat Oct 30 17:17:07 2021 +0000
@@ -0,0 +1,251 @@
+/******************************************************************************
+LSM9DS1_Types.h
+SFE_LSM9DS1 Library - LSM9DS1 Types and Enumerations
+Jim Lindblom @ SparkFun Electronics
+Original Creation Date: April 21, 2015
+https://github.com/sparkfun/LSM9DS1_Breakout
+
+This file defines all types and enumerations used by the LSM9DS1 class.
+
+Development environment specifics:
+ IDE: Arduino 1.6.0
+ Hardware Platform: Arduino Uno
+ LSM9DS1 Breakout Version: 1.0
+
+This code is beerware; if you see me (or any other SparkFun employee) at the
+local, and you've found our code helpful, please buy us a round!
+
+Distributed as-is; no warranty is given.
+******************************************************************************/
+
+#ifndef __LSM9DS1_Types_H__
+#define __LSM9DS1_Types_H__
+
+#include "LSM9DS1_Registers.h"
+
+// The LSM9DS1 functions over both I2C or SPI. This library supports both.
+// But the interface mode used must be sent to the LSM9DS1 constructor. Use
+// one of these two as the first parameter of the constructor.
+enum interface_mode
+{
+ IMU_MODE_SPI,
+ IMU_MODE_I2C,
+};
+
+// accel_scale defines all possible FSR's of the accelerometer:
+enum accel_scale
+{
+ A_SCALE_2G, // 00: 2g
+ A_SCALE_16G,// 01: 16g
+ A_SCALE_4G, // 10: 4g
+ A_SCALE_8G // 11: 8g
+};
+
+// gyro_scale defines the possible full-scale ranges of the gyroscope:
+enum gyro_scale
+{
+ G_SCALE_245DPS, // 00: 245 degrees per second
+ G_SCALE_500DPS, // 01: 500 dps
+ G_SCALE_2000DPS, // 11: 2000 dps
+};
+
+// mag_scale defines all possible FSR's of the magnetometer:
+enum mag_scale
+{
+ M_SCALE_4GS, // 00: 4Gs
+ M_SCALE_8GS, // 01: 8Gs
+ M_SCALE_12GS, // 10: 12Gs
+ M_SCALE_16GS, // 11: 16Gs
+};
+
+// gyro_odr defines all possible data rate/bandwidth combos of the gyro:
+enum gyro_odr
+{
+ //! TODO
+ G_ODR_PD, // Power down (0)
+ G_ODR_149, // 14.9 Hz (1)
+ G_ODR_595, // 59.5 Hz (2)
+ G_ODR_119, // 119 Hz (3)
+ G_ODR_238, // 238 Hz (4)
+ G_ODR_476, // 476 Hz (5)
+ G_ODR_952 // 952 Hz (6)
+};
+// accel_oder defines all possible output data rates of the accelerometer:
+enum accel_odr
+{
+ XL_POWER_DOWN, // Power-down mode (0x0)
+ XL_ODR_10, // 10 Hz (0x1)
+ XL_ODR_50, // 50 Hz (0x02)
+ XL_ODR_119, // 119 Hz (0x3)
+ XL_ODR_238, // 238 Hz (0x4)
+ XL_ODR_476, // 476 Hz (0x5)
+ XL_ODR_952 // 952 Hz (0x6)
+};
+
+// accel_abw defines all possible anti-aliasing filter rates of the accelerometer:
+enum accel_abw
+{
+ A_ABW_408, // 408 Hz (0x0)
+ A_ABW_211, // 211 Hz (0x1)
+ A_ABW_105, // 105 Hz (0x2)
+ A_ABW_50, // 50 Hz (0x3)
+};
+
+
+// mag_odr defines all possible output data rates of the magnetometer:
+enum mag_odr
+{
+ M_ODR_0625, // 0.625 Hz (0)
+ M_ODR_125, // 1.25 Hz (1)
+ M_ODR_250, // 2.5 Hz (2)
+ M_ODR_5, // 5 Hz (3)
+ M_ODR_10, // 10 Hz (4)
+ M_ODR_20, // 20 Hz (5)
+ M_ODR_40, // 40 Hz (6)
+ M_ODR_80 // 80 Hz (7)
+};
+
+enum interrupt_select
+{
+ XG_INT1 = INT1_CTRL,
+ XG_INT2 = INT2_CTRL
+};
+
+enum interrupt_generators
+{
+ INT_DRDY_XL = (1<<0), // Accelerometer data ready (INT1 & INT2)
+ INT_DRDY_G = (1<<1), // Gyroscope data ready (INT1 & INT2)
+ INT1_BOOT = (1<<2), // Boot status (INT1)
