seungjae oh
LSM6DS3 Library by sj
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LSM6DS3
by 
Sherry Yang
Revision 3:5f90ed3ba2e2, committed 2017-05-02
- Comitter:
- oreo329
- Date:
- Tue May 02 17:30:18 2017 +0000
- Parent:
- 2:ed14e6196255
- Commit message:
- fixed accelerometer & gyro begin errors(both odr, scale); ; now its working at diff odrs &scales;
Changed in this revision
--- a/LSM6DS3.cpp Tue Jun 21 20:51:25 2016 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,386 +0,0 @@
-#include "LSM6DS3.h"
-
-LSM6DS3::LSM6DS3(PinName sda, PinName scl, uint8_t xgAddr) : i2c(sda, scl)
-{
- // xgAddress will store the 7-bit I2C address, if using I2C.
- xgAddress = xgAddr;
-}
-
-uint16_t LSM6DS3::begin(gyro_scale gScl, accel_scale aScl,
- gyro_odr gODR, accel_odr aODR)
-{
- // Store the given scales in class variables. These scale variables
- // are used throughout to calculate the actual g's, DPS,and Gs's.
- gScale = gScl;
- aScale = aScl;
-
- // 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
- calcaRes(); // Calculate g / ADC tick, stored in aRes variable
-
-
- // 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.
- // The start of the addresses we want to read from
- char cmd[2] = {
- WHO_AM_I_REG,
- 0
- };
-
- // Write the address we are going to read from and don't end the transaction
- i2c.write(xgAddress, cmd, 1, true);
- // Read in all the 8 bits of data
- i2c.read(xgAddress, cmd+1, 1);
- uint8_t xgTest = cmd[1]; // Read the accel/gyro WHO_AM_I
-
- // Gyro initialization stuff:
- initGyro(); // This will "turn on" the gyro. Setting up interrupts, etc.
- setGyroODR(gODR); // Set the gyro output data rate and bandwidth.
- setGyroScale(gScale); // Set the gyro range
-
- // Accelerometer initialization stuff:
- initAccel(); // "Turn on" all axes of the accel. Set up interrupts, etc.
- setAccelODR(aODR); // Set the accel data rate.
- setAccelScale(aScale); // Set the accel range.
-
- // Interrupt initialization stuff;
- initIntr();
-
- // Once everything is initialized, return the WHO_AM_I registers we read:
- return xgTest;
-}
-
-void LSM6DS3::initGyro()
-{
- char cmd[4] = {
- CTRL2_G,
- gScale | G_ODR_104,
- 0, // Default data out and int out
- 0 // Default power mode and high pass settings
- };
-
- // Write the data to the gyro control registers
- i2c.write(xgAddress, cmd, 4);
-}
-
-void LSM6DS3::initAccel()
-{
- char cmd[4] = {
- CTRL1_XL,
- 0x38, // Enable all axis and don't decimate data in out Registers
- (A_ODR_104 << 5) | (aScale << 3) | (A_BW_AUTO_SCALE), // 119 Hz ODR, set scale, and auto BW
- 0 // Default resolution mode and filtering settings
- };
-
- // Write the data to the accel control registers
- i2c.write(xgAddress, cmd, 4);
-}
-
-void LSM6DS3::initIntr()
-{
- char cmd[2];
-
- cmd[0] = TAP_CFG;
- cmd[1] = 0x0E;
- i2c.write(xgAddress, cmd, 2);
- cmd[0] = TAP_THS_6D;
- cmd[1] = 0x03;
- i2c.write(xgAddress, cmd, 2);
- cmd[0] = INT_DUR2;
- cmd[1] = 0x7F;
- i2c.write(xgAddress, cmd, 2);
- cmd[0] = WAKE_UP_THS;
- cmd[1] = 0x80;
- i2c.write(xgAddress, cmd, 2);
- cmd[0] = MD1_CFG;
- cmd[1] = 0x48;
- i2c.write(xgAddress, cmd, 2);
-}
-
-void LSM6DS3::readAccel()
-{
- // The data we are going to read from the accel
- char data[6];
-
- // Set addresses
- char subAddressXL = OUTX_L_XL;
