LSM6DS3 Library by sj
Fork of LSM6DS3 by
LSM6DS3_sj.cpp@3:5f90ed3ba2e2, 2017-05-02 (annotated)
- Committer:
- oreo329
- Date:
- Tue May 02 17:30:18 2017 +0000
- Revision:
- 3:5f90ed3ba2e2
fixed accelerometer & gyro begin errors(both odr, scale); ; now its working at diff odrs &scales;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
oreo329 | 3:5f90ed3ba2e2 | 1 | #include "LSM6DS3_sj.h" |
oreo329 | 3:5f90ed3ba2e2 | 2 | |
oreo329 | 3:5f90ed3ba2e2 | 3 | LSM6DS3::LSM6DS3(PinName sda, PinName scl, uint8_t xgAddr) : i2c(sda, scl) |
oreo329 | 3:5f90ed3ba2e2 | 4 | { |
oreo329 | 3:5f90ed3ba2e2 | 5 | // xgAddress will store the 7-bit I2C address, if using I2C. |
oreo329 | 3:5f90ed3ba2e2 | 6 | xgAddress = xgAddr; |
oreo329 | 3:5f90ed3ba2e2 | 7 | i2c.frequency(400000); |
oreo329 | 3:5f90ed3ba2e2 | 8 | } |
oreo329 | 3:5f90ed3ba2e2 | 9 | |
oreo329 | 3:5f90ed3ba2e2 | 10 | uint16_t LSM6DS3::begin(gyro_scale gScl, accel_scale aScl, |
oreo329 | 3:5f90ed3ba2e2 | 11 | gyro_odr gODR, accel_odr aODR) |
oreo329 | 3:5f90ed3ba2e2 | 12 | { |
oreo329 | 3:5f90ed3ba2e2 | 13 | // Store the given scales in class variables. These scale variables |
oreo329 | 3:5f90ed3ba2e2 | 14 | // are used throughout to calculate the actual g's, DPS,and Gs's. |
oreo329 | 3:5f90ed3ba2e2 | 15 | gScale = gScl; |
oreo329 | 3:5f90ed3ba2e2 | 16 | aScale = aScl; |
oreo329 | 3:5f90ed3ba2e2 | 17 | |
oreo329 | 3:5f90ed3ba2e2 | 18 | // Once we have the scale values, we can calculate the resolution |
oreo329 | 3:5f90ed3ba2e2 | 19 | // of each sensor. That's what these functions are for. One for each sensor |
oreo329 | 3:5f90ed3ba2e2 | 20 | calcgRes(); // Calculate DPS / ADC tick, stored in gRes variable |
oreo329 | 3:5f90ed3ba2e2 | 21 | calcaRes(); // Calculate g / ADC tick, stored in aRes variable |
oreo329 | 3:5f90ed3ba2e2 | 22 | |
oreo329 | 3:5f90ed3ba2e2 | 23 | |
oreo329 | 3:5f90ed3ba2e2 | 24 | // To verify communication, we can read from the WHO_AM_I register of |
oreo329 | 3:5f90ed3ba2e2 | 25 | // each device. Store those in a variable so we can return them. |
oreo329 | 3:5f90ed3ba2e2 | 26 | // The start of the addresses we want to read from |
oreo329 | 3:5f90ed3ba2e2 | 27 | char cmd[2] = { |
oreo329 | 3:5f90ed3ba2e2 | 28 | WHO_AM_I_REG, |
oreo329 | 3:5f90ed3ba2e2 | 29 | 0 |
oreo329 | 3:5f90ed3ba2e2 | 30 | }; |
oreo329 | 3:5f90ed3ba2e2 | 31 | |
oreo329 | 3:5f90ed3ba2e2 | 32 | // Write the address we are going to read from and don't end the transaction |
oreo329 | 3:5f90ed3ba2e2 | 33 | i2c.write(xgAddress, cmd, 1, true); |
oreo329 | 3:5f90ed3ba2e2 | 34 | // Read in all the 8 bits of data |
oreo329 | 3:5f90ed3ba2e2 | 35 | i2c.read(xgAddress, cmd+1, 1); |
oreo329 | 3:5f90ed3ba2e2 | 36 | uint8_t xgTest = cmd[1]; // Read the accel/gyro WHO_AM_I |
oreo329 | 3:5f90ed3ba2e2 | 37 | |
oreo329 | 3:5f90ed3ba2e2 | 38 | // Gyro initialization stuff: |
