This is a port from the library for Arduino provided by Sparkfun with their breakout board of the LSM9DS0. The original library can be found here: https://github.com/sparkfun/SparkFun_LSM9DS0_Arduino_Library/tree/V_1.0.1 It is also provided an AHRS example based on Madgwick, also a port from an Arduino example. All of this was tested on a Nucleo F411RE and a Sparkfun breakout board.
LSM9DS0_mbed.h@0:32b177f0030e, 2015-12-05 (annotated)
- Committer:
- olimexsmart
- Date:
- Sat Dec 05 16:23:36 2015 +0000
- Revision:
- 0:32b177f0030e
What in this world I am supposed to type here?
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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olimexsmart | 0:32b177f0030e | 1 | /* |
olimexsmart | 0:32b177f0030e | 2 | Code by @OlimexSmart - Luca Olivieri |
olimexsmart | 0:32b177f0030e | 3 | This is a port from the Sparkfun library provided |
olimexsmart | 0:32b177f0030e | 4 | with the breakout board of the LSM9DS0. |
olimexsmart | 0:32b177f0030e | 5 | Visit their github for full comments: |
olimexsmart | 0:32b177f0030e | 6 | https://github.com/sparkfun/SparkFun_LSM9DS0_Arduino_Library/tree/V_1.0.1 |
olimexsmart | 0:32b177f0030e | 7 | */ |
olimexsmart | 0:32b177f0030e | 8 | |
olimexsmart | 0:32b177f0030e | 9 | #ifndef _LSM9DS0_H__ |
olimexsmart | 0:32b177f0030e | 10 | #define _LSM9DS0_H__ |
olimexsmart | 0:32b177f0030e | 11 | |
olimexsmart | 0:32b177f0030e | 12 | #include "mbed.h" |
olimexsmart | 0:32b177f0030e | 13 | |
olimexsmart | 0:32b177f0030e | 14 | //////////////////////////// |
olimexsmart | 0:32b177f0030e | 15 | // LSM9DS0 Gyro Registers // |
olimexsmart | 0:32b177f0030e | 16 | //////////////////////////// |
olimexsmart | 0:32b177f0030e | 17 | #define WHO_AM_I_G 0x0F |
olimexsmart | 0:32b177f0030e | 18 | #define CTRL_REG1_G 0x20 |
olimexsmart | 0:32b177f0030e | 19 | #define CTRL_REG2_G 0x21 |
olimexsmart | 0:32b177f0030e | 20 | #define CTRL_REG3_G 0x22 |
olimexsmart | 0:32b177f0030e | 21 | #define CTRL_REG4_G 0x23 |
olimexsmart | 0:32b177f0030e | 22 | #define CTRL_REG5_G 0x24 |
olimexsmart | 0:32b177f0030e | 23 | #define REFERENCE_G 0x25 |
olimexsmart | 0:32b177f0030e | 24 | #define STATUS_REG_G 0x27 |
olimexsmart | 0:32b177f0030e | 25 | #define OUT_X_L_G 0x28 |
olimexsmart | 0:32b177f0030e | 26 | #define OUT_X_H_G 0x29 |
olimexsmart | 0:32b177f0030e | 27 | #define OUT_Y_L_G 0x2A |
olimexsmart | 0:32b177f0030e | 28 | #define OUT_Y_H_G 0x2B |
olimexsmart | 0:32b177f0030e | 29 | #define OUT_Z_L_G 0x2C |
olimexsmart | 0:32b177f0030e | 30 | #define OUT_Z_H_G 0x2D |
olimexsmart | 0:32b177f0030e | 31 | #define FIFO_CTRL_REG_G 0x2E |
olimexsmart | 0:32b177f0030e | 32 | #define FIFO_SRC_REG_G 0x2F |
olimexsmart | 0:32b177f0030e | 33 | #define INT1_CFG_G 0x30 |
olimexsmart | 0:32b177f0030e | 34 | #define INT1_SRC_G 0x31 |
olimexsmart | 0:32b177f0030e | 35 | #define INT1_THS_XH_G 0x32 |
olimexsmart | 0:32b177f0030e | 36 | #define INT1_THS_XL_G 0x33 |
olimexsmart | 0:32b177f0030e | 37 | #define INT1_THS_YH_G 0x34 |
olimexsmart | 0:32b177f0030e | 38 | #define INT1_THS_YL_G 0x35 |
olimexsmart | 0:32b177f0030e | 39 | #define INT1_THS_ZH_G 0x36 |
olimexsmart | 0:32b177f0030e | 40 | #define INT1_THS_ZL_G 0x37 |
olimexsmart | 0:32b177f0030e | 41 | #define INT1_DURATION_G 0x38 |
olimexsmart | 0:32b177f0030e | 42 | |
olimexsmart | 0:32b177f0030e | 43 | ////////////////////////////////////////// |
olimexsmart | 0:32b177f0030e | 44 | // LSM9DS0 Accel/Magneto (XM) Registers // |
olimexsmart | 0:32b177f0030e | 45 | ////////////////////////////////////////// |
olimexsmart | 0:32b177f0030e | 46 | #define OUT_TEMP_L_XM 0x05 |
olimexsmart | 0:32b177f0030e | 47 | #define OUT_TEMP_H_XM 0x06 |
olimexsmart | 0:32b177f0030e | 48 | #define STATUS_REG_M 0x07 |
olimexsmart | 0:32b177f0030e | 49 | #define OUT_X_L_M 0x08 |
olimexsmart | 0:32b177f0030e | 50 | #define OUT_X_H_M 0x09 |
olimexsmart | 0:32b177f0030e | 51 | #define OUT_Y_L_M 0x0A |
olimexsmart | 0:32b177f0030e | 52 | #define OUT_Y_H_M 0x0B |
olimexsmart | 0:32b177f0030e | 53 | #define OUT_Z_L_M 0x0C |
olimexsmart | 0:32b177f0030e | 54 | #define OUT_Z_H_M 0x0D |
olimexsmart | 0:32b177f0030e | 55 | #define WHO_AM_I_XM 0x0F |
olimexsmart | 0:32b177f0030e | 56 | #define INT_CTRL_REG_M 0x12 |
olimexsmart | 0:32b177f0030e | 57 | #define INT_SRC_REG_M 0x13 |
olimexsmart | 0:32b177f0030e | 58 | #define INT_THS_L_M 0x14 |
olimexsmart | 0:32b177f0030e | 59 | #define INT_THS_H_M 0x15 |
olimexsmart | 0:32b177f0030e | 60 | #define OFFSET_X_L_M 0x16 |
olimexsmart | 0:32b177f0030e | 61 | #define OFFSET_X_H_M 0x17 |
olimexsmart | 0:32b177f0030e | 62 | #define OFFSET_Y_L_M 0x18 |
olimexsmart | 0:32b177f0030e | 63 | #define OFFSET_Y_H_M 0x19 |
olimexsmart | 0:32b177f0030e | 64 | #define OFFSET_Z_L_M 0x1A |