- char subAddressXH = OUTX_H_XL;
- char subAddressYL = OUTY_L_XL;
- char subAddressYH = OUTY_H_XL;
- char subAddressZL = OUTZ_L_XL;
- char subAddressZH = OUTZ_H_XL;
-
- // Write the address we are going to read from and don't end the transaction
- i2c.write(xgAddress, &subAddressXL, 1, true);
- // Read in register containing the axes data and alocated to the correct index
- i2c.read(xgAddress, data, 1);
-
- i2c.write(xgAddress, &subAddressXH, 1, true);
- i2c.read(xgAddress, (data + 1), 1);
- i2c.write(xgAddress, &subAddressYL, 1, true);
- i2c.read(xgAddress, (data + 2), 1);
- i2c.write(xgAddress, &subAddressYH, 1, true);
- i2c.read(xgAddress, (data + 3), 1);
- i2c.write(xgAddress, &subAddressZL, 1, true);
- i2c.read(xgAddress, (data + 4), 1);
- i2c.write(xgAddress, &subAddressZH, 1, true);
- i2c.read(xgAddress, (data + 5), 1);
-
- // Reassemble the data and convert to g
- ax_raw = data[0] | (data[1] << 8);
- ay_raw = data[2] | (data[3] << 8);
- az_raw = data[4] | (data[5] << 8);
- ax = ax_raw * aRes;
- ay = ay_raw * aRes;
- az = az_raw * aRes;
-}
-
-void LSM6DS3::readIntr()
-{
- char data[1];
- char subAddress = TAP_SRC;
-
- i2c.write(xgAddress, &subAddress, 1, true);
- i2c.read(xgAddress, data, 1);
-
- intr = (float)data[0];
-}
-
-void LSM6DS3::readTemp()
-{
- // The data we are going to read from the temp
- char data[2];
-
- // Set addresses
- char subAddressL = OUT_TEMP_L;
- char subAddressH = OUT_TEMP_H;
-
- // Write the address we are going to read from and don't end the transaction
- i2c.write(xgAddress, &subAddressL, 1, true);
- // Read in register containing the temperature data and alocated to the correct index
- i2c.read(xgAddress, data, 1);
-
- i2c.write(xgAddress, &subAddressH, 1, true);
- i2c.read(xgAddress, (data + 1), 1);
-
- // Temperature is a 12-bit signed integer
- temperature_raw = data[0] | (data[1] << 8);
-
- temperature_c = (float)temperature_raw / 16.0 + 25.0;
- temperature_f = temperature_c * 1.8 + 32.0;
-}
-
-
-void LSM6DS3::readGyro()
-{
- // The data we are going to read from the gyro
- char data[6];
-
- // Set addresses
- char subAddressXL = OUTX_L_G;
- char subAddressXH = OUTX_H_G;
- char subAddressYL = OUTY_L_G;
- char subAddressYH = OUTY_H_G;
- char subAddressZL = OUTZ_L_G;
- char subAddressZH = OUTZ_H_G;
-
- // Write the address we are going to read from and don't end the transaction
- i2c.write(xgAddress, &subAddressXL, 1, true);
- // Read in register containing the axes data and alocated to the correct index
- i2c.read(xgAddress, data, 1);
-
- i2c.write(xgAddress, &subAddressXH, 1, true);
- i2c.read(xgAddress, (data + 1), 1);
- i2c.write(xgAddress, &subAddressYL, 1, true);
- i2c.read(xgAddress, (data + 2), 1);
- i2c.write(xgAddress, &subAddressYH, 1, true);
- i2c.read(xgAddress, (data + 3), 1);
- i2c.write(xgAddress, &subAddressZL, 1, true);
- i2c.read(xgAddress, (data + 4), 1);
- i2c.write(xgAddress, &subAddressZH, 1, true);
- i2c.read(xgAddress, (data + 5), 1);
-
- // Reassemble the data and convert to degrees/sec
- gx_raw = data[0] | (data[1] << 8);
- gy_raw = data[2] | (data[3] << 8);
- gz_raw = data[4] | (data[5] << 8);
- gx = gx_raw * gRes;
- gy = gy_raw * gRes;
- gz = gz_raw * gRes;
-}
-
-void LSM6DS3::setGyroScale(gyro_scale gScl)
-{
- // The start of the addresses we want to read from