oreo329 | 3:5f90ed3ba2e2 | 39 | initGyro(); // This will "turn on" the gyro. Setting up interrupts, etc. |
oreo329 | 3:5f90ed3ba2e2 | 40 | setGyroODR(gODR); // Set the gyro output data rate and bandwidth. |
oreo329 | 3:5f90ed3ba2e2 | 41 | setGyroScale(gScale); // Set the gyro range |
oreo329 | 3:5f90ed3ba2e2 | 42 | |
oreo329 | 3:5f90ed3ba2e2 | 43 | // Accelerometer initialization stuff: |
oreo329 | 3:5f90ed3ba2e2 | 44 | initAccel(); // "Turn on" all axes of the accel. Set up interrupts, etc. |
oreo329 | 3:5f90ed3ba2e2 | 45 | setAccelODR(aODR); // Set the accel data rate. |
oreo329 | 3:5f90ed3ba2e2 | 46 | setAccelScale(aScale); // Set the accel range. |
oreo329 | 3:5f90ed3ba2e2 | 47 | |
oreo329 | 3:5f90ed3ba2e2 | 48 | // Interrupt initialization stuff; |
oreo329 | 3:5f90ed3ba2e2 | 49 | initIntr(); |
oreo329 | 3:5f90ed3ba2e2 | 50 | |
oreo329 | 3:5f90ed3ba2e2 | 51 | // Once everything is initialized, return the WHO_AM_I registers we read: |
oreo329 | 3:5f90ed3ba2e2 | 52 | return xgTest; |
oreo329 | 3:5f90ed3ba2e2 | 53 | } |
oreo329 | 3:5f90ed3ba2e2 | 54 | |
oreo329 | 3:5f90ed3ba2e2 | 55 | void LSM6DS3::initGyro() |
oreo329 | 3:5f90ed3ba2e2 | 56 | { |
oreo329 | 3:5f90ed3ba2e2 | 57 | char cmd[2] = { |
oreo329 | 3:5f90ed3ba2e2 | 58 | CTRL2_G, |
oreo329 | 3:5f90ed3ba2e2 | 59 | gScale | G_ODR_104, |
oreo329 | 3:5f90ed3ba2e2 | 60 | |
oreo329 | 3:5f90ed3ba2e2 | 61 | }; |
oreo329 | 3:5f90ed3ba2e2 | 62 | |
oreo329 | 3:5f90ed3ba2e2 | 63 | // Write the data to the gyro control registers |
oreo329 | 3:5f90ed3ba2e2 | 64 | i2c.write(xgAddress, cmd, 2); |
oreo329 | 3:5f90ed3ba2e2 | 65 | } |
oreo329 | 3:5f90ed3ba2e2 | 66 | |
oreo329 | 3:5f90ed3ba2e2 | 67 | void LSM6DS3::initAccel() |
oreo329 | 3:5f90ed3ba2e2 | 68 | { |
oreo329 | 3:5f90ed3ba2e2 | 69 | char cmd[2] = { |
oreo329 | 3:5f90ed3ba2e2 | 70 | CTRL1_XL, |
oreo329 | 3:5f90ed3ba2e2 | 71 | (A_ODR_104 ) | (aScale) | (A_BW_400), |
oreo329 | 3:5f90ed3ba2e2 | 72 | }; |
oreo329 | 3:5f90ed3ba2e2 | 73 | |
oreo329 | 3:5f90ed3ba2e2 | 74 | // Write the data to the accel control registers |
oreo329 | 3:5f90ed3ba2e2 | 75 | i2c.write(xgAddress, cmd, 2); |
oreo329 | 3:5f90ed3ba2e2 | 76 | } |
oreo329 | 3:5f90ed3ba2e2 | 77 | |
oreo329 | 3:5f90ed3ba2e2 | 78 | void LSM6DS3::initIntr() |
oreo329 | 3:5f90ed3ba2e2 | 79 | { |
oreo329 | 3:5f90ed3ba2e2 | 80 | char cmd[2]; |
oreo329 | 3:5f90ed3ba2e2 | 81 | |
oreo329 | 3:5f90ed3ba2e2 | 82 | cmd[0] = TAP_CFG; |
oreo329 | 3:5f90ed3ba2e2 | 83 | cmd[1] = 0x0E; |
oreo329 | 3:5f90ed3ba2e2 | 84 | i2c.write(xgAddress, cmd, 2); |
oreo329 | 3:5f90ed3ba2e2 | 85 | cmd[0] = TAP_THS_6D; |
oreo329 | 3:5f90ed3ba2e2 | 86 | cmd[1] = 0x03; |
oreo329 | 3:5f90ed3ba2e2 | 87 | i2c.write(xgAddress, cmd, 2); |
oreo329 | 3:5f90ed3ba2e2 | 88 | cmd[0] = INT_DUR2; |
oreo329 | 3:5f90ed3ba2e2 | 89 | cmd[1] = 0x7F; |
oreo329 | 3:5f90ed3ba2e2 | 90 | i2c.write(xgAddress, cmd, 2); |
oreo329 | 3:5f90ed3ba2e2 | 91 | cmd[0] = WAKE_UP_THS; |
oreo329 | 3:5f90ed3ba2e2 | 92 | cmd[1] = 0x80; |