olimexsmart | 0:32b177f0030e | 65 | #define OFFSET_Z_H_M 0x1B |
olimexsmart | 0:32b177f0030e | 66 | #define REFERENCE_X 0x1C |
olimexsmart | 0:32b177f0030e | 67 | #define REFERENCE_Y 0x1D |
olimexsmart | 0:32b177f0030e | 68 | #define REFERENCE_Z 0x1E |
olimexsmart | 0:32b177f0030e | 69 | #define CTRL_REG0_XM 0x1F |
olimexsmart | 0:32b177f0030e | 70 | #define CTRL_REG1_XM 0x20 |
olimexsmart | 0:32b177f0030e | 71 | #define CTRL_REG2_XM 0x21 |
olimexsmart | 0:32b177f0030e | 72 | #define CTRL_REG3_XM 0x22 |
olimexsmart | 0:32b177f0030e | 73 | #define CTRL_REG4_XM 0x23 |
olimexsmart | 0:32b177f0030e | 74 | #define CTRL_REG5_XM 0x24 |
olimexsmart | 0:32b177f0030e | 75 | #define CTRL_REG6_XM 0x25 |
olimexsmart | 0:32b177f0030e | 76 | #define CTRL_REG7_XM 0x26 |
olimexsmart | 0:32b177f0030e | 77 | #define STATUS_REG_A 0x27 |
olimexsmart | 0:32b177f0030e | 78 | #define OUT_X_L_A 0x28 |
olimexsmart | 0:32b177f0030e | 79 | #define OUT_X_H_A 0x29 |
olimexsmart | 0:32b177f0030e | 80 | #define OUT_Y_L_A 0x2A |
olimexsmart | 0:32b177f0030e | 81 | #define OUT_Y_H_A 0x2B |
olimexsmart | 0:32b177f0030e | 82 | #define OUT_Z_L_A 0x2C |
olimexsmart | 0:32b177f0030e | 83 | #define OUT_Z_H_A 0x2D |
olimexsmart | 0:32b177f0030e | 84 | #define FIFO_CTRL_REG 0x2E |
olimexsmart | 0:32b177f0030e | 85 | #define FIFO_SRC_REG 0x2F |
olimexsmart | 0:32b177f0030e | 86 | #define INT_GEN_1_REG 0x30 |
olimexsmart | 0:32b177f0030e | 87 | #define INT_GEN_1_SRC 0x31 |
olimexsmart | 0:32b177f0030e | 88 | #define INT_GEN_1_THS 0x32 |
olimexsmart | 0:32b177f0030e | 89 | #define INT_GEN_1_DURATION 0x33 |
olimexsmart | 0:32b177f0030e | 90 | #define INT_GEN_2_REG 0x34 |
olimexsmart | 0:32b177f0030e | 91 | #define INT_GEN_2_SRC 0x35 |
olimexsmart | 0:32b177f0030e | 92 | #define INT_GEN_2_THS 0x36 |
olimexsmart | 0:32b177f0030e | 93 | #define INT_GEN_2_DURATION 0x37 |
olimexsmart | 0:32b177f0030e | 94 | #define CLICK_CFG 0x38 |
olimexsmart | 0:32b177f0030e | 95 | #define CLICK_SRC 0x39 |
olimexsmart | 0:32b177f0030e | 96 | #define CLICK_THS 0x3A |
olimexsmart | 0:32b177f0030e | 97 | #define TIME_LIMIT 0x3B |
olimexsmart | 0:32b177f0030e | 98 | #define TIME_LATENCY 0x3C |
olimexsmart | 0:32b177f0030e | 99 | #define TIME_WINDOW 0x3D |
olimexsmart | 0:32b177f0030e | 100 | #define ACT_THS 0x3E |
olimexsmart | 0:32b177f0030e | 101 | #define ACT_DUR 0x3F |
olimexsmart | 0:32b177f0030e | 102 | |
olimexsmart | 0:32b177f0030e | 103 | |
olimexsmart | 0:32b177f0030e | 104 | class LSM9DS0 |
olimexsmart | 0:32b177f0030e | 105 | { |
olimexsmart | 0:32b177f0030e | 106 | public: |
olimexsmart | 0:32b177f0030e | 107 | // gyro_scale defines the possible full-scale ranges of the gyroscope: |
olimexsmart | 0:32b177f0030e | 108 | enum gyro_scale { |
olimexsmart | 0:32b177f0030e | 109 | G_SCALE_245DPS, // 00: +/- 245 degrees per second |
olimexsmart | 0:32b177f0030e | 110 | G_SCALE_500DPS, // 01: +/- 500 dps |
olimexsmart | 0:32b177f0030e | 111 | G_SCALE_2000DPS, // 10: +/- 2000 dps |
olimexsmart | 0:32b177f0030e | 112 | }; |
olimexsmart | 0:32b177f0030e | 113 | |
olimexsmart | 0:32b177f0030e | 114 | // accel_scale defines all possible FSR's of the accelerometer: |
olimexsmart | 0:32b177f0030e | 115 | enum accel_scale { |
olimexsmart | 0:32b177f0030e | 116 | A_SCALE_2G, // 000: +/- 2g |
olimexsmart | 0:32b177f0030e | 117 | A_SCALE_4G, // 001: +/- 4g |
olimexsmart | 0:32b177f0030e | 118 | A_SCALE_6G, // 010: +/- 6g |
olimexsmart | 0:32b177f0030e | 119 | A_SCALE_8G, // 011: +/- 8g |
olimexsmart | 0:32b177f0030e | 120 | A_SCALE_16G // 100: +/- 16g |
olimexsmart | 0:32b177f0030e | 121 | }; |
olimexsmart | 0:32b177f0030e | 122 | |
olimexsmart | 0:32b177f0030e | 123 | // mag_scale defines all possible FSR's of the magnetometer: |
olimexsmart | 0:32b177f0030e | 124 | enum mag_scale { |
olimexsmart | 0:32b177f0030e | 125 | M_SCALE_2GS, // 00: +/- 2Gs |
olimexsmart | 0:32b177f0030e | 126 | M_SCALE_4GS, // 01: +/- 4Gs |
olimexsmart | 0:32b177f0030e | 127 | M_SCALE_8GS, // 10: +/- 8Gs |
olimexsmart | 0:32b177f0030e | 128 | M_SCALE_12GS, // 11: +/- 12Gs |
olimexsmart | 0:32b177f0030e | 129 | }; |
olimexsmart | 0:32b177f0030e | 130 | |
olimexsmart | 0:32b177f0030e | 131 | // gyro_odr defines all possible data rate/bandwidth combos of the gyro: |
olimexsmart | 0:32b177f0030e | 132 | enum gyro_odr { |
olimexsmart | 0:32b177f0030e | 133 | // ODR (Hz) --- Cutoff |
olimexsmart | 0:32b177f0030e | 134 | G_ODR_95_BW_125 = 0x0, // 95 12.5 |
olimexsmart | 0:32b177f0030e | 135 | G_ODR_95_BW_25 = 0x1, // 95 25 |
olimexsmart | 0:32b177f0030e | 136 | // 0x2 and 0x3 define the same data rate and bandwidth |
olimexsmart | 0:32b177f0030e | 137 | G_ODR_190_BW_125 = 0x4, // 190 12.5 |
