seungjae oh
LSM6DS3 Library by sj
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LSM6DS3
by 
Sherry Yang
Diff: LSM6DS3.h
- Revision:
- 3:5f90ed3ba2e2
- Parent:
- 2:ed14e6196255
diff -r ed14e6196255 -r 5f90ed3ba2e2 LSM6DS3.h
--- a/LSM6DS3.h Tue Jun 21 20:51:25 2016 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,306 +0,0 @@
-// Based on Eugene Gonzalez's version of LSM9DS1_Demo
-// Modified by Sherry Yang for LSM6DS3 sensor
-#ifndef _LSM6DS3_H__
-#define _LSM6DS3_H__
-
-#include "mbed.h"
-
-/////////////////////////////////////////
-// LSM6DS3 Accel/Gyro (XL/G) Registers //
-/////////////////////////////////////////
-#define RAM_ACCESS 0x01
-#define SENSOR_SYNC_TIME 0x04
-#define SENSOR_SYNC_EN 0x05
-#define FIFO_CTRL1 0x06
-#define FIFO_CTRL2 0x07
-#define FIFO_CTRL3 0x08
-#define FIFO_CTRL4 0x09
-#define FIFO_CTRL5 0x0A
-#define ORIENT_CFG_G 0x0B
-#define REFERENCE_G 0x0C
-#define INT1_CTRL 0x0D
-#define INT2_CTRL 0x0E
-#define WHO_AM_I_REG 0X0F
-#define CTRL1_XL 0x10
-#define CTRL2_G 0x11
-#define CTRL3_C 0x12
-#define CTRL4_C 0x13
-#define CTRL5_C 0x14
-#define CTRL6_C 0x15
-#define CTRL7_G 0x16
-#define CTRL8_XL 0x17
-#define CTRL9_XL 0x18
-#define CTRL10_C 0x19
-#define MASTER_CONFIG 0x1A
-#define WAKE_UP_SRC 0x1B
-#define TAP_SRC 0x1C
-#define D6D_SRC 0x1D
-#define STATUS_REG 0x1E
-#define OUT_TEMP_L 0x20
-#define OUT_TEMP_H 0x21
-#define OUTX_L_G 0x22
-#define OUTX_H_G 0x23
-#define OUTY_L_G 0x24
-#define OUTY_H_G 0x25
-#define OUTZ_L_G 0x26
-#define OUTZ_H_G 0x27
-#define OUTX_L_XL 0x28
-#define OUTX_H_XL 0x29
-#define OUTY_L_XL 0x2A
-#define OUTY_H_XL 0x2B
-#define OUTZ_L_XL 0x2C
-#define OUTZ_H_XL 0x2D
-#define SENSORHUB1_REG 0x2E
-#define SENSORHUB2_REG 0x2F
-#define SENSORHUB3_REG 0x30
-#define SENSORHUB4_REG 0x31
-#define SENSORHUB5_REG 0x32
-#define SENSORHUB6_REG 0x33
-#define SENSORHUB7_REG 0x34
-#define SENSORHUB8_REG 0x35
-#define SENSORHUB9_REG 0x36
-#define SENSORHUB10_REG 0x37
-#define SENSORHUB11_REG 0x38
-#define SENSORHUB12_REG 0x39
-#define FIFO_STATUS1 0x3A
-#define FIFO_STATUS2 0x3B
-#define FIFO_STATUS3 0x3C
-#define FIFO_STATUS4 0x3D
-#define FIFO_DATA_OUT_L 0x3E
-#define FIFO_DATA_OUT_H 0x3F
-#define TIMESTAMP0_REG 0x40
-#define TIMESTAMP1_REG 0x41
-#define TIMESTAMP2_REG 0x42
-#define STEP_COUNTER_L 0x4B
-#define STEP_COUNTER_H 0x4C
-#define FUNC_SR 0x53
-#define TAP_CFG 0x58
-#define TAP_THS_6D 0x59
-#define INT_DUR2 0x5A
-#define WAKE_UP_THS 0x5B
-#define WAKE_UP_DUR 0x5C
-#define FREE_FALL 0x5D
-#define MD1_CFG 0x5E
-#define MD2_CFG 0x5F
-
-// Possible I2C addresses for the accel/gyro
-#define LSM6DS3_AG_I2C_ADDR(sa0) ((sa0) ? 0xD6 : 0xD4)
-
-/**