oreo329 | 3:5f90ed3ba2e2 | 93 | i2c.write(xgAddress, cmd, 2); |
oreo329 | 3:5f90ed3ba2e2 | 94 | cmd[0] = MD1_CFG; |
oreo329 | 3:5f90ed3ba2e2 | 95 | cmd[1] = 0x48; |
oreo329 | 3:5f90ed3ba2e2 | 96 | i2c.write(xgAddress, cmd, 2); |
oreo329 | 3:5f90ed3ba2e2 | 97 | } |
oreo329 | 3:5f90ed3ba2e2 | 98 | |
oreo329 | 3:5f90ed3ba2e2 | 99 | void LSM6DS3::readAccel() |
oreo329 | 3:5f90ed3ba2e2 | 100 | { |
oreo329 | 3:5f90ed3ba2e2 | 101 | // The data we are going to read from the accel |
oreo329 | 3:5f90ed3ba2e2 | 102 | char data[6]; |
oreo329 | 3:5f90ed3ba2e2 | 103 | |
oreo329 | 3:5f90ed3ba2e2 | 104 | // Set addresses |
oreo329 | 3:5f90ed3ba2e2 | 105 | char subAddressXL = OUTX_L_XL; |
oreo329 | 3:5f90ed3ba2e2 | 106 | char subAddressXH = OUTX_H_XL; |
oreo329 | 3:5f90ed3ba2e2 | 107 | char subAddressYL = OUTY_L_XL; |
oreo329 | 3:5f90ed3ba2e2 | 108 | char subAddressYH = OUTY_H_XL; |
oreo329 | 3:5f90ed3ba2e2 | 109 | char subAddressZL = OUTZ_L_XL; |
oreo329 | 3:5f90ed3ba2e2 | 110 | char subAddressZH = OUTZ_H_XL; |
oreo329 | 3:5f90ed3ba2e2 | 111 | |
oreo329 | 3:5f90ed3ba2e2 | 112 | // Write the address we are going to read from and don't end the transaction |
oreo329 | 3:5f90ed3ba2e2 | 113 | i2c.write(xgAddress, &subAddressXL, 1, true); |
oreo329 | 3:5f90ed3ba2e2 | 114 | // Read in register containing the axes data and alocated to the correct index |
oreo329 | 3:5f90ed3ba2e2 | 115 | i2c.read(xgAddress, data, 1); |
oreo329 | 3:5f90ed3ba2e2 | 116 | |
oreo329 | 3:5f90ed3ba2e2 | 117 | i2c.write(xgAddress, &subAddressXH, 1, true); |
oreo329 | 3:5f90ed3ba2e2 | 118 | i2c.read(xgAddress, (data + 1), 1); |
oreo329 | 3:5f90ed3ba2e2 | 119 | i2c.write(xgAddress, &subAddressYL, 1, true); |
oreo329 | 3:5f90ed3ba2e2 | 120 | i2c.read(xgAddress, (data + 2), 1); |
oreo329 | 3:5f90ed3ba2e2 | 121 | i2c.write(xgAddress, &subAddressYH, 1, true); |
oreo329 | 3:5f90ed3ba2e2 | 122 | i2c.read(xgAddress, (data + 3), 1); |
oreo329 | 3:5f90ed3ba2e2 | 123 | i2c.write(xgAddress, &subAddressZL, 1, true); |
oreo329 | 3:5f90ed3ba2e2 | 124 | i2c.read(xgAddress, (data + 4), 1); |
oreo329 | 3:5f90ed3ba2e2 | 125 | i2c.write(xgAddress, &subAddressZH, 1, true); |
oreo329 | 3:5f90ed3ba2e2 | 126 | i2c.read(xgAddress, (data + 5), 1); |
oreo329 | 3:5f90ed3ba2e2 | 127 | |
oreo329 | 3:5f90ed3ba2e2 | 128 | // Reassemble the data and convert to g |
oreo329 | 3:5f90ed3ba2e2 | 129 | ax_raw = data[0] | (data[1] << 8); |
oreo329 | 3:5f90ed3ba2e2 | 130 | ay_raw = data[2] | (data[3] << 8); |
oreo329 | 3:5f90ed3ba2e2 | 131 | az_raw = data[4] | (data[5] << 8); |
oreo329 | 3:5f90ed3ba2e2 | 132 | ax = ax_raw * aRes; |
oreo329 | 3:5f90ed3ba2e2 | 133 | ay = ay_raw * aRes; |
oreo329 | 3:5f90ed3ba2e2 | 134 | az = az_raw * aRes; |
oreo329 | 3:5f90ed3ba2e2 | 135 | } |
oreo329 | 3:5f90ed3ba2e2 | 136 | |
oreo329 | 3:5f90ed3ba2e2 | 137 | void LSM6DS3::readIntr() |
oreo329 | 3:5f90ed3ba2e2 | 138 | { |