olimexsmart | 0:32b177f0030e | 138 | G_ODR_190_BW_25 = 0x5, // 190 25 |
olimexsmart | 0:32b177f0030e | 139 | G_ODR_190_BW_50 = 0x6, // 190 50 |
olimexsmart | 0:32b177f0030e | 140 | G_ODR_190_BW_70 = 0x7, // 190 70 |
olimexsmart | 0:32b177f0030e | 141 | G_ODR_380_BW_20 = 0x8, // 380 20 |
olimexsmart | 0:32b177f0030e | 142 | G_ODR_380_BW_25 = 0x9, // 380 25 |
olimexsmart | 0:32b177f0030e | 143 | G_ODR_380_BW_50 = 0xA, // 380 50 |
olimexsmart | 0:32b177f0030e | 144 | G_ODR_380_BW_100 = 0xB, // 380 100 |
olimexsmart | 0:32b177f0030e | 145 | G_ODR_760_BW_30 = 0xC, // 760 30 |
olimexsmart | 0:32b177f0030e | 146 | G_ODR_760_BW_35 = 0xD, // 760 35 |
olimexsmart | 0:32b177f0030e | 147 | G_ODR_760_BW_50 = 0xE, // 760 50 |
olimexsmart | 0:32b177f0030e | 148 | G_ODR_760_BW_100 = 0xF, // 760 100 |
olimexsmart | 0:32b177f0030e | 149 | }; |
olimexsmart | 0:32b177f0030e | 150 | |
olimexsmart | 0:32b177f0030e | 151 | // accel_oder defines all possible output data rates of the accelerometer: |
olimexsmart | 0:32b177f0030e | 152 | enum accel_odr { |
olimexsmart | 0:32b177f0030e | 153 | A_POWER_DOWN, // Power-down mode (0x0) |
olimexsmart | 0:32b177f0030e | 154 | A_ODR_3125, // 3.125 Hz (0x1) |
olimexsmart | 0:32b177f0030e | 155 | A_ODR_625, // 6.25 Hz (0x2) |
olimexsmart | 0:32b177f0030e | 156 | A_ODR_125, // 12.5 Hz (0x3) |
olimexsmart | 0:32b177f0030e | 157 | A_ODR_25, // 25 Hz (0x4) |
olimexsmart | 0:32b177f0030e | 158 | A_ODR_50, // 50 Hz (0x5) |
olimexsmart | 0:32b177f0030e | 159 | A_ODR_100, // 100 Hz (0x6) |
olimexsmart | 0:32b177f0030e | 160 | A_ODR_200, // 200 Hz (0x7) |
olimexsmart | 0:32b177f0030e | 161 | A_ODR_400, // 400 Hz (0x8) |
olimexsmart | 0:32b177f0030e | 162 | A_ODR_800, // 800 Hz (9) |
olimexsmart | 0:32b177f0030e | 163 | A_ODR_1600 // 1600 Hz (0xA) |
olimexsmart | 0:32b177f0030e | 164 | }; |
olimexsmart | 0:32b177f0030e | 165 | |
olimexsmart | 0:32b177f0030e | 166 | // accel_abw defines all possible anti-aliasing filter rates of the accelerometer: |
olimexsmart | 0:32b177f0030e | 167 | enum accel_abw { |
olimexsmart | 0:32b177f0030e | 168 | A_ABW_773, // 773 Hz (0x0) |
olimexsmart | 0:32b177f0030e | 169 | A_ABW_194, // 194 Hz (0x1) |
olimexsmart | 0:32b177f0030e | 170 | A_ABW_362, // 362 Hz (0x2) |
olimexsmart | 0:32b177f0030e | 171 | A_ABW_50, // 50 Hz (0x3) |
olimexsmart | 0:32b177f0030e | 172 | }; |
olimexsmart | 0:32b177f0030e | 173 | |
olimexsmart | 0:32b177f0030e | 174 | // accel_oder defines all possible output data rates of the magnetometer: |
olimexsmart | 0:32b177f0030e | 175 | enum mag_odr { |
olimexsmart | 0:32b177f0030e | 176 | M_ODR_3125, // 3.125 Hz (0x00) |
olimexsmart | 0:32b177f0030e | 177 | M_ODR_625, // 6.25 Hz (0x01) |
olimexsmart | 0:32b177f0030e | 178 | M_ODR_125, // 12.5 Hz (0x02) |
olimexsmart | 0:32b177f0030e | 179 | M_ODR_25, // 25 Hz (0x03) |
olimexsmart | 0:32b177f0030e | 180 | M_ODR_50, // 50 (0x04) |
olimexsmart | 0:32b177f0030e | 181 | M_ODR_100, // 100 Hz (0x05) |
olimexsmart | 0:32b177f0030e | 182 | }; |
olimexsmart | 0:32b177f0030e | 183 | |
olimexsmart | 0:32b177f0030e | 184 | // We'll store the gyro, accel, and magnetometer readings in a series of |
olimexsmart | 0:32b177f0030e | 185 | // public class variables. Each sensor gets three variables -- one for each |
olimexsmart | 0:32b177f0030e | 186 | // axis. Call readGyro(), readAccel(), and readMag() first, before using |
olimexsmart | 0:32b177f0030e | 187 | // these variables! |
olimexsmart | 0:32b177f0030e | 188 | // These values are the RAW signed 16-bit readings from the sensors. |
olimexsmart | 0:32b177f0030e | 189 | int16_t gx, gy, gz; // x, y, and z axis readings of the gyroscope |
olimexsmart | 0:32b177f0030e | 190 | int16_t ax, ay, az; // x, y, and z axis readings of the accelerometer |
olimexsmart | 0:32b177f0030e | 191 | int16_t mx, my, mz; // x, y, and z axis readings of the magnetometer |
olimexsmart | 0:32b177f0030e | 192 | int16_t temperature; |
olimexsmart | 0:32b177f0030e | 193 | float abias[3]; |
olimexsmart | 0:32b177f0030e | 194 | float gbias[3]; |
olimexsmart | 0:32b177f0030e | 195 | |
olimexsmart | 0:32b177f0030e | 196 | |
olimexsmart | 0:32b177f0030e | 197 | // LSM9DS0 -- LSM9DS0 class constructor |
olimexsmart | 0:32b177f0030e | 198 | // The constructor will set up a handful of private variables, and set the |
olimexsmart | 0:32b177f0030e | 199 | // communication mode as well. |
olimexsmart | 0:32b177f0030e | 200 | // Input: |
olimexsmart | 0:32b177f0030e | 201 | // - interface = Either MODE_SPI or MODE_I2C, whichever you're using |
olimexsmart | 0:32b177f0030e | 202 | // to talk to the IC. |
olimexsmart | 0:32b177f0030e | 203 | // - gAddr = If MODE_I2C, this is the I2C address of the gyroscope. |
olimexsmart | 0:32b177f0030e | 204 | // If MODE_SPI, this is the chip select pin of the gyro (CSG) |