+ INT2_DRDY_TEMP = (1<<2),// Temp data ready (INT2)
+ INT_FTH = (1<<3), // FIFO threshold interrupt (INT1 & INT2)
+ INT_OVR = (1<<4), // Overrun interrupt (INT1 & INT2)
+ INT_FSS5 = (1<<5), // FSS5 interrupt (INT1 & INT2)
+ INT_IG_XL = (1<<6), // Accel interrupt generator (INT1)
+ INT1_IG_G = (1<<7), // Gyro interrupt enable (INT1)
+ INT2_INACT = (1<<7), // Inactivity interrupt output (INT2)
+};
+
+enum accel_interrupt_generator
+{
+ XLIE_XL = (1<<0),
+ XHIE_XL = (1<<1),
+ YLIE_XL = (1<<2),
+ YHIE_XL = (1<<3),
+ ZLIE_XL = (1<<4),
+ ZHIE_XL = (1<<5),
+ GEN_6D = (1<<6)
+};
+
+enum gyro_interrupt_generator
+{
+ XLIE_G = (1<<0),
+ XHIE_G = (1<<1),
+ YLIE_G = (1<<2),
+ YHIE_G = (1<<3),
+ ZLIE_G = (1<<4),
+ ZHIE_G = (1<<5)
+};
+
+enum mag_interrupt_generator
+{
+ ZIEN = (1<<5),
+ YIEN = (1<<6),
+ XIEN = (1<<7)
+};
+
+enum h_lactive
+{
+ INT_ACTIVE_HIGH,
+ INT_ACTIVE_LOW
+};
+
+enum pp_od
+{
+ INT_PUSH_PULL,
+ INT_OPEN_DRAIN
+};
+
+enum fifoMode_type
+{
+ FIFO_OFF = 0,
+ FIFO_THS = 1,
+ FIFO_CONT_TRIGGER = 3,
+ FIFO_OFF_TRIGGER = 4,
+ FIFO_CONT = 5
+};
+
+struct gyroSettings
+{
+ // Gyroscope settings:
+ uint8_t enabled;
+ uint16_t scale; // Changed this to 16-bit
+ uint8_t sampleRate;
+ // New gyro stuff:
+ uint8_t bandwidth;
+ uint8_t lowPowerEnable;
+ uint8_t HPFEnable;
+ uint8_t HPFCutoff;
+ uint8_t flipX;
+ uint8_t flipY;
+ uint8_t flipZ;
+ uint8_t orientation;
+ uint8_t enableX;
+ uint8_t enableY;
+ uint8_t enableZ;
+ uint8_t latchInterrupt;
+};
+
+struct deviceSettings
+{
+ uint8_t commInterface; // Can be I2C, SPI 4-wire or SPI 3-wire
+ uint8_t agAddress; // I2C address or SPI CS pin
+ uint8_t mAddress; // I2C address or SPI CS pin
+};
+
+struct accelSettings
+{
+ // Accelerometer settings:
+ uint8_t enabled;
+ uint8_t scale;
+ uint8_t sampleRate;
+ // New accel stuff:
+ uint8_t enableX;
+ uint8_t enableY;
+ uint8_t enableZ;
+ int8_t bandwidth;
+ uint8_t highResEnable;
+ uint8_t highResBandwidth;
+};
+
+struct magSettings
+{
+ // Magnetometer settings:
+ uint8_t enabled;
+ uint8_t scale;
+ uint8_t sampleRate;
+ // New mag stuff:
+ uint8_t tempCompensationEnable;
+ uint8_t XYPerformance;
+ uint8_t ZPerformance;
+ uint8_t lowPowerEnable;
+ uint8_t operatingMode;
+};
+
+struct temperatureSettings
+{
+ // Temperature settings
+ uint8_t enabled;
+};
+
+struct IMUSettings
+{
+ deviceSettings device;
+
+ gyroSettings gyro;
+ accelSettings accel;
+ magSettings mag;
+
+ temperatureSettings temp;
+};
+
+#endif
\ No newline at end of file
--- a/ihm_L476_full.lib Sat May 16 12:36:53 2020 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,1 +0,0 @@ -https://os.mbed.com/teams/IUT-CACHAN-GE1/code/ihm_L476_full/#e9777c284d79
--- a/main.cpp Sat May 16 12:36:53 2020 +0000
+++ b/main.cpp Sat Oct 30 17:17:07 2021 +0000
@@ -1,38 +1,247 @@
-//#include "mbed.h" // car defini dans l'include suivant
-#include "ihm_L476.h"
+// Réalisation du projet ATTITUDE IMU
+// Dernière Modification le 30.10.2021
+// Thanks to Jason Mar for his library and Sebastian Madgwick for his filter algorithm
+
+
+
+#include "LSM9DS1.h"
+#include "mbed.h"
+#include <math.h>
#define PI 3.14f
-Serial pc(SERIAL_TX, SERIAL_RX);
+
+#include "Fusion.h"