oreo329 | 3:5f90ed3ba2e2 | 139 | char data[1]; |
oreo329 | 3:5f90ed3ba2e2 | 140 | char subAddress = TAP_SRC; |
oreo329 | 3:5f90ed3ba2e2 | 141 | |
oreo329 | 3:5f90ed3ba2e2 | 142 | i2c.write(xgAddress, &subAddress, 1, true); |
oreo329 | 3:5f90ed3ba2e2 | 143 | i2c.read(xgAddress, data, 1); |
oreo329 | 3:5f90ed3ba2e2 | 144 | |
oreo329 | 3:5f90ed3ba2e2 | 145 | intr = (float)data[0]; |
oreo329 | 3:5f90ed3ba2e2 | 146 | } |
oreo329 | 3:5f90ed3ba2e2 | 147 | |
oreo329 | 3:5f90ed3ba2e2 | 148 | void LSM6DS3::readTemp() |
oreo329 | 3:5f90ed3ba2e2 | 149 | { |
oreo329 | 3:5f90ed3ba2e2 | 150 | // The data we are going to read from the temp |
oreo329 | 3:5f90ed3ba2e2 | 151 | char data[2]; |
oreo329 | 3:5f90ed3ba2e2 | 152 | |
oreo329 | 3:5f90ed3ba2e2 | 153 | // Set addresses |
oreo329 | 3:5f90ed3ba2e2 | 154 | char subAddressL = OUT_TEMP_L; |
oreo329 | 3:5f90ed3ba2e2 | 155 | char subAddressH = OUT_TEMP_H; |
oreo329 | 3:5f90ed3ba2e2 | 156 | |
oreo329 | 3:5f90ed3ba2e2 | 157 | // Write the address we are going to read from and don't end the transaction |
oreo329 | 3:5f90ed3ba2e2 | 158 | i2c.write(xgAddress, &subAddressL, 1, true); |
oreo329 | 3:5f90ed3ba2e2 | 159 | // Read in register containing the temperature data and alocated to the correct index |
oreo329 | 3:5f90ed3ba2e2 | 160 | i2c.read(xgAddress, data, 1); |
oreo329 | 3:5f90ed3ba2e2 | 161 | |
oreo329 | 3:5f90ed3ba2e2 | 162 | i2c.write(xgAddress, &subAddressH, 1, true); |
oreo329 | 3:5f90ed3ba2e2 | 163 | i2c.read(xgAddress, (data + 1), 1); |
oreo329 | 3:5f90ed3ba2e2 | 164 | |
oreo329 | 3:5f90ed3ba2e2 | 165 | // Temperature is a 12-bit signed integer |
oreo329 | 3:5f90ed3ba2e2 | 166 | temperature_raw = data[0] | (data[1] << 8); |
oreo329 | 3:5f90ed3ba2e2 | 167 | |
oreo329 | 3:5f90ed3ba2e2 | 168 | temperature_c = (float)temperature_raw / 16.0 + 25.0; |
oreo329 | 3:5f90ed3ba2e2 | 169 | temperature_f = temperature_c * 1.8 + 32.0; |
oreo329 | 3:5f90ed3ba2e2 | 170 | } |
oreo329 | 3:5f90ed3ba2e2 | 171 | |
oreo329 | 3:5f90ed3ba2e2 | 172 | |
oreo329 | 3:5f90ed3ba2e2 | 173 | void LSM6DS3::readGyro() |
oreo329 | 3:5f90ed3ba2e2 | 174 | { |
oreo329 | 3:5f90ed3ba2e2 | 175 | // The data we are going to read from the gyro |
oreo329 | 3:5f90ed3ba2e2 | 176 | char data[6]; |
oreo329 | 3:5f90ed3ba2e2 | 177 | |
oreo329 | 3:5f90ed3ba2e2 | 178 | // Set addresses |
oreo329 | 3:5f90ed3ba2e2 | 179 | char subAddressXL = OUTX_L_G; |
oreo329 | 3:5f90ed3ba2e2 | 180 | char subAddressXH = OUTX_H_G; |
oreo329 | 3:5f90ed3ba2e2 | 181 | char subAddressYL = OUTY_L_G; |
oreo329 | 3:5f90ed3ba2e2 | 182 | char subAddressYH = OUTY_H_G; |
oreo329 | 3:5f90ed3ba2e2 | 183 | char subAddressZL = OUTZ_L_G; |
oreo329 | 3:5f90ed3ba2e2 | 184 | char subAddressZH = OUTZ_H_G; |
oreo329 | 3:5f90ed3ba2e2 | 185 | |
oreo329 | 3:5f90ed3ba2e2 | 186 | // Write the address we are going to read from and don't end the transaction |
oreo329 | 3:5f90ed3ba2e2 | 187 | i2c.write(xgAddress, &subAddressXL, 1, true); |