olimexsmart | 0:32b177f0030e | 205 | // - xmAddr = If MODE_I2C, this is the I2C address of the accel/mag. |
olimexsmart | 0:32b177f0030e | 206 | // If MODE_SPI, this is the cs pin of the accel/mag (CSXM) |
olimexsmart | 0:32b177f0030e | 207 | LSM9DS0(PinName sda, PinName scl, uint8_t gAddr, uint8_t xmAddr); |
olimexsmart | 0:32b177f0030e | 208 | |
olimexsmart | 0:32b177f0030e | 209 | // begin() -- Initialize the gyro, accelerometer, and magnetometer. |
olimexsmart | 0:32b177f0030e | 210 | // This will set up the scale and output rate of each sensor. It'll also |
olimexsmart | 0:32b177f0030e | 211 | // "turn on" every sensor and every axis of every sensor. |
olimexsmart | 0:32b177f0030e | 212 | // Input: |
olimexsmart | 0:32b177f0030e | 213 | // - gScl = The scale of the gyroscope. This should be a gyro_scale value. |
olimexsmart | 0:32b177f0030e | 214 | // - aScl = The scale of the accelerometer. Should be a accel_scale value. |
olimexsmart | 0:32b177f0030e | 215 | // - mScl = The scale of the magnetometer. Should be a mag_scale value. |
olimexsmart | 0:32b177f0030e | 216 | // - gODR = Output data rate of the gyroscope. gyro_odr value. |
olimexsmart | 0:32b177f0030e | 217 | // - aODR = Output data rate of the accelerometer. accel_odr value. |
olimexsmart | 0:32b177f0030e | 218 | // - mODR = Output data rate of the magnetometer. mag_odr value. |
olimexsmart | 0:32b177f0030e | 219 | // Output: The function will return an unsigned 16-bit value. The most-sig |
olimexsmart | 0:32b177f0030e | 220 | // bytes of the output are the WHO_AM_I reading of the accel. The |
olimexsmart | 0:32b177f0030e | 221 | // least significant two bytes are the WHO_AM_I reading of the gyro. |
olimexsmart | 0:32b177f0030e | 222 | // All parameters have a defaulted value, so you can call just "begin()". |
olimexsmart | 0:32b177f0030e | 223 | // Default values are FSR's of: +/- 245DPS, 2g, 2Gs; ODRs of 95 Hz for |
olimexsmart | 0:32b177f0030e | 224 | // gyro, 100 Hz for accelerometer, 100 Hz for magnetometer. |
olimexsmart | 0:32b177f0030e | 225 | // Use the return value of this function to verify communication. |
olimexsmart | 0:32b177f0030e | 226 | uint16_t begin(gyro_scale gScl = G_SCALE_245DPS, |
olimexsmart | 0:32b177f0030e | 227 | accel_scale aScl = A_SCALE_2G, mag_scale mScl = M_SCALE_2GS, |
olimexsmart | 0:32b177f0030e | 228 | gyro_odr gODR = G_ODR_95_BW_125, accel_odr aODR = A_ODR_50, |
olimexsmart | 0:32b177f0030e | 229 | mag_odr mODR = M_ODR_50); |
olimexsmart | 0:32b177f0030e | 230 | |
olimexsmart | 0:32b177f0030e | 231 | // readGyro() -- Read the gyroscope output registers. |
olimexsmart | 0:32b177f0030e | 232 | // This function will read all six gyroscope output registers. |
olimexsmart | 0:32b177f0030e | 233 | // The readings are stored in the class' gx, gy, and gz variables. Read |
olimexsmart | 0:32b177f0030e | 234 | // those _after_ calling readGyro(). |
olimexsmart | 0:32b177f0030e | 235 | void readGyro(); |
olimexsmart | 0:32b177f0030e | 236 | |
olimexsmart | 0:32b177f0030e | 237 | // readAccel() -- Read the accelerometer output registers. |
olimexsmart | 0:32b177f0030e | 238 | // This function will read all six accelerometer output registers. |
olimexsmart | 0:32b177f0030e | 239 | // The readings are stored in the class' ax, ay, and az variables. Read |
olimexsmart | 0:32b177f0030e | 240 | // those _after_ calling readAccel(). |
olimexsmart | 0:32b177f0030e | 241 | void readAccel(); |
olimexsmart | 0:32b177f0030e | 242 | |
olimexsmart | 0:32b177f0030e | 243 | // readMag() -- Read the magnetometer output registers. |
olimexsmart | 0:32b177f0030e | 244 | // This function will read all six magnetometer output registers. |
olimexsmart | 0:32b177f0030e | 245 | // The readings are stored in the class' mx, my, and mz variables. Read |
olimexsmart | 0:32b177f0030e | 246 | // those _after_ calling readMag(). |
olimexsmart | 0:32b177f0030e | 247 | void readMag(); |
olimexsmart | 0:32b177f0030e | 248 | |
olimexsmart | 0:32b177f0030e | 249 | // readTemp() -- Read the temperature output register. |
olimexsmart | 0:32b177f0030e | 250 | // This function will read two temperature output registers. |
olimexsmart | 0:32b177f0030e | 251 | // The combined readings are stored in the class' temperature variables. Read |
olimexsmart | 0:32b177f0030e | 252 | // those _after_ calling readTemp(). |
olimexsmart | 0:32b177f0030e | 253 | void readTemp(); |
olimexsmart | 0:32b177f0030e | 254 | |
olimexsmart | 0:32b177f0030e | 255 | // calcGyro() -- Convert from RAW signed 16-bit value to degrees per second |
olimexsmart | 0:32b177f0030e | 256 | // This function reads in a signed 16-bit value and returns the scaled |