- char cmd[2] = {
- CTRL2_G,
- 0
- };
-
- // Write the address we are going to read from and don't end the transaction
- i2c.write(xgAddress, cmd, 1, true);
- // Read in all the 8 bits of data
- i2c.read(xgAddress, cmd+1, 1);
-
- // Then mask out the gyro scale bits:
- cmd[1] &= 0xFF^(0x3 << 3);
- // Then shift in our new scale bits:
- cmd[1] |= gScl << 3;
-
- // Write the gyroscale out to the gyro
- i2c.write(xgAddress, cmd, 2);
-
- // We've updated the sensor, but we also need to update our class variables
- // First update gScale:
- gScale = gScl;
- // Then calculate a new gRes, which relies on gScale being set correctly:
- calcgRes();
-}
-
-void LSM6DS3::setAccelScale(accel_scale aScl)
-{
- // The start of the addresses we want to read from
- char cmd[2] = {
- CTRL1_XL,
- 0
- };
-
- // Write the address we are going to read from and don't end the transaction
- i2c.write(xgAddress, cmd, 1, true);
- // Read in all the 8 bits of data
- i2c.read(xgAddress, cmd+1, 1);
-
- // Then mask out the accel scale bits:
- cmd[1] &= 0xFF^(0x3 << 3);
- // Then shift in our new scale bits:
- cmd[1] |= aScl << 3;
-
- // Write the accelscale out to the accel
- i2c.write(xgAddress, cmd, 2);
-
- // We've updated the sensor, but we also need to update our class variables
- // First update aScale:
- aScale = aScl;
- // Then calculate a new aRes, which relies on aScale being set correctly:
- calcaRes();
-}
-
-void LSM6DS3::setGyroODR(gyro_odr gRate)
-{
- // The start of the addresses we want to read from
- char cmd[2] = {
- CTRL2_G,
- 0
- };
-
- // Set low power based on ODR, else keep sensor on high performance
- if(gRate == G_ODR_13_BW_0 | gRate == G_ODR_26_BW_2 | gRate == G_ODR_52_BW_16) {
- char cmdLow[2] ={
- CTRL7_G,
- 1
- };
-
- i2c.write(xgAddress, cmdLow, 2);
- }
- else {
- char cmdLow[2] ={
- CTRL7_G,
- 0
- };
-
- i2c.write(xgAddress, cmdLow, 2);
- }
-
- // Write the address we are going to read from and don't end the transaction
- i2c.write(xgAddress, cmd, 1, true);
- // Read in all the 8 bits of data
- i2c.read(xgAddress, cmd+1, 1);
-
- // Then mask out the gyro odr bits:
- cmd[1] &= (0x3 << 3);
- // Then shift in our new odr bits:
- cmd[1] |= gRate;
-
- // Write the gyroodr out to the gyro
- i2c.write(xgAddress, cmd, 2);
-}
-
-void LSM6DS3::setAccelODR(accel_odr aRate)
-{
- // The start of the addresses we want to read from
- char cmd[2] = {
- CTRL1_XL,
- 0
- };
-
- // Set low power based on ODR, else keep sensor on high performance
- if(aRate == A_ODR_13 | aRate == A_ODR_26 | aRate == A_ODR_52) {
- char cmdLow[2] ={
- CTRL6_C,
- 1
- };
-
- i2c.write(xgAddress, cmdLow, 2);
- }
- else {
- char cmdLow[2] ={
- CTRL6_C,
- 0
- };
-
- i2c.write(xgAddress, cmdLow, 2);
- }
-
- // Write the address we are going to read from and don't end the transaction
- i2c.write(xgAddress, cmd, 1, true);
- // Read in all the 8 bits of data
- i2c.read(xgAddress, cmd+1, 1);
-
- // Then mask out the accel odr bits:
- cmd[1] &= 0xFF^(0x7 << 5);
- // Then shift in our new odr bits:
- cmd[1] |= aRate << 5;
-
- // Write the accelodr out to the accel
- i2c.write(xgAddress, cmd, 2);
-}
-
-void LSM6DS3::calcgRes()
-{
- // Possible gyro scales (and their register bit settings) are:
- // 245 DPS (00), 500 DPS (01), 2000 DPS (10).
- switch (gScale)
- {
- case G_SCALE_245DPS:
- gRes = 245.0 / 32768.0;
- break;
- case G_SCALE_500DPS:
- gRes = 500.0 / 32768.0;
- break;
- case G_SCALE_2000DPS:
- gRes = 2000.0 / 32768.0;
- break;
- }
-}
-
-void LSM6DS3::calcaRes()
-{
- // Possible accelerometer scales (and their register bit settings) are:
- // 2 g (000), 4g (001), 6g (010) 8g (011), 16g (100).
- switch (aScale)
- {
- case A_SCALE_2G:
- aRes = 2.0 / 32768.0;
- break;
- case A_SCALE_4G:
- aRes = 4.0 / 32768.0;
- break;
- case A_SCALE_8G:
- aRes = 8.0 / 32768.0;
- break;
- case A_SCALE_16G:
- aRes = 16.0 / 32768.0;
- break;
- }
-}
\ No newline at end of file
--- 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 //
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/LSM6DS3_sj.cpp Tue May 02 17:30:18 2017 +0000
@@ -0,0 +1,389 @@
+#include "LSM6DS3_sj.h"
+
+LSM6DS3::LSM6DS3(PinName sda, PinName scl, uint8_t xgAddr) : i2c(sda, scl)
+{
+ // xgAddress will store the 7-bit I2C address, if using I2C.
+ xgAddress = xgAddr;
+ i2c.frequency(400000);
+}
+
+uint16_t LSM6DS3::begin(gyro_scale gScl, accel_scale aScl,
+ gyro_odr gODR, accel_odr aODR)
+{
+ // Store the given scales in class variables. These scale variables
+ // are used throughout to calculate the actual g's, DPS,and Gs's.
+ gScale = gScl;
+ aScale = aScl;
+
+ // 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
+ calcaRes(); // Calculate g / ADC tick, stored in aRes variable
+
+
+ // 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.
+ // The start of the addresses we want to read from
+ char cmd[2] = {
+ WHO_AM_I_REG,
+ 0
+ };
+
+ // Write the address we are going to read from and don't end the transaction
+ i2c.write(xgAddress, cmd, 1, true);
+ // Read in all the 8 bits of data
+ i2c.read(xgAddress, cmd+1, 1);
+ uint8_t xgTest = cmd[1]; // Read the accel/gyro WHO_AM_I
+
+ // Gyro initialization stuff:
+ initGyro(); // This will "turn on" the gyro. Setting up interrupts, etc.
+ setGyroODR(gODR); // Set the gyro output data rate and bandwidth.
+ setGyroScale(gScale); // Set the gyro range
+
+ // Accelerometer initialization stuff:
+ initAccel(); // "Turn on" all axes of the accel. Set up interrupts, etc.
+ setAccelODR(aODR); // Set the accel data rate.
+ setAccelScale(aScale); // Set the accel range.
+
+ // Interrupt initialization stuff;
+ initIntr();
+
+ // Once everything is initialized, return the WHO_AM_I registers we read:
+ return xgTest;
+}
+
+void LSM6DS3::initGyro()
+{
+ char cmd[2] = {
+ CTRL2_G,
+ gScale | G_ODR_104,
+
+ };
+
+ // Write the data to the gyro control registers
+ i2c.write(xgAddress, cmd, 2);
+}
+
+void LSM6DS3::initAccel()
+{
+ char cmd[2] = {
+ CTRL1_XL,
+ (A_ODR_104 ) | (aScale) | (A_BW_400),
+ };
+
+ // Write the data to the accel control registers
+ i2c.write(xgAddress, cmd, 2);
+}
+
+void LSM6DS3::initIntr()
+{
+ char cmd[2];
+
+ cmd[0] = TAP_CFG;
+ cmd[1] = 0x0E;
+ i2c.write(xgAddress, cmd, 2);
+ cmd[0] = TAP_THS_6D;
+ cmd[1] = 0x03;
+ i2c.write(xgAddress, cmd, 2);
+ cmd[0] = INT_DUR2;
+ cmd[1] = 0x7F;
+ i2c.write(xgAddress, cmd, 2);
+ cmd[0] = WAKE_UP_THS;
+ cmd[1] = 0x80;
+ i2c.write(xgAddress, cmd, 2);
+ cmd[0] = MD1_CFG;
+ cmd[1] = 0x48;
+ i2c.write(xgAddress, cmd, 2);
+}
+
+void LSM6DS3::readAccel()
+{
+ // The data we are going to read from the accel
+ char data[6];
+
+ // Set addresses
+ char subAddressXL = OUTX_L_XL;
+ char subAddressXH = OUTX_H_XL;
+ char subAddressYL = OUTY_L_XL;
+ char subAddressYH = OUTY_H_XL;
+ char subAddressZL = OUTZ_L_XL;
+ char subAddressZH = OUTZ_H_XL;
+
+ // Write the address we are going to read from and don't end the transaction
+ i2c.write(xgAddress, &subAddressXL, 1, true);
+ // Read in register containing the axes data and alocated to the correct index
+ i2c.read(xgAddress, data, 1);
+
+ i2c.write(xgAddress, &subAddressXH, 1, true);
+ i2c.read(xgAddress, (data + 1), 1);
+ i2c.write(xgAddress, &subAddressYL, 1, true);
+ i2c.read(xgAddress, (data + 2), 1);
+ i2c.write(xgAddress, &subAddressYH, 1, true);
+ i2c.read(xgAddress, (data + 3), 1);
+ i2c.write(xgAddress, &subAddressZL, 1, true);
+ i2c.read(xgAddress, (data + 4), 1);
+ i2c.write(xgAddress, &subAddressZH, 1, true);
+ i2c.read(xgAddress, (data + 5), 1);
+
+ // Reassemble the data and convert to g
+ ax_raw = data[0] | (data[1] << 8);
+ ay_raw = data[2] | (data[3] << 8);
+ az_raw = data[4] | (data[5] << 8);
+ ax = ax_raw * aRes;
+ ay = ay_raw * aRes;
+ az = az_raw * aRes;
+}
+
+void LSM6DS3::readIntr()
+{
+ char data[1];
+ char subAddress = TAP_SRC;
+
+ i2c.write(xgAddress, &subAddress, 1, true);
+ i2c.read(xgAddress, data, 1);
+
+ intr = (float)data[0];
+}
+
+void LSM6DS3::readTemp()
+{
+ // The data we are going to read from the temp
+ char data[2];
+
+ // Set addresses
+ char subAddressL = OUT_TEMP_L;
+ char subAddressH = OUT_TEMP_H;
+
+ // Write the address we are going to read from and don't end the transaction
+ i2c.write(xgAddress, &subAddressL, 1, true);
+ // Read in register containing the temperature data and alocated to the correct index
+ i2c.read(xgAddress, data, 1);
+
+ i2c.write(xgAddress, &subAddressH, 1, true);
+ i2c.read(xgAddress, (data + 1), 1);
+
+ // Temperature is a 12-bit signed integer
+ temperature_raw = data[0] | (data[1] << 8);
+
+ temperature_c = (float)temperature_raw / 16.0 + 25.0;
+ temperature_f = temperature_c * 1.8 + 32.0;
+}
+
+
+void LSM6DS3::readGyro()
+{
+ // The data we are going to read from the gyro
+ char data[6];
+
+ // Set addresses
+ char subAddressXL = OUTX_L_G;
+ char subAddressXH = OUTX_H_G;
+ char subAddressYL = OUTY_L_G;
+ char subAddressYH = OUTY_H_G;
+ char subAddressZL = OUTZ_L_G;
+ char subAddressZH = OUTZ_H_G;
+
+ // Write the address we are going to read from and don't end the transaction
+ i2c.write(xgAddress, &subAddressXL, 1, true);
+ // Read in register containing the axes data and alocated to the correct index
+ i2c.read(xgAddress, data, 1);
+
+ i2c.write(xgAddress, &subAddressXH, 1, true);
+ i2c.read(xgAddress, (data + 1), 1);
+ i2c.write(xgAddress, &subAddressYL, 1, true);
+ i2c.read(xgAddress, (data + 2), 1);
+ i2c.write(xgAddress, &subAddressYH, 1, true);
+ i2c.read(xgAddress, (data + 3), 1);
+ i2c.write(xgAddress, &subAddressZL, 1, true);
+ i2c.read(xgAddress, (data + 4), 1);
+ i2c.write(xgAddress, &subAddressZH, 1, true);
+ i2c.read(xgAddress, (data + 5), 1);
+
+ // Reassemble the data and convert to degrees/sec
+ gx_raw = data[0] | (data[1] << 8);
+ gy_raw = data[2] | (data[3] << 8);
+ gz_raw = data[4] | (data[5] << 8);
+ gx = gx_raw * gRes;
+ gy = gy_raw * gRes;
+ gz = gz_raw * gRes;
+}
+
+void LSM6DS3::setGyroScale(gyro_scale gScl)
+{
+ // The start of the addresses we want to read from
+ char cmd[2] = {
+ CTRL2_G,
+ 0
+ };
+
+ // Write the address we are going to read from and don't end the transaction
+ i2c.write(xgAddress, cmd, 1, true);
+ // Read in all the 8 bits of data
+ i2c.read(xgAddress, cmd+1, 1);
+
+ // Then mask out the gyro scale bits:
+ cmd[1] &= 0xFF^(0x3 << 2);
+ // Then shift in our new scale bits:
+ cmd[1] |= gScl;
+
+ // Write the gyroscale out to the gyro
+ i2c.write(xgAddress, cmd, 2);
+
+ // We've updated the sensor, but we also need to update our class variables
+ // First update gScale:
+ gScale = gScl;
+ // Then calculate a new gRes, which relies on gScale being set correctly:
+ calcgRes();
+}
+
+void LSM6DS3::setAccelScale(accel_scale aScl)
+{
+ // The start of the addresses we want to read from
+ char cmd[2] = {
+ CTRL1_XL,
+ 0
+ };
+
+ // Write the address we are going to read from and don't end the transaction
+ i2c.write(xgAddress, cmd, 1, true);
+ // Read in all the 8 bits of data
+ i2c.read(xgAddress, cmd+1, 1);
+
+ // Then mask out the accel scale bits:
+ cmd[1] &= 0xFF^(0x3 << 2);
+ // Then shift in our new scale bits:
+ cmd[1] |= aScl;
+
+ // Write the accelscale out to the accel
+ i2c.write(xgAddress, cmd, 2);
+
+ // We've updated the sensor, but we also need to update our class variables
+ // First update aScale:
+ aScale = aScl;
+ // Then calculate a new aRes, which relies on aScale being set correctly:
+ calcaRes();
+}
+
+void LSM6DS3::setGyroODR(gyro_odr gRate)
+{
+ // The start of the addresses we want to read from
+ char cmd[2] = {
+ CTRL2_G,
+ 0
+ };
+
+ // Set low power based on ODR, else keep sensor on high performance
+ if(gRate == G_ODR_13_BW_0 | gRate == G_ODR_26_BW_2 | gRate == G_ODR_52_BW_16) {
+ char cmdLow[2] ={
+ CTRL7_G,
+ 1
+ };
+
+ i2c.write(xgAddress, cmdLow, 2);
+ }
+ else {
+ char cmdLow[2] ={
+ CTRL7_G,
+ 0
+ };
+
+ i2c.write(xgAddress, cmdLow, 2);
+ }
+
+ // Write the address we are going to read from and don't end the transaction
+ i2c.write(xgAddress, cmd, 1, true);
+ // Read in all the 8 bits of data
+ i2c.read(xgAddress, cmd+1, 1);
+
+ // Then mask out the gyro odr bits:
+ cmd[1] &= 0xFF^(0x0F << 4);
+ // Then shift in our new odr bits:
+ cmd[1] |= gRate;
+
+ // Write the gyroodr out to the gyro
+ i2c.write(xgAddress, cmd, 2);
+}
+
+void LSM6DS3::setAccelODR(accel_odr aRate)
+{
+ // The start of the addresses we want to read from
+ char cmd[2] = {
+ CTRL1_XL,
+ 0
+ };
+
+ // Set low power based on ODR, else keep sensor on high performance
+ if(aRate == A_ODR_13 | aRate == A_ODR_26 | aRate == A_ODR_52) {
+ char cmdLow[2] ={
+ CTRL6_C,
+ 1
+ };
+
+ i2c.write(xgAddress, cmdLow, 2);
+ }
+ else {
+ char cmdLow[2] ={
+ CTRL6_C,
+ 0
+ };
+
+ i2c.write(xgAddress, cmdLow, 2);
+ }
+
+ // Write the address we are going to read from and don't end the transaction
+ i2c.write(xgAddress, cmd, 1, true);
+ // Read in all the 8 bits of data
+ i2c.read(xgAddress, cmd+1, 1);
+
+ // Then mask out the accel odr bits:
+ cmd[1] &= 0xFF^(0x0F << 4);
+ // Then shift in our new odr bits:
+ cmd[1] |= aRate;
+
+// Serial pc(USBTX, USBRX);
+// pc.baud(921600);
+// pc.printf("i2c Command = 0x%X 0x%X \r\n", cmd[0], cmd[1] );
+// delete &pc;
+
+ // Write the accelodr out to the accel
+ i2c.write(xgAddress, cmd, 2);
+}
+
+void LSM6DS3::calcgRes()
+{
+ // Possible gyro scales (and their register bit settings) are:
+ // 245 DPS (00), 500 DPS (01), 2000 DPS (10).
+ switch (gScale)
+ {
+ case G_SCALE_245DPS:
+ gRes = 245.0 / 32768.0;
+ break;
+ case G_SCALE_500DPS:
+ gRes = 500.0 / 32768.0;
+ break;
+ case G_SCALE_2000DPS:
+ gRes = 2000.0 / 32768.0;
+ break;
+ }
+}
+
+void LSM6DS3::calcaRes()
+{
+ // Possible accelerometer scales (and their register bit settings) are:
+ // 2 g (000), 4g (001), 6g (010) 8g (011), 16g (100).
+ switch (aScale)
+ {
+ case A_SCALE_2G:
+ aRes = 2.0 / 32768.0;
+ break;
+ case A_SCALE_4G:
+ aRes = 4.0 / 32768.0;
+ break;
+ case A_SCALE_8G:
+ aRes = 8.0 / 32768.0;
+ break;
+ case A_SCALE_16G:
+ aRes = 16.0 / 32768.0;
+ break;
+ }
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/LSM6DS3_sj.h Tue May 02 17:30:18 2017 +0000
@@ -0,0 +1,307 @@
+// 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 << 2, // 00 << 3: +/- 245 degrees per second
+ G_SCALE_500DPS = 0x1 << 2, // 01 << 3: +/- 500 dps
+ G_SCALE_1000DPS = 0x2 << 2, // 10 << 3: +/- 1000 dps
+ G_SCALE_2000DPS = 0x3 << 2 // 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 = 0x00, // 00: +/- 2g
+ A_SCALE_16G = 0x04,// 01: +/- 16g
+ A_SCALE_4G = 0x08, // 10: +/- 4g
+ A_SCALE_8G = 0x0C // 11: +/- 8g
+ };
+
+ /// accel_oder defines all possible output data rates of the accelerometer:
+ enum accel_odr
+ {
+ A_POWER_DOWN=0x00, // Power-down mode (0x0)
+ A_ODR_13=0x10, // 12.5 Hz (0x1) low power
+ A_ODR_26=0x20, // 26 Hz (0x2) low power
+ A_ODR_52=0x30, // 52 Hz (0x3) low power
+ A_ODR_104=0x40, // 104 Hz (0x4) normal mode
+ A_ODR_208=0x50, // 208 Hz (0x5) normal mode
+ A_ODR_416=0x60, // 416 Hz (0x6) high performance
+ A_ODR_833=0x70, // 833 Hz (0x7) high performance
+ A_ODR_1660=0x80, // 1.66 kHz (0x8) high performance
+ A_ODR_3330=0x90, // 3.33 kHz (0x9) high performance
+ A_ODR_6660=0xA0, // 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_400 = 0x0, // 408 Hz (0x0)
+ A_BW_200 = 0x1, // 211 Hz (0x1)
+ A_BW_100 = 0x2, // 105 Hz (0x2)
+ A_BW_50 = 0x3 // 50 Hz (0x3)
+ };
+
+
+
+ // 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);
+ //void setAccelODR_NoBW(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 //