oreo329 | 3:5f90ed3ba2e2 | 188 | // Read in register containing the axes data and alocated to the correct index |
oreo329 | 3:5f90ed3ba2e2 | 189 | i2c.read(xgAddress, data, 1); |
oreo329 | 3:5f90ed3ba2e2 | 190 | |
oreo329 | 3:5f90ed3ba2e2 | 191 | i2c.write(xgAddress, &subAddressXH, 1, true); |
oreo329 | 3:5f90ed3ba2e2 | 192 | i2c.read(xgAddress, (data + 1), 1); |
oreo329 | 3:5f90ed3ba2e2 | 193 | i2c.write(xgAddress, &subAddressYL, 1, true); |
oreo329 | 3:5f90ed3ba2e2 | 194 | i2c.read(xgAddress, (data + 2), 1); |
oreo329 | 3:5f90ed3ba2e2 | 195 | i2c.write(xgAddress, &subAddressYH, 1, true); |
oreo329 | 3:5f90ed3ba2e2 | 196 | i2c.read(xgAddress, (data + 3), 1); |
oreo329 | 3:5f90ed3ba2e2 | 197 | i2c.write(xgAddress, &subAddressZL, 1, true); |
oreo329 | 3:5f90ed3ba2e2 | 198 | i2c.read(xgAddress, (data + 4), 1); |
oreo329 | 3:5f90ed3ba2e2 | 199 | i2c.write(xgAddress, &subAddressZH, 1, true); |
oreo329 | 3:5f90ed3ba2e2 | 200 | i2c.read(xgAddress, (data + 5), 1); |
oreo329 | 3:5f90ed3ba2e2 | 201 | |
oreo329 | 3:5f90ed3ba2e2 | 202 | // Reassemble the data and convert to degrees/sec |
oreo329 | 3:5f90ed3ba2e2 | 203 | gx_raw = data[0] | (data[1] << 8); |
oreo329 | 3:5f90ed3ba2e2 | 204 | gy_raw = data[2] | (data[3] << 8); |
oreo329 | 3:5f90ed3ba2e2 | 205 | gz_raw = data[4] | (data[5] << 8); |
oreo329 | 3:5f90ed3ba2e2 | 206 | gx = gx_raw * gRes; |
oreo329 | 3:5f90ed3ba2e2 | 207 | gy = gy_raw * gRes; |
oreo329 | 3:5f90ed3ba2e2 | 208 | gz = gz_raw * gRes; |
oreo329 | 3:5f90ed3ba2e2 | 209 | } |
oreo329 | 3:5f90ed3ba2e2 | 210 | |
oreo329 | 3:5f90ed3ba2e2 | 211 | void LSM6DS3::setGyroScale(gyro_scale gScl) |
oreo329 | 3:5f90ed3ba2e2 | 212 | { |
oreo329 | 3:5f90ed3ba2e2 | 213 | // The start of the addresses we want to read from |
oreo329 | 3:5f90ed3ba2e2 | 214 | char cmd[2] = { |
oreo329 | 3:5f90ed3ba2e2 | 215 | CTRL2_G, |
oreo329 | 3:5f90ed3ba2e2 | 216 | 0 |
oreo329 | 3:5f90ed3ba2e2 | 217 | }; |
oreo329 | 3:5f90ed3ba2e2 | 218 | |
oreo329 | 3:5f90ed3ba2e2 | 219 | // Write the address we are going to read from and don't end the transaction |
oreo329 | 3:5f90ed3ba2e2 | 220 | i2c.write(xgAddress, cmd, 1, true); |
oreo329 | 3:5f90ed3ba2e2 | 221 | // Read in all the 8 bits of data |
oreo329 | 3:5f90ed3ba2e2 | 222 | i2c.read(xgAddress, cmd+1, 1); |
oreo329 | 3:5f90ed3ba2e2 | 223 | |
oreo329 | 3:5f90ed3ba2e2 | 224 | // Then mask out the gyro scale bits: |
oreo329 | 3:5f90ed3ba2e2 | 225 | cmd[1] &= 0xFF^(0x3 << 2); |
oreo329 | 3:5f90ed3ba2e2 | 226 | // Then shift in our new scale bits: |
oreo329 | 3:5f90ed3ba2e2 | 227 | cmd[1] |= gScl; |
oreo329 | 3:5f90ed3ba2e2 | 228 | |
oreo329 | 3:5f90ed3ba2e2 | 229 | // Write the gyroscale out to the gyro |
oreo329 | 3:5f90ed3ba2e2 | 230 | i2c.write(xgAddress, cmd, 2); |
oreo329 | 3:5f90ed3ba2e2 | 231 | |
oreo329 | 3:5f90ed3ba2e2 | 232 | // We've updated the sensor, but we also need to update our class variables |
oreo329 | 3:5f90ed3ba2e2 | 233 | // First update gScale: |
oreo329 | 3:5f90ed3ba2e2 | 234 | gScale = gScl; |
oreo329 | 3:5f90ed3ba2e2 | 235 | // Then calculate a new gRes, which relies on gScale being set correctly: |
oreo329 | 3:5f90ed3ba2e2 | 236 | calcgRes(); |
oreo329 | 3:5f90ed3ba2e2 | 237 | } |
oreo329 | 3:5f90ed3ba2e2 | 238 | |
oreo329 | 3:5f90ed3ba2e2 | 239 | void LSM6DS3::setAccelScale(accel_scale aScl) |
oreo329 | 3:5f90ed3ba2e2 | 240 | { |
oreo329 | 3:5f90ed3ba2e2 | 241 | // The start of the addresses we want to read from |
oreo329 | 3:5f90ed3ba2e2 | 242 | char cmd[2] = { |
oreo329 | 3:5f90ed3ba2e2 | 243 | CTRL1_XL, |
oreo329 | 3:5f90ed3ba2e2 | 244 | 0 |
oreo329 | 3:5f90ed3ba2e2 | 245 | }; |
oreo329 | 3:5f90ed3ba2e2 | 246 | |
oreo329 | 3:5f90ed3ba2e2 | 247 | // Write the address we are going to read from and don't end the transaction |
oreo329 | 3:5f90ed3ba2e2 | 248 | i2c.write(xgAddress, cmd, 1, true); |
oreo329 | 3:5f90ed3ba2e2 | 249 | // Read in all the 8 bits of data |
oreo329 | 3:5f90ed3ba2e2 | 250 | i2c.read(xgAddress, cmd+1, 1); |
oreo329 | 3:5f90ed3ba2e2 | 251 | |
oreo329 | 3:5f90ed3ba2e2 | 252 | // Then mask out the accel scale bits: |
oreo329 | 3:5f90ed3ba2e2 | 253 | cmd[1] &= 0xFF^(0x3 << 2); |
oreo329 | 3:5f90ed3ba2e2 | 254 | // Then shift in our new scale bits: |
oreo329 | 3:5f90ed3ba2e2 | 255 | cmd[1] |= aScl; |
oreo329 | 3:5f90ed3ba2e2 | 256 | |
oreo329 | 3:5f90ed3ba2e2 | 257 | // Write the accelscale out to the accel |
oreo329 | 3:5f90ed3ba2e2 | 258 | i2c.write(xgAddress, cmd, 2); |
oreo329 | 3:5f90ed3ba2e2 | 259 | |
oreo329 | 3:5f90ed3ba2e2 | 260 | // We've updated the sensor, but we also need to update our class variables |
oreo329 | 3:5f90ed3ba2e2 | 261 | // First update aScale: |
oreo329 | 3:5f90ed3ba2e2 | 262 | aScale = aScl; |
oreo329 | 3:5f90ed3ba2e2 | 263 | // Then calculate a new aRes, which relies on aScale being set correctly: |
oreo329 | 3:5f90ed3ba2e2 | 264 | calcaRes(); |
oreo329 | 3:5f90ed3ba2e2 | 265 | } |
oreo329 | 3:5f90ed3ba2e2 | 266 | |
oreo329 | 3:5f90ed3ba2e2 | 267 | void LSM6DS3::setGyroODR(gyro_odr gRate) |
oreo329 | 3:5f90ed3ba2e2 | 268 | { |
oreo329 | 3:5f90ed3ba2e2 | 269 | // The start of the addresses we want to read from |
oreo329 | 3:5f90ed3ba2e2 | 270 | char cmd[2] = { |
oreo329 | 3:5f90ed3ba2e2 | 271 | CTRL2_G, |
oreo329 | 3:5f90ed3ba2e2 | 272 | 0 |
oreo329 | 3:5f90ed3ba2e2 | 273 | }; |
oreo329 | 3:5f90ed3ba2e2 | 274 | |
oreo329 | 3:5f90ed3ba2e2 | 275 | // Set low power based on ODR, else keep sensor on high performance |
oreo329 | 3:5f90ed3ba2e2 | 276 | if(gRate == G_ODR_13_BW_0 | gRate == G_ODR_26_BW_2 | gRate == G_ODR_52_BW_16) { |
oreo329 | 3:5f90ed3ba2e2 | 277 | char cmdLow[2] ={ |
oreo329 | 3:5f90ed3ba2e2 | 278 | CTRL7_G, |
oreo329 | 3:5f90ed3ba2e2 | 279 | 1 |
oreo329 | 3:5f90ed3ba2e2 | 280 | }; |
oreo329 | 3:5f90ed3ba2e2 | 281 | |