olimexsmart | 0:32b177f0030e | 257 | // DPS. This function relies on gScale and gRes being correct. |
olimexsmart | 0:32b177f0030e | 258 | // Input: |
olimexsmart | 0:32b177f0030e | 259 | // - gyro = A signed 16-bit raw reading from the gyroscope. |
olimexsmart | 0:32b177f0030e | 260 | float calcGyro(int16_t gyro); |
olimexsmart | 0:32b177f0030e | 261 | |
olimexsmart | 0:32b177f0030e | 262 | // calcAccel() -- Convert from RAW signed 16-bit value to gravity (g's). |
olimexsmart | 0:32b177f0030e | 263 | // This function reads in a signed 16-bit value and returns the scaled |
olimexsmart | 0:32b177f0030e | 264 | // g's. This function relies on aScale and aRes being correct. |
olimexsmart | 0:32b177f0030e | 265 | // Input: |
olimexsmart | 0:32b177f0030e | 266 | // - accel = A signed 16-bit raw reading from the accelerometer. |
olimexsmart | 0:32b177f0030e | 267 | float calcAccel(int16_t accel); |
olimexsmart | 0:32b177f0030e | 268 | |
olimexsmart | 0:32b177f0030e | 269 | // calcMag() -- Convert from RAW signed 16-bit value to Gauss (Gs) |
olimexsmart | 0:32b177f0030e | 270 | // This function reads in a signed 16-bit value and returns the scaled |
olimexsmart | 0:32b177f0030e | 271 | // Gs. This function relies on mScale and mRes being correct. |
olimexsmart | 0:32b177f0030e | 272 | // Input: |
olimexsmart | 0:32b177f0030e | 273 | // - mag = A signed 16-bit raw reading from the magnetometer. |
olimexsmart | 0:32b177f0030e | 274 | float calcMag(int16_t mag); |
olimexsmart | 0:32b177f0030e | 275 | |
olimexsmart | 0:32b177f0030e | 276 | // setGyroScale() -- Set the full-scale range of the gyroscope. |
olimexsmart | 0:32b177f0030e | 277 | // This function can be called to set the scale of the gyroscope to |
olimexsmart | 0:32b177f0030e | 278 | // 245, 500, or 200 degrees per second. |
olimexsmart | 0:32b177f0030e | 279 | // Input: |
olimexsmart | 0:32b177f0030e | 280 | // - gScl = The desired gyroscope scale. Must be one of three possible |
olimexsmart | 0:32b177f0030e | 281 | // values from the gyro_scale enum. |
olimexsmart | 0:32b177f0030e | 282 | void setGyroScale(gyro_scale gScl); |
olimexsmart | 0:32b177f0030e | 283 | |
olimexsmart | 0:32b177f0030e | 284 | // setAccelScale() -- Set the full-scale range of the accelerometer. |
olimexsmart | 0:32b177f0030e | 285 | // This function can be called to set the scale of the accelerometer to |
olimexsmart | 0:32b177f0030e | 286 | // 2, 4, 6, 8, or 16 g's. |
olimexsmart | 0:32b177f0030e | 287 | // Input: |
olimexsmart | 0:32b177f0030e | 288 | // - aScl = The desired accelerometer scale. Must be one of five possible |
olimexsmart | 0:32b177f0030e | 289 | // values from the accel_scale enum. |
olimexsmart | 0:32b177f0030e | 290 | void setAccelScale(accel_scale aScl); |
olimexsmart | 0:32b177f0030e | 291 | |
olimexsmart | 0:32b177f0030e | 292 | // setMagScale() -- Set the full-scale range of the magnetometer. |
olimexsmart | 0:32b177f0030e | 293 | // This function can be called to set the scale of the magnetometer to |
olimexsmart | 0:32b177f0030e | 294 | // 2, 4, 8, or 12 Gs. |
olimexsmart | 0:32b177f0030e | 295 | // Input: |
olimexsmart | 0:32b177f0030e | 296 | // - mScl = The desired magnetometer scale. Must be one of four possible |
olimexsmart | 0:32b177f0030e | 297 | // values from the mag_scale enum. |
olimexsmart | 0:32b177f0030e | 298 | void setMagScale(mag_scale mScl); |
olimexsmart | 0:32b177f0030e | 299 | |
olimexsmart | 0:32b177f0030e | 300 | // setGyroODR() -- Set the output data rate and bandwidth of the gyroscope |
olimexsmart | 0:32b177f0030e | 301 | // Input: |
olimexsmart | 0:32b177f0030e | 302 | // - gRate = The desired output rate and cutoff frequency of the gyro. |
olimexsmart | 0:32b177f0030e | 303 | // Must be a value from the gyro_odr enum (check above, there're 14). |
olimexsmart | 0:32b177f0030e | 304 | void setGyroODR(gyro_odr gRate); |
olimexsmart | 0:32b177f0030e | 305 | |
olimexsmart | 0:32b177f0030e | 306 | // setAccelODR() -- Set the output data rate of the accelerometer |
olimexsmart | 0:32b177f0030e | 307 | // Input: |
olimexsmart | 0:32b177f0030e | 308 | // - aRate = The desired output rate of the accel. |
olimexsmart | 0:32b177f0030e | 309 | // Must be a value from the accel_odr enum (check above, there're 11). |
olimexsmart | 0:32b177f0030e | 310 | void setAccelODR(accel_odr aRate); |
olimexsmart | 0:32b177f0030e | 311 | |
olimexsmart | 0:32b177f0030e | 312 | // setMagODR() -- Set the output data rate of the magnetometer |
olimexsmart | 0:32b177f0030e | 313 | // Input: |
olimexsmart | 0:32b177f0030e | 314 | // - mRate = The desired output rate of the mag. |
olimexsmart | 0:32b177f0030e | 315 | // Must be a value from the mag_odr enum (check above, there're 6). |