- * LSM6DS3 Class - driver for the 9 DoF IMU
- */
-class LSM6DS3
-{
-public:
-
- /// gyro_scale defines the possible full-scale ranges of the gyroscope:
- enum gyro_scale
- {
- G_SCALE_245DPS = 0x0 << 3, // 00 << 3: +/- 245 degrees per second
- G_SCALE_500DPS = 0x1 << 3, // 01 << 3: +/- 500 dps
- G_SCALE_1000DPS = 0x2 << 3, // 10 << 3: +/- 1000 dps
- G_SCALE_2000DPS = 0x3 << 3 // 11 << 3: +/- 2000 dps
- };
-
- /// gyro_odr defines all possible data rate/bandwidth combos of the gyro:
- enum gyro_odr
- { // ODR (Hz) --- Cutoff
- G_POWER_DOWN = 0x00, // 0 0
- G_ODR_13_BW_0 = 0x10, // 12.5 0.0081 low power
- G_ODR_26_BW_2 = 0x20, // 26 2.07 low power
- G_ODR_52_BW_16 = 0x30, // 52 16.32 low power
- G_ODR_104 = 0x40, // 104
- G_ODR_208 = 0x50, // 208
- G_ODR_416 = 0x60, // 416
- G_ODR_833 = 0x70, // 833
- G_ODR_1660 = 0x80 // 1660
- };
-
- /// 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
- };
-
- /// accel_oder defines all possible output data rates of the accelerometer:
- enum accel_odr
- {
- A_POWER_DOWN, // Power-down mode (0x0)
- A_ODR_13, // 12.5 Hz (0x1) low power
- A_ODR_26, // 26 Hz (0x2) low power
- A_ODR_52, // 52 Hz (0x3) low power
- A_ODR_104, // 104 Hz (0x4) normal mode
- A_ODR_208, // 208 Hz (0x5) normal mode
- A_ODR_416, // 416 Hz (0x6) high performance
- A_ODR_833, // 833 Hz (0x7) high performance
- A_ODR_1660, // 1.66 kHz (0x8) high performance
- A_ODR_3330, // 3.33 kHz (0x9) high performance
- A_ODR_6660, // 6.66 kHz (0xA) high performance
- };
-
- // accel_bw defines all possible bandwiths for low-pass filter of the accelerometer:
- enum accel_bw
- {
- A_BW_AUTO_SCALE = 0x0, // Automatic BW scaling (0x0)
- A_BW_408 = 0x4, // 408 Hz (0x4)
- A_BW_211 = 0x5, // 211 Hz (0x5)
- A_BW_105 = 0x6, // 105 Hz (0x6)
- A_BW_50 = 0x7 // 50 Hz (0x7)
- };
-
-
-
- // We'll store the gyro, and accel, readings in a series of
- // public class variables. Each sensor gets three variables -- one for each
- // axis. Call readGyro(), and readAccel() first, before using
- // these variables!
- // These values are the RAW signed 16-bit readings from the sensors.
- int16_t gx_raw, gy_raw, gz_raw; // x, y, and z axis readings of the gyroscope
- int16_t ax_raw, ay_raw, az_raw; // x, y, and z axis readings of the accelerometer
- int16_t temperature_raw;
-
- // floating-point values of scaled data in real-world units
- float gx, gy, gz;
- float ax, ay, az;
- float temperature_c, temperature_f; // temperature in celcius and fahrenheit
- float intr;
-
-
- /** LSM6DS3 -- LSM6DS3 class constructor
- * The constructor will set up a handful of private variables, and set the
- * communication mode as well.