oreo329 | 3:5f90ed3ba2e2 | 282 | i2c.write(xgAddress, cmdLow, 2); |
oreo329 | 3:5f90ed3ba2e2 | 283 | } |
oreo329 | 3:5f90ed3ba2e2 | 284 | else { |
oreo329 | 3:5f90ed3ba2e2 | 285 | char cmdLow[2] ={ |
oreo329 | 3:5f90ed3ba2e2 | 286 | CTRL7_G, |
oreo329 | 3:5f90ed3ba2e2 | 287 | 0 |
oreo329 | 3:5f90ed3ba2e2 | 288 | }; |
oreo329 | 3:5f90ed3ba2e2 | 289 | |
oreo329 | 3:5f90ed3ba2e2 | 290 | i2c.write(xgAddress, cmdLow, 2); |
oreo329 | 3:5f90ed3ba2e2 | 291 | } |
oreo329 | 3:5f90ed3ba2e2 | 292 | |
oreo329 | 3:5f90ed3ba2e2 | 293 | // Write the address we are going to read from and don't end the transaction |
oreo329 | 3:5f90ed3ba2e2 | 294 | i2c.write(xgAddress, cmd, 1, true); |
oreo329 | 3:5f90ed3ba2e2 | 295 | // Read in all the 8 bits of data |
oreo329 | 3:5f90ed3ba2e2 | 296 | i2c.read(xgAddress, cmd+1, 1); |
oreo329 | 3:5f90ed3ba2e2 | 297 | |
oreo329 | 3:5f90ed3ba2e2 | 298 | // Then mask out the gyro odr bits: |
oreo329 | 3:5f90ed3ba2e2 | 299 | cmd[1] &= 0xFF^(0x0F << 4); |
oreo329 | 3:5f90ed3ba2e2 | 300 | // Then shift in our new odr bits: |
oreo329 | 3:5f90ed3ba2e2 | 301 | cmd[1] |= gRate; |
oreo329 | 3:5f90ed3ba2e2 | 302 | |
oreo329 | 3:5f90ed3ba2e2 | 303 | // Write the gyroodr out to the gyro |
oreo329 | 3:5f90ed3ba2e2 | 304 | i2c.write(xgAddress, cmd, 2); |
oreo329 | 3:5f90ed3ba2e2 | 305 | } |
oreo329 | 3:5f90ed3ba2e2 | 306 | |
oreo329 | 3:5f90ed3ba2e2 | 307 | void LSM6DS3::setAccelODR(accel_odr aRate) |
oreo329 | 3:5f90ed3ba2e2 | 308 | { |
oreo329 | 3:5f90ed3ba2e2 | 309 | // The start of the addresses we want to read from |
oreo329 | 3:5f90ed3ba2e2 | 310 | char cmd[2] = { |
oreo329 | 3:5f90ed3ba2e2 | 311 | CTRL1_XL, |
oreo329 | 3:5f90ed3ba2e2 | 312 | 0 |
oreo329 | 3:5f90ed3ba2e2 | 313 | }; |
oreo329 | 3:5f90ed3ba2e2 | 314 | |
oreo329 | 3:5f90ed3ba2e2 | 315 | // Set low power based on ODR, else keep sensor on high performance |
oreo329 | 3:5f90ed3ba2e2 | 316 | if(aRate == A_ODR_13 | aRate == A_ODR_26 | aRate == A_ODR_52) { |
oreo329 | 3:5f90ed3ba2e2 | 317 | char cmdLow[2] ={ |
oreo329 | 3:5f90ed3ba2e2 | 318 | CTRL6_C, |
oreo329 | 3:5f90ed3ba2e2 | 319 | 1 |
oreo329 | 3:5f90ed3ba2e2 | 320 | }; |
oreo329 | 3:5f90ed3ba2e2 | 321 | |
oreo329 | 3:5f90ed3ba2e2 | 322 | i2c.write(xgAddress, cmdLow, 2); |
oreo329 | 3:5f90ed3ba2e2 | 323 | } |
oreo329 | 3:5f90ed3ba2e2 | 324 | else { |
oreo329 | 3:5f90ed3ba2e2 | 325 | char cmdLow[2] ={ |
oreo329 | 3:5f90ed3ba2e2 | 326 | CTRL6_C, |
oreo329 | 3:5f90ed3ba2e2 | 327 | 0 |
oreo329 | 3:5f90ed3ba2e2 | 328 | }; |
oreo329 | 3:5f90ed3ba2e2 | 329 | |
oreo329 | 3:5f90ed3ba2e2 | 330 | i2c.write(xgAddress, cmdLow, 2); |
oreo329 | 3:5f90ed3ba2e2 | 331 | } |
oreo329 | 3:5f90ed3ba2e2 | 332 | |
oreo329 | 3:5f90ed3ba2e2 | 333 | // Write the address we are going to read from and don't end the transaction |
oreo329 | 3:5f90ed3ba2e2 | 334 | i2c.write(xgAddress, cmd, 1, true); |
oreo329 | 3:5f90ed3ba2e2 | 335 | // Read in all the 8 bits of data |