olimexsmart | 0:32b177f0030e | 316 | void setMagODR(mag_odr mRate); |
olimexsmart | 0:32b177f0030e | 317 | |
olimexsmart | 0:32b177f0030e | 318 | // setAccelABW() -- Set the anti-aliasing filter rate of the accelerometer |
olimexsmart | 0:32b177f0030e | 319 | // Input: |
olimexsmart | 0:32b177f0030e | 320 | // - abwRate = The desired anti-aliasing filter rate of the accel. |
olimexsmart | 0:32b177f0030e | 321 | // Must be a value from the accel_abw enum (check above, there're 4). |
olimexsmart | 0:32b177f0030e | 322 | void setAccelABW(accel_abw abwRate); |
olimexsmart | 0:32b177f0030e | 323 | |
olimexsmart | 0:32b177f0030e | 324 | |
olimexsmart | 0:32b177f0030e | 325 | // configGyroInt() -- Configure the gyro interrupt output. |
olimexsmart | 0:32b177f0030e | 326 | // Triggers can be set to either rising above or falling below a specified |
olimexsmart | 0:32b177f0030e | 327 | // threshold. This function helps setup the interrupt configuration and |
olimexsmart | 0:32b177f0030e | 328 | // threshold values for all axes. |
olimexsmart | 0:32b177f0030e | 329 | // Input: |
olimexsmart | 0:32b177f0030e | 330 | // - int1Cfg = A 8-bit value that is sent directly to the INT1_CFG_G |
olimexsmart | 0:32b177f0030e | 331 | // register. This sets AND/OR and high/low interrupt gen for each axis |
olimexsmart | 0:32b177f0030e | 332 | // - int1ThsX = 16-bit interrupt threshold value for x-axis |
olimexsmart | 0:32b177f0030e | 333 | // - int1ThsY = 16-bit interrupt threshold value for y-axis |
olimexsmart | 0:32b177f0030e | 334 | // - int1ThsZ = 16-bit interrupt threshold value for z-axis |
olimexsmart | 0:32b177f0030e | 335 | // - duration = Duration an interrupt holds after triggered. This value |
olimexsmart | 0:32b177f0030e | 336 | // is copied directly into the INT1_DURATION_G register. |
olimexsmart | 0:32b177f0030e | 337 | // Before using this function, read about the INT1_CFG_G register and |
olimexsmart | 0:32b177f0030e | 338 | // the related INT1* registers in the LMS9DS0 datasheet. |
olimexsmart | 0:32b177f0030e | 339 | void configGyroInt(uint8_t int1Cfg, uint16_t int1ThsX = 0, |
olimexsmart | 0:32b177f0030e | 340 | uint16_t int1ThsY = 0, uint16_t int1ThsZ = 0, |
olimexsmart | 0:32b177f0030e | 341 | uint8_t duration = 0); |
olimexsmart | 0:32b177f0030e | 342 | |
olimexsmart | 0:32b177f0030e | 343 | void calLSM9DS0(float gbias[3], float abias[3]); |
olimexsmart | 0:32b177f0030e | 344 | |
olimexsmart | 0:32b177f0030e | 345 | |
olimexsmart | 0:32b177f0030e | 346 | private: |
olimexsmart | 0:32b177f0030e | 347 | // xmAddress and gAddress store the I2C address |
olimexsmart | 0:32b177f0030e | 348 | // for each sensor. |
olimexsmart | 0:32b177f0030e | 349 | uint8_t xmAddress, gAddress; |
olimexsmart | 0:32b177f0030e | 350 | |
olimexsmart | 0:32b177f0030e | 351 | // gScale, aScale, and mScale store the current scale range for each |
olimexsmart | 0:32b177f0030e | 352 | // sensor. Should be updated whenever that value changes. |
olimexsmart | 0:32b177f0030e | 353 | gyro_scale gScale; |
olimexsmart | 0:32b177f0030e | 354 | accel_scale aScale; |
olimexsmart | 0:32b177f0030e | 355 | mag_scale mScale; |
olimexsmart | 0:32b177f0030e | 356 | |
olimexsmart | 0:32b177f0030e | 357 | // gRes, aRes, and mRes store the current resolution for each sensor. |
olimexsmart | 0:32b177f0030e | 358 | // Units of these values would be DPS (or g's or Gs's) per ADC tick. |
olimexsmart | 0:32b177f0030e | 359 | // This value is calculated as (sensor scale) / (2^15). |
olimexsmart | 0:32b177f0030e | 360 | float gRes, aRes, mRes; |
olimexsmart | 0:32b177f0030e | 361 | |
olimexsmart | 0:32b177f0030e | 362 | // initGyro() -- Sets up the gyroscope to begin reading. |
olimexsmart | 0:32b177f0030e | 363 | // This function steps through all five gyroscope control registers. |
olimexsmart | 0:32b177f0030e | 364 | // Upon exit, the following parameters will be set: |
olimexsmart | 0:32b177f0030e | 365 | // - CTRL_REG1_G = 0x0F: Normal operation mode, all axes enabled. |
olimexsmart | 0:32b177f0030e | 366 | // 95 Hz ODR, 12.5 Hz cutoff frequency. |
olimexsmart | 0:32b177f0030e | 367 | // - CTRL_REG2_G = 0x00: HPF set to normal mode, cutoff frequency |
olimexsmart | 0:32b177f0030e | 368 | // set to 7.2 Hz (depends on ODR). |
olimexsmart | 0:32b177f0030e | 369 | // - CTRL_REG3_G = 0x88: Interrupt enabled on INT_G (set to push-pull and |
olimexsmart | 0:32b177f0030e | 370 | // active high). Data-ready output enabled on DRDY_G. |
olimexsmart | 0:32b177f0030e | 371 | // - CTRL_REG4_G = 0x00: Continuous update mode. Data LSB stored in lower |
olimexsmart | 0:32b177f0030e | 372 | // address. Scale set to 245 DPS. SPI mode set to 4-wire. |
olimexsmart | 0:32b177f0030e | 373 | // - CTRL_REG5_G = 0x00: FIFO disabled. HPF disabled. |