+#include <stdio.h>
+
+
+
+Serial pc(SERIAL_TX, SERIAL_RX); // sans la carte bluetooth
+//Serial pc(PC_10,PC_11); //avec la carte bluetooth
+
CircularBuffer <unsigned char,1024> buf;
-IHM_L476 ihm;
Timer temps;
DigitalOut led1(LED1);
DigitalOut led2(LED2);
+LSM9DS1 lol(PB_9,PB_8, 0xD4, 0x38);
+double angle;
+
+Ticker calcul;
+float testmove;
+int flag = 0;
+int flug = 0;
+int u = 0;
+float my_ini,mx_ini,mz_ini;
+float correction = 0;
+float correct_yaw;
+float affi_correct_yaw;
+
+
+FusionBias fusionBias;
+FusionAhrs fusionAhrs;
+
+void mesure (void){
+ flag = 1;
+ }
+
+float samplePeriod = 0.01f;
+
+FusionVector3 gyroscopeSensitivity = {
+ .axis.x = 1.0f,
+ .axis.y = 1.0f,
+ .axis.z = 1.0f,
+};
+
+FusionVector3 accelerometerSensitivity = {
+ .axis.x = 1.0f,
+ .axis.y = 1.0f,
+ .axis.z = 1.0f,
+};
+
+FusionVector3 hardIronBias = {
+ .axis.x = 0.0f,
+ .axis.y = 0.0f,
+ .axis.z = 0.0f,
+};
+
+///////////////////////////////////////////////////////////////////////////
void serial_receive()
{
unsigned char c=pc.getc(); // attention à protéger les appels pc
buf.push(c);
+
}
-//
+
+void setup ()
+{
+
+ lol.begin();
+ lol.calibrate();
+
+}
+void yaw_correct_val_ini ()/////////////////////////////////////////////création des variables initiales du magnéto
+{
+
+
+ lol.readMag();
+ my_ini=lol.calcMag(lol.my)*10;
+ mx_ini=lol.calcMag(lol.mx)*10;
+ mz_ini=lol.calcMag(lol.mz)*10;
+ flug = 1;
+ }
+
+
+////////////////////////////////////////////////////////////////////////
int main()
{
- char l1,l2;
- pc.baud(9600);
- //pc.printf("Hello World !\n");
+
+ setup();
+
+ char l1,l2,l3,l4;
+
+
+
+
pc.attach(&serial_receive); // isr sur reception char
- temps.reset();
- temps.start();
+
+
+
int i = 0;
- float f=10;
+ float f=10;
int j=0;
char str[20];
+
+
+ // Initialise gyroscope bias correction algorithm
+ FusionBiasInitialise(&fusionBias, 20.0f, samplePeriod);
+
+ // Initialise AHRS algorithm
+ FusionAhrsInitialise(&fusionAhrs, 0.5f);
+
+ // Set optional magnetic field limits
+ FusionAhrsSetMagneticField(&fusionAhrs, 20.0f, 70.0f); // valid magnetic field range = 20 uT to 70 uT
+ // The contents of this do while loop should be called for each time new sensor measurements are available
+ pc.baud(115200); //vit de comunication
+
+ calcul.attach(&mesure,0.01);
+ //////////////////////// //////////// ///////////////////Partie Transmission
while(1) {
+
+
+
+
+
// envoi de données
+
int x=temps.read_ms();
- if((x>100)) {
- pc.printf("%f %f %d\r\n", sin(2*PI*i/f),cos(2*PI*i/f),x);
- i++;
- temps.reset();
- }
+ if (flug == 0){
+ yaw_correct_val_ini ();
+ }
+
+ if(flag == 1) {
+
+ lol.readGyro();
+ lol.readAccel();
+ lol.readMag();
+
+
+
+ //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+ // Calibrate gyroscope
+ FusionVector3 uncalibratedGyroscope = {
+ .axis.x = -lol.calcGyro(lol.gx),
+ .axis.y = -lol.calcGyro(lol.gy),
+ .axis.z = lol.calcGyro(lol.gz),
+ };
+
+ FusionVector3 calibratedGyroscope = FusionCalibrationInertial(uncalibratedGyroscope, FUSION_ROTATION_MATRIX_IDENTITY, gyroscopeSensitivity, FUSION_VECTOR3_ZERO);
+
+ // Calibrate accelerometer
+ FusionVector3 uncalibratedAccelerometer = {
+ .axis.x = lol.calcAccel(lol.ax),