oreo329 | 3:5f90ed3ba2e2 | 336 | i2c.read(xgAddress, cmd+1, 1); |
oreo329 | 3:5f90ed3ba2e2 | 337 | |
oreo329 | 3:5f90ed3ba2e2 | 338 | // Then mask out the accel odr bits: |
oreo329 | 3:5f90ed3ba2e2 | 339 | cmd[1] &= 0xFF^(0x0F << 4); |
oreo329 | 3:5f90ed3ba2e2 | 340 | // Then shift in our new odr bits: |
oreo329 | 3:5f90ed3ba2e2 | 341 | cmd[1] |= aRate; |
oreo329 | 3:5f90ed3ba2e2 | 342 | |
oreo329 | 3:5f90ed3ba2e2 | 343 | // Serial pc(USBTX, USBRX); |
oreo329 | 3:5f90ed3ba2e2 | 344 | // pc.baud(921600); |
oreo329 | 3:5f90ed3ba2e2 | 345 | // pc.printf("i2c Command = 0x%X 0x%X \r\n", cmd[0], cmd[1] ); |
oreo329 | 3:5f90ed3ba2e2 | 346 | // delete &pc; |
oreo329 | 3:5f90ed3ba2e2 | 347 | |
oreo329 | 3:5f90ed3ba2e2 | 348 | // Write the accelodr out to the accel |
oreo329 | 3:5f90ed3ba2e2 | 349 | i2c.write(xgAddress, cmd, 2); |
oreo329 | 3:5f90ed3ba2e2 | 350 | } |
oreo329 | 3:5f90ed3ba2e2 | 351 | |
oreo329 | 3:5f90ed3ba2e2 | 352 | void LSM6DS3::calcgRes() |
oreo329 | 3:5f90ed3ba2e2 | 353 | { |
oreo329 | 3:5f90ed3ba2e2 | 354 | // Possible gyro scales (and their register bit settings) are: |
oreo329 | 3:5f90ed3ba2e2 | 355 | // 245 DPS (00), 500 DPS (01), 2000 DPS (10). |
oreo329 | 3:5f90ed3ba2e2 | 356 | switch (gScale) |
oreo329 | 3:5f90ed3ba2e2 | 357 | { |
oreo329 | 3:5f90ed3ba2e2 | 358 | case G_SCALE_245DPS: |
oreo329 | 3:5f90ed3ba2e2 | 359 | gRes = 245.0 / 32768.0; |
oreo329 | 3:5f90ed3ba2e2 | 360 | break; |
oreo329 | 3:5f90ed3ba2e2 | 361 | case G_SCALE_500DPS: |
oreo329 | 3:5f90ed3ba2e2 | 362 | gRes = 500.0 / 32768.0; |
oreo329 | 3:5f90ed3ba2e2 | 363 | break; |
oreo329 | 3:5f90ed3ba2e2 | 364 | case G_SCALE_2000DPS: |
oreo329 | 3:5f90ed3ba2e2 | 365 | gRes = 2000.0 / 32768.0; |
oreo329 | 3:5f90ed3ba2e2 | 366 | break; |
oreo329 | 3:5f90ed3ba2e2 | 367 | } |
oreo329 | 3:5f90ed3ba2e2 | 368 | } |
oreo329 | 3:5f90ed3ba2e2 | 369 | |
oreo329 | 3:5f90ed3ba2e2 | 370 | void LSM6DS3::calcaRes() |
oreo329 | 3:5f90ed3ba2e2 | 371 | { |
oreo329 | 3:5f90ed3ba2e2 | 372 | // Possible accelerometer scales (and their register bit settings) are: |
oreo329 | 3:5f90ed3ba2e2 | 373 | // 2 g (000), 4g (001), 6g (010) 8g (011), 16g (100). |
oreo329 | 3:5f90ed3ba2e2 | 374 | switch (aScale) |
oreo329 | 3:5f90ed3ba2e2 | 375 | { |
oreo329 | 3:5f90ed3ba2e2 | 376 | case A_SCALE_2G: |
oreo329 | 3:5f90ed3ba2e2 | 377 | aRes = 2.0 / 32768.0; |
oreo329 | 3:5f90ed3ba2e2 | 378 | break; |
oreo329 | 3:5f90ed3ba2e2 | 379 | case A_SCALE_4G: |
oreo329 | 3:5f90ed3ba2e2 | 380 | aRes = 4.0 / 32768.0; |
oreo329 | 3:5f90ed3ba2e2 | 381 | break; |
oreo329 | 3:5f90ed3ba2e2 | 382 | case A_SCALE_8G: |
oreo329 | 3:5f90ed3ba2e2 | 383 | aRes = 8.0 / 32768.0; |
oreo329 | 3:5f90ed3ba2e2 | 384 | break; |
oreo329 | 3:5f90ed3ba2e2 | 385 | case A_SCALE_16G: |
oreo329 | 3:5f90ed3ba2e2 | 386 | aRes = 16.0 / 32768.0; |
oreo329 | 3:5f90ed3ba2e2 | 387 | break; |
oreo329 | 3:5f90ed3ba2e2 | 388 | } |
oreo329 | 3:5f90ed3ba2e2 | 389 | } |