olimexsmart | 0:32b177f0030e | 374 | void initGyro(); |
olimexsmart | 0:32b177f0030e | 375 | |
olimexsmart | 0:32b177f0030e | 376 | // initAccel() -- Sets up the accelerometer to begin reading. |
olimexsmart | 0:32b177f0030e | 377 | // This function steps through all accelerometer related control registers. |
olimexsmart | 0:32b177f0030e | 378 | // Upon exit these registers will be set as: |
olimexsmart | 0:32b177f0030e | 379 | // - CTRL_REG0_XM = 0x00: FIFO disabled. HPF bypassed. Normal mode. |
olimexsmart | 0:32b177f0030e | 380 | // - CTRL_REG1_XM = 0x57: 100 Hz data rate. Continuous update. |
olimexsmart | 0:32b177f0030e | 381 | // all axes enabled. |
olimexsmart | 0:32b177f0030e | 382 | // - CTRL_REG2_XM = 0x00: +/- 2g scale. 773 Hz anti-alias filter BW. |
olimexsmart | 0:32b177f0030e | 383 | // - CTRL_REG3_XM = 0x04: Accel data ready signal on INT1_XM pin. |
olimexsmart | 0:32b177f0030e | 384 | void initAccel(); |
olimexsmart | 0:32b177f0030e | 385 | |
olimexsmart | 0:32b177f0030e | 386 | // initMag() -- Sets up the magnetometer to begin reading. |
olimexsmart | 0:32b177f0030e | 387 | // This function steps through all magnetometer-related control registers. |
olimexsmart | 0:32b177f0030e | 388 | // Upon exit these registers will be set as: |
olimexsmart | 0:32b177f0030e | 389 | // - CTRL_REG4_XM = 0x04: Mag data ready signal on INT2_XM pin. |
olimexsmart | 0:32b177f0030e | 390 | // - CTRL_REG5_XM = 0x14: 100 Hz update rate. Low resolution. Interrupt |
olimexsmart | 0:32b177f0030e | 391 | // requests don't latch. Temperature sensor disabled. |
olimexsmart | 0:32b177f0030e | 392 | // - CTRL_REG6_XM = 0x00: +/- 2 Gs scale. |
olimexsmart | 0:32b177f0030e | 393 | // - CTRL_REG7_XM = 0x00: Continuous conversion mode. Normal HPF mode. |
olimexsmart | 0:32b177f0030e | 394 | // - INT_CTRL_REG_M = 0x09: Interrupt active-high. Enable interrupts. |
olimexsmart | 0:32b177f0030e | 395 | void initMag(); |
olimexsmart | 0:32b177f0030e | 396 | |
olimexsmart | 0:32b177f0030e | 397 | // gReadByte() -- Reads a byte from a specified gyroscope register. |
olimexsmart | 0:32b177f0030e | 398 | // Input: |
olimexsmart | 0:32b177f0030e | 399 | // - subAddress = Register to be read from. |
olimexsmart | 0:32b177f0030e | 400 | // Output: |
olimexsmart | 0:32b177f0030e | 401 | // - An 8-bit value read from the requested address. |
olimexsmart | 0:32b177f0030e | 402 | uint8_t gReadByte(uint8_t subAddress); |
olimexsmart | 0:32b177f0030e | 403 | |
olimexsmart | 0:32b177f0030e | 404 | // gReadBytes() -- Reads a number of bytes -- beginning at an address |
olimexsmart | 0:32b177f0030e | 405 | // and incrementing from there -- from the gyroscope. |
olimexsmart | 0:32b177f0030e | 406 | // Input: |
olimexsmart | 0:32b177f0030e | 407 | // - subAddress = Register to be read from. |
olimexsmart | 0:32b177f0030e | 408 | // - * dest = A pointer to an array of uint8_t's. Values read will be |
olimexsmart | 0:32b177f0030e | 409 | // stored in here on return. |
olimexsmart | 0:32b177f0030e | 410 | // - count = The number of bytes to be read. |
olimexsmart | 0:32b177f0030e | 411 | // Output: No value is returned, but the `dest` array will store |
olimexsmart | 0:32b177f0030e | 412 | // the data read upon exit. |
olimexsmart | 0:32b177f0030e | 413 | void gReadBytes(uint8_t subAddress, uint8_t * dest, uint8_t count); |
olimexsmart | 0:32b177f0030e | 414 | |
olimexsmart | 0:32b177f0030e | 415 | // gWriteByte() -- Write a byte to a register in the gyroscope. |
olimexsmart | 0:32b177f0030e | 416 | // Input: |
olimexsmart | 0:32b177f0030e | 417 | // - subAddress = Register to be written to. |
olimexsmart | 0:32b177f0030e | 418 | // - data = data to be written to the register. |
olimexsmart | 0:32b177f0030e | 419 | void gWriteByte(uint8_t subAddress, uint8_t data); |
olimexsmart | 0:32b177f0030e | 420 | |
olimexsmart | 0:32b177f0030e | 421 | // xmReadByte() -- Read a byte from a register in the accel/mag sensor |
olimexsmart | 0:32b177f0030e | 422 | // Input: |
olimexsmart | 0:32b177f0030e | 423 | // - subAddress = Register to be read from. |
olimexsmart | 0:32b177f0030e | 424 | // Output: |
olimexsmart | 0:32b177f0030e | 425 | // - An 8-bit value read from the requested register. |
olimexsmart | 0:32b177f0030e | 426 | uint8_t xmReadByte(uint8_t subAddress); |
olimexsmart | 0:32b177f0030e | 427 | |
olimexsmart | 0:32b177f0030e | 428 | // xmReadBytes() -- Reads a number of bytes -- beginning at an address |
olimexsmart | 0:32b177f0030e | 429 | // and incrementing from there -- from the accelerometer/magnetometer. |
olimexsmart | 0:32b177f0030e | 430 | // Input: |
olimexsmart | 0:32b177f0030e | 431 | // - subAddress = Register to be read from. |