- * Input:
- * - interface = Either MODE_SPI or MODE_I2C, whichever you're using
- * to talk to the IC.
- * - xgAddr = If MODE_I2C, this is the I2C address of the accel/gyro.
- * If MODE_SPI, this is the chip select pin of the accel/gyro (CS_A/G)
- */
- LSM6DS3(PinName sda, PinName scl, uint8_t xgAddr = LSM6DS3_AG_I2C_ADDR(1));
-
- /** begin() -- Initialize the gyro, and accelerometer.
- * This will set up the scale and output rate of each sensor. It'll also
- * "turn on" every sensor and every axis of every sensor.
- * Input:
- * - gScl = The scale of the gyroscope. This should be a gyro_scale value.
- * - aScl = The scale of the accelerometer. Should be a accel_scale value.
- * - gODR = Output data rate of the gyroscope. gyro_odr value.
- * - aODR = Output data rate of the accelerometer. accel_odr value.
- * Output: The function will return an unsigned 16-bit value. The most-sig
- * bytes of the output are the WHO_AM_I reading of the accel/gyro.
- * All parameters have a defaulted value, so you can call just "begin()".
- * Default values are FSR's of: +/- 245DPS, 4g, 2Gs; ODRs of 119 Hz for
- * gyro, 119 Hz for accelerometer.
- * Use the return value of this function to verify communication.
- */
- uint16_t begin(gyro_scale gScl = G_SCALE_245DPS,
- accel_scale aScl = A_SCALE_2G, gyro_odr gODR = G_ODR_104,
- accel_odr aODR = A_ODR_104);
-
- /** readGyro() -- Read the gyroscope output registers.
- * This function will read all six gyroscope output registers.
- * The readings are stored in the class' gx_raw, gy_raw, and gz_raw variables. Read
- * those _after_ calling readGyro().
- */
- void readGyro();
-
- /** readAccel() -- Read the accelerometer output registers.
- * This function will read all six accelerometer output registers.
- * The readings are stored in the class' ax_raw, ay_raw, and az_raw variables. Read
- * those _after_ calling readAccel().
- */
- void readAccel();
-
- /** 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();
-
- /** Read Interrupt **/
- void readIntr();
-
- /** 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 2000 degrees per second.
- * Input:
- * - gScl = The desired gyroscope scale. Must be one of three possible
- * values from the gyro_scale enum.
- */
- void setGyroScale(gyro_scale 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, 8, or 16 g's.
- * Input:
- * - aScl = The desired accelerometer scale. Must be one of five possible
- * values from the accel_scale enum.
- */
- void setAccelScale(accel_scale aScl);
-
- /** setGyroODR() -- Set the output data rate and bandwidth of the gyroscope
- * Input:
- * - gRate = The desired output rate and cutoff frequency of the gyro.
- * Must be a value from the gyro_odr enum (check above).
- */
- void setGyroODR(gyro_odr gRate);
-
- /** setAccelODR() -- Set the output data rate of the accelerometer
- * Input:
- * - aRate = The desired output rate of the accel.
- * Must be a value from the accel_odr enum (check above).
- */
- void setAccelODR(accel_odr aRate);
-
-
-private:
- /** xgAddress store the I2C address
- * for each sensor.
- */
- uint8_t xgAddress;
-
- // I2C bus
- I2C i2c;
-
- /** gScale, and aScale store the current scale range for each
- * sensor. Should be updated whenever that value changes.
- */
- gyro_scale gScale;
- accel_scale aScale;
-
- /** gRes, and aRes 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;
-
- /** initGyro() -- Sets up the gyroscope to begin reading.
- * This function steps through all three gyroscope control registers.
- */
- void initGyro();
-
- /** initAccel() -- Sets up the accelerometer to begin reading.
- * This function steps through all accelerometer related control registers.
- */
- void initAccel();
-
- /** Setup Interrupt **/
- void initIntr();
-
- /** 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();
-
- /** 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();
-};
-
-#endif // _LSM6DS3_H //