+ .axis.y = lol.calcAccel(lol.ay),
+ .axis.z = lol.calcAccel(lol.az),
+ };
+ FusionVector3 calibratedAccelerometer = FusionCalibrationInertial(uncalibratedAccelerometer, FUSION_ROTATION_MATRIX_IDENTITY, accelerometerSensitivity, FUSION_VECTOR3_ZERO);
+
+ // Calibrate magnetometer
+ FusionVector3 uncalibratedMagnetometer = {
+ .axis.x = lol.calcMag(lol.mx),
+ .axis.y = lol.calcMag(lol.my),
+ .axis.z = lol.calcMag(lol.mz),
+ };
+ FusionVector3 calibratedMagnetometer = FusionCalibrationMagnetic(uncalibratedMagnetometer, FUSION_ROTATION_MATRIX_IDENTITY, hardIronBias);
+
+
+ // Update gyroscope bias correction algorithm
+ calibratedGyroscope = FusionBiasUpdate(&fusionBias, calibratedGyroscope);
+
+ // Update AHRS algorithm
+ FusionAhrsUpdate(&fusionAhrs, calibratedGyroscope, calibratedAccelerometer, calibratedMagnetometer, samplePeriod);
+
+ // Print Euler angles
+ FusionEulerAngles eulerAngles = FusionQuaternionToEulerAngles(FusionAhrsGetQuaternion(&fusionAhrs));
+ u = u+1;
+ testmove = testmove + eulerAngles.angle.yaw;
+
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////repérage de pas de mouvement et application de la correction
+
+ if (u == 10 )
+ {
+ if ((testmove/10) > eulerAngles.angle.yaw -0.02 && (testmove/10) < eulerAngles.angle.yaw +0.02)
+ {
+ if ((lol.calcMag(lol.my)*10) > my_ini-0.1 && ((lol.calcMag(lol.my)*10 < my_ini+0.1)))
+ {
+ if (((lol.calcMag(lol.mx)*10) > mx_ini-0.25 && ((lol.calcMag(lol.mx)*10) < mx_ini+0.25)))
+ {
+ if (((lol.calcMag(lol.mz)*10) > mz_ini-0.25 && ((lol.calcMag(lol.mz)*10) < mz_ini+0.25)))
+ {
+///////////////////////////////////////////////////////////////////////////////////////////////////////// correction progressive
+ if(correct_yaw < 10)
+ {
+ correction = correction + 5;
+ correct_yaw = eulerAngles.angle.yaw + (correction);
+ }
+ if(correct_yaw < 2)
+ {
+ correction = correction + 1;
+ correct_yaw = eulerAngles.angle.yaw + (correction);
+
+ }
+ if(correct_yaw > -10)
+ {
+ correction = correction - 5;
+ correct_yaw = eulerAngles.angle.yaw + (correction);
+
+ }
+ if(correct_yaw > -2)
+ {
+ correction = correction - 1;
+ correct_yaw = eulerAngles.angle.yaw + (correction);
+
+
+ }
+ }
+
+ }
+ }
+ }
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////
+ affi_correct_yaw = eulerAngles.angle.yaw +(correction);
+
+
+
+ // pc.printf("%6.1f %6.1f %6.1f\n",eulerAngles.angle.roll, eulerAngles.angle.pitch, affi_correct_yaw); //affichage LabVIEW
+ pc.printf("Roulis : %6.1f Tangage : %6.1f Lacet : %6.1f\n\r",eulerAngles.angle.roll, eulerAngles.angle.pitch, affi_correct_yaw); //affichage TeraTerm
+ u = 0;
+ testmove =0;
+ }
+ i++;
+ flag = 0;
+ }
+}
+
+ //////////////////////// //////////// /////////////////////////Partie Réception
//reception de données
while(!buf.empty()) {
unsigned char c;
@@ -42,10 +251,9 @@
str[j]=NULL; // fin de chaine
j=0;
// debut traitement chaine recue
- sscanf(str,"%d %d %f",&l1,&l2,&f);
- led1=l1;
+ sscanf(str,"%d %d %d %d %f",&l1,&l2,&l3,&l4,&f);
+
led2=l2;
- ihm.LCD_printf("%6.2f",f);
// fin traitement chaine recue
break;
case '\n': // on ignore
@@ -53,7 +261,7 @@
default : // on stocke
str[j]=c;
j++;
- }
- }
- }
-}
\ No newline at end of file
+ }
+ }
+}
+