olimexsmart | 0:32b177f0030e | 432 | // - * dest = A pointer to an array of uint8_t's. Values read will be |
olimexsmart | 0:32b177f0030e | 433 | // stored in here on return. |
olimexsmart | 0:32b177f0030e | 434 | // - count = The number of bytes to be read. |
olimexsmart | 0:32b177f0030e | 435 | // Output: No value is returned, but the `dest` array will store |
olimexsmart | 0:32b177f0030e | 436 | // the data read upon exit. |
olimexsmart | 0:32b177f0030e | 437 | void xmReadBytes(uint8_t subAddress, uint8_t * dest, uint8_t count); |
olimexsmart | 0:32b177f0030e | 438 | |
olimexsmart | 0:32b177f0030e | 439 | // xmWriteByte() -- Write a byte to a register in the accel/mag sensor. |
olimexsmart | 0:32b177f0030e | 440 | // Input: |
olimexsmart | 0:32b177f0030e | 441 | // - subAddress = Register to be written to. |
olimexsmart | 0:32b177f0030e | 442 | // - data = data to be written to the register. |
olimexsmart | 0:32b177f0030e | 443 | void xmWriteByte(uint8_t subAddress, uint8_t data); |
olimexsmart | 0:32b177f0030e | 444 | |
olimexsmart | 0:32b177f0030e | 445 | // calcgRes() -- Calculate the resolution of the gyroscope. |
olimexsmart | 0:32b177f0030e | 446 | // This function will set the value of the gRes variable. gScale must |
olimexsmart | 0:32b177f0030e | 447 | // be set prior to calling this function. |
olimexsmart | 0:32b177f0030e | 448 | void calcgRes(); |
olimexsmart | 0:32b177f0030e | 449 | |
olimexsmart | 0:32b177f0030e | 450 | // calcmRes() -- Calculate the resolution of the magnetometer. |
olimexsmart | 0:32b177f0030e | 451 | // This function will set the value of the mRes variable. mScale must |
olimexsmart | 0:32b177f0030e | 452 | // be set prior to calling this function. |
olimexsmart | 0:32b177f0030e | 453 | void calcmRes(); |
olimexsmart | 0:32b177f0030e | 454 | |
olimexsmart | 0:32b177f0030e | 455 | // calcaRes() -- Calculate the resolution of the accelerometer. |
olimexsmart | 0:32b177f0030e | 456 | // This function will set the value of the aRes variable. aScale must |
olimexsmart | 0:32b177f0030e | 457 | // be set prior to calling this function. |
olimexsmart | 0:32b177f0030e | 458 | void calcaRes(); |
olimexsmart | 0:32b177f0030e | 459 | |
olimexsmart | 0:32b177f0030e | 460 | |
olimexsmart | 0:32b177f0030e | 461 | /////////////////// |
olimexsmart | 0:32b177f0030e | 462 | // I2C Functions // |
olimexsmart | 0:32b177f0030e | 463 | /////////////////// |
olimexsmart | 0:32b177f0030e | 464 | I2C* i2c_; |
olimexsmart | 0:32b177f0030e | 465 | |
olimexsmart | 0:32b177f0030e | 466 | |
olimexsmart | 0:32b177f0030e | 467 | // I2CwriteByte() -- Write a byte out of I2C to a register in the device |
olimexsmart | 0:32b177f0030e | 468 | // Input: |
olimexsmart | 0:32b177f0030e | 469 | // - address = The 7-bit I2C address of the slave device. |
olimexsmart | 0:32b177f0030e | 470 | // - subAddress = The register to be written to. |
olimexsmart | 0:32b177f0030e | 471 | // - data = Byte to be written to the register. |
olimexsmart | 0:32b177f0030e | 472 | void I2CwriteByte(uint8_t address, uint8_t subAddress, uint8_t data); |
olimexsmart | 0:32b177f0030e | 473 | |
olimexsmart | 0:32b177f0030e | 474 | // I2CreadByte() -- Read a single byte from a register over I2C. |
olimexsmart | 0:32b177f0030e | 475 | // Input: |
olimexsmart | 0:32b177f0030e | 476 | // - address = The 7-bit I2C address of the slave device. |
olimexsmart | 0:32b177f0030e | 477 | // - subAddress = The register to be read from. |
olimexsmart | 0:32b177f0030e | 478 | // Output: |
olimexsmart | 0:32b177f0030e | 479 | // - The byte read from the requested address. |
olimexsmart | 0:32b177f0030e | 480 | uint8_t I2CreadByte(uint8_t address, uint8_t subAddress); |
olimexsmart | 0:32b177f0030e | 481 | |
olimexsmart | 0:32b177f0030e | 482 | // I2CreadBytes() -- Read a series of bytes, starting at a register via SPI |
olimexsmart | 0:32b177f0030e | 483 | // Input: |
olimexsmart | 0:32b177f0030e | 484 | // - address = The 7-bit I2C address of the slave device. |
olimexsmart | 0:32b177f0030e | 485 | // - subAddress = The register to begin reading. |
olimexsmart | 0:32b177f0030e | 486 | // - * dest = Pointer to an array where we'll store the readings. |
olimexsmart | 0:32b177f0030e | 487 | // - count = Number of registers to be read. |
olimexsmart | 0:32b177f0030e | 488 | // Output: No value is returned by the function, but the registers read are |
olimexsmart | 0:32b177f0030e | 489 | // all stored in the *dest array given. |
olimexsmart | 0:32b177f0030e | 490 | void I2CreadBytes(uint8_t address, uint8_t subAddress, uint8_t * dest, uint8_t count); |
olimexsmart | 0:32b177f0030e | 491 | }; |
olimexsmart | 0:32b177f0030e | 492 | |
olimexsmart | 0:32b177f0030e | 493 | #endif // _LSM9DS0_H // |