Taylor Andrews / Mbed 2 deprecated LSM9DS0

Allows for reading accelerometer, gyroscope, and magnetometer data from an LSM9DS0 IMU device

Dependencies:   mbed

Dependents:   uVGA_4180 uLCD_4180_mini ECE4781_Project

LSM9DS0.h@5:e6a15dcba942, 2015-01-11 (annotated)

Committer:
randrews33
Date:
Sun Jan 11 14:44:43 2015 +0000
Revision:
5:e6a15dcba942
Parent:
4:bf8f4e7c9905 
Gave credit where credit was due

Who changed what in which revision?

UserRevisionLine numberNew contents of line
randrews33 4:bf8f4e7c9905 1 //Most of the Credit goes to jimblom
randrews33 0:1b975a6ae539 2 #ifndef _LSM9DS0_H__
randrews33 0:1b975a6ae539 3 #define _LSM9DS0_H__
randrews33 0:1b975a6ae539 4
randrews33 0:1b975a6ae539 5 #include "mbed.h"
randrews33 0:1b975a6ae539 6 #include "I2Cdev.h"
randrews33 0:1b975a6ae539 7
randrews33 0:1b975a6ae539 8
randrews33 0:1b975a6ae539 9 ////////////////////////////
randrews33 0:1b975a6ae539 10 // LSM9DS0 Gyro Registers //
randrews33 0:1b975a6ae539 11 ////////////////////////////
randrews33 0:1b975a6ae539 12 #define WHO_AM_I_G 0x0F
randrews33 0:1b975a6ae539 13 #define CTRL_REG1_G 0x20
randrews33 0:1b975a6ae539 14 #define CTRL_REG2_G 0x21
randrews33 0:1b975a6ae539 15 #define CTRL_REG3_G 0x22
randrews33 0:1b975a6ae539 16 #define CTRL_REG4_G 0x23
randrews33 0:1b975a6ae539 17 #define CTRL_REG5_G 0x24
randrews33 0:1b975a6ae539 18 #define REFERENCE_G 0x25
randrews33 0:1b975a6ae539 19 #define STATUS_REG_G 0x27
randrews33 0:1b975a6ae539 20 #define OUT_X_L_G 0x28
randrews33 0:1b975a6ae539 21 #define OUT_X_H_G 0x29
randrews33 0:1b975a6ae539 22 #define OUT_Y_L_G 0x2A
randrews33 0:1b975a6ae539 23 #define OUT_Y_H_G 0x2B
randrews33 0:1b975a6ae539 24 #define OUT_Z_L_G 0x2C
randrews33 0:1b975a6ae539 25 #define OUT_Z_H_G 0x2D
randrews33 0:1b975a6ae539 26 #define FIFO_CTRL_REG_G 0x2E
randrews33 0:1b975a6ae539 27 #define FIFO_SRC_REG_G 0x2F
randrews33 0:1b975a6ae539 28 #define INT1_CFG_G 0x30
randrews33 0:1b975a6ae539 29 #define INT1_SRC_G 0x31
randrews33 0:1b975a6ae539 30 #define INT1_THS_XH_G 0x32
randrews33 0:1b975a6ae539 31 #define INT1_THS_XL_G 0x33
randrews33 0:1b975a6ae539 32 #define INT1_THS_YH_G 0x34
randrews33 0:1b975a6ae539 33 #define INT1_THS_YL_G 0x35
randrews33 0:1b975a6ae539 34 #define INT1_THS_ZH_G 0x36
randrews33 0:1b975a6ae539 35 #define INT1_THS_ZL_G 0x37
randrews33 0:1b975a6ae539 36 #define INT1_DURATION_G 0x38
randrews33 0:1b975a6ae539 37
randrews33 0:1b975a6ae539 38 //////////////////////////////////////////
randrews33 0:1b975a6ae539 39 // LSM9DS0 Accel/Magneto (XM) Registers //
randrews33 0:1b975a6ae539 40 //////////////////////////////////////////
randrews33 0:1b975a6ae539 41 #define OUT_TEMP_L_XM 0x05
randrews33 0:1b975a6ae539 42 #define OUT_TEMP_H_XM 0x06
randrews33 0:1b975a6ae539 43 #define STATUS_REG_M 0x07
randrews33 0:1b975a6ae539 44 #define OUT_X_L_M 0x08
randrews33 0:1b975a6ae539 45 #define OUT_X_H_M 0x09
randrews33 0:1b975a6ae539 46 #define OUT_Y_L_M 0x0A
randrews33 0:1b975a6ae539 47 #define OUT_Y_H_M 0x0B
randrews33 0:1b975a6ae539 48 #define OUT_Z_L_M 0x0C
randrews33 0:1b975a6ae539 49 #define OUT_Z_H_M 0x0D
randrews33 0:1b975a6ae539 50 #define WHO_AM_I_XM 0x0F
randrews33 0:1b975a6ae539 51 #define INT_CTRL_REG_M 0x12
randrews33 0:1b975a6ae539 52 #define INT_SRC_REG_M 0x13
randrews33 0:1b975a6ae539 53 #define INT_THS_L_M 0x14
randrews33 0:1b975a6ae539 54 #define INT_THS_H_M 0x15
randrews33 0:1b975a6ae539 55 #define OFFSET_X_L_M 0x16
randrews33 0:1b975a6ae539 56 #define OFFSET_X_H_M 0x17
randrews33 0:1b975a6ae539 57 #define OFFSET_Y_L_M 0x18
randrews33 0:1b975a6ae539 58 #define OFFSET_Y_H_M 0x19
randrews33 0:1b975a6ae539 59 #define OFFSET_Z_L_M 0x1A
randrews33 0:1b975a6ae539 60 #define OFFSET_Z_H_M 0x1B
randrews33 0:1b975a6ae539 61 #define REFERENCE_X 0x1C
randrews33 0:1b975a6ae539 62 #define REFERENCE_Y 0x1D
randrews33 0:1b975a6ae539 63 #define REFERENCE_Z 0x1E
randrews33 0:1b975a6ae539 64 #define CTRL_REG0_XM 0x1F
randrews33 0:1b975a6ae539 65 #define CTRL_REG1_XM 0x20
randrews33 0:1b975a6ae539 66 #define CTRL_REG2_XM 0x21
randrews33 0:1b975a6ae539 67 #define CTRL_REG3_XM 0x22
randrews33 0:1b975a6ae539 68 #define CTRL_REG4_XM 0x23
randrews33 0:1b975a6ae539 69 #define CTRL_REG5_XM 0x24
randrews33 0:1b975a6ae539 70 #define CTRL_REG6_XM 0x25
randrews33 0:1b975a6ae539 71 #define CTRL_REG7_XM 0x26
randrews33 0:1b975a6ae539 72 #define STATUS_REG_A 0x27
randrews33 0:1b975a6ae539 73 #define OUT_X_L_A 0x28
randrews33 0:1b975a6ae539 74 #define OUT_X_H_A 0x29
randrews33 0:1b975a6ae539 75 #define OUT_Y_L_A 0x2A
randrews33 0:1b975a6ae539 76 #define OUT_Y_H_A 0x2B
randrews33 0:1b975a6ae539 77 #define OUT_Z_L_A 0x2C
randrews33 0:1b975a6ae539 78 #define OUT_Z_H_A 0x2D
randrews33 0:1b975a6ae539 79 #define FIFO_CTRL_REG 0x2E
randrews33 0:1b975a6ae539 80 #define FIFO_SRC_REG 0x2F
randrews33 0:1b975a6ae539 81 #define INT_GEN_1_REG 0x30
randrews33 0:1b975a6ae539 82 #define INT_GEN_1_SRC 0x31
randrews33 0:1b975a6ae539 83 #define INT_GEN_1_THS 0x32
randrews33 0:1b975a6ae539 84 #define INT_GEN_1_DURATION 0x33
randrews33 0:1b975a6ae539 85 #define INT_GEN_2_REG 0x34
randrews33 0:1b975a6ae539 86 #define INT_GEN_2_SRC 0x35
randrews33 0:1b975a6ae539 87 #define INT_GEN_2_THS 0x36
randrews33 0:1b975a6ae539 88 #define INT_GEN_2_DURATION 0x37
randrews33 0:1b975a6ae539 89 #define CLICK_CFG 0x38
randrews33 0:1b975a6ae539 90 #define CLICK_SRC 0x39
randrews33 0:1b975a6ae539 91 #define CLICK_THS 0x3A
randrews33 0:1b975a6ae539 92 #define TIME_LIMIT 0x3B
randrews33 0:1b975a6ae539 93 #define TIME_LATENCY 0x3C
randrews33 0:1b975a6ae539 94 #define TIME_WINDOW 0x3D
randrews33 0:1b975a6ae539 95 #define ACT_THS 0x3E
randrews33 0:1b975a6ae539 96 #define ACT_DUR 0x3F
randrews33 0:1b975a6ae539 97
randrews33 0:1b975a6ae539 98
randrews33 0:1b975a6ae539 99 class LSM9DS0
randrews33 0:1b975a6ae539 100 {
randrews33 0:1b975a6ae539 101 public:
randrews33 0:1b975a6ae539 102 // gyro_scale defines the possible full-scale ranges of the gyroscope:
randrews33 0:1b975a6ae539 103 enum gyro_scale
randrews33 0:1b975a6ae539 104 {
randrews33 0:1b975a6ae539 105 G_SCALE_245DPS, // 00: +/- 245 degrees per second
randrews33 0:1b975a6ae539 106 G_SCALE_500DPS, // 01: +/- 500 dps
randrews33 0:1b975a6ae539 107 G_SCALE_2000DPS, // 10: +/- 2000 dps
randrews33 0:1b975a6ae539 108 };
randrews33 0:1b975a6ae539 109 // accel_scale defines all possible FSR's of the accelerometer:
randrews33 0:1b975a6ae539 110 enum accel_scale
randrews33 0:1b975a6ae539 111 {
randrews33 0:1b975a6ae539 112 A_SCALE_2G, // 000: +/- 2g
randrews33 0:1b975a6ae539 113 A_SCALE_4G, // 001: +/- 4g
randrews33 0:1b975a6ae539 114 A_SCALE_6G, // 010: +/- 6g
randrews33 0:1b975a6ae539 115 A_SCALE_8G, // 011: +/- 8g
randrews33 0:1b975a6ae539 116 A_SCALE_16G // 100: +/- 16g
randrews33 0:1b975a6ae539 117 };
randrews33 0:1b975a6ae539 118 // mag_scale defines all possible FSR's of the magnetometer:
randrews33 0:1b975a6ae539 119 enum mag_scale
randrews33 0:1b975a6ae539 120 {
randrews33 0:1b975a6ae539 121 M_SCALE_2GS, // 00: +/- 2Gs
randrews33 0:1b975a6ae539 122 M_SCALE_4GS, // 01: +/- 4Gs
randrews33 0:1b975a6ae539 123 M_SCALE_8GS, // 10: +/- 8Gs
randrews33 0:1b975a6ae539 124 M_SCALE_12GS, // 11: +/- 12Gs
randrews33 0:1b975a6ae539 125 };
randrews33 0:1b975a6ae539 126 // gyro_odr defines all possible data rate/bandwidth combos of the gyro:
randrews33 0:1b975a6ae539 127 enum gyro_odr
randrews33 0:1b975a6ae539 128 { // ODR (Hz) --- Cutoff
randrews33 0:1b975a6ae539 129 G_ODR_95_BW_125 = 0x0, // 95 12.5
randrews33 0:1b975a6ae539 130 G_ODR_95_BW_25 = 0x1, // 95 25
randrews33 0:1b975a6ae539 131 // 0x2 and 0x3 define the same data rate and bandwidth
randrews33 0:1b975a6ae539 132 G_ODR_190_BW_125 = 0x4, // 190 12.5
randrews33 0:1b975a6ae539 133 G_ODR_190_BW_25 = 0x5, // 190 25
randrews33 0:1b975a6ae539 134 G_ODR_190_BW_50 = 0x6, // 190 50
randrews33 0:1b975a6ae539 135 G_ODR_190_BW_70 = 0x7, // 190 70
randrews33 0:1b975a6ae539 136 G_ODR_380_BW_20 = 0x8, // 380 20
randrews33 0:1b975a6ae539 137 G_ODR_380_BW_25 = 0x9, // 380 25
randrews33 0:1b975a6ae539 138 G_ODR_380_BW_50 = 0xA, // 380 50
randrews33 0:1b975a6ae539 139 G_ODR_380_BW_100 = 0xB, // 380 100
randrews33 0:1b975a6ae539 140 G_ODR_760_BW_30 = 0xC, // 760 30
randrews33 0:1b975a6ae539 141 G_ODR_760_BW_35 = 0xD, // 760 35
randrews33 0:1b975a6ae539 142 G_ODR_760_BW_50 = 0xE, // 760 50
randrews33 0:1b975a6ae539 143 G_ODR_760_BW_100 = 0xF, // 760 100
randrews33 0:1b975a6ae539 144 };
randrews33 0:1b975a6ae539 145 // accel_oder defines all possible output data rates of the accelerometer:
randrews33 0:1b975a6ae539 146 enum accel_odr
randrews33 0:1b975a6ae539 147 {
randrews33 0:1b975a6ae539 148 A_POWER_DOWN, // Power-down mode (0x0)
randrews33 0:1b975a6ae539 149 A_ODR_3125, // 3.125 Hz (0x1)
randrews33 0:1b975a6ae539 150 A_ODR_625, // 6.25 Hz (0x2)
randrews33 0:1b975a6ae539 151 A_ODR_125, // 12.5 Hz (0x3)
randrews33 0:1b975a6ae539 152 A_ODR_25, // 25 Hz (0x4)
randrews33 0:1b975a6ae539 153 A_ODR_50, // 50 Hz (0x5)
randrews33 0:1b975a6ae539 154 A_ODR_100, // 100 Hz (0x6)
randrews33 0:1b975a6ae539 155 A_ODR_200, // 200 Hz (0x7)
randrews33 0:1b975a6ae539 156 A_ODR_400, // 400 Hz (0x8)
randrews33 0:1b975a6ae539 157 A_ODR_800, // 800 Hz (9)
randrews33 0:1b975a6ae539 158 A_ODR_1600 // 1600 Hz (0xA)
randrews33 0:1b975a6ae539 159 };
randrews33 0:1b975a6ae539 160 // accel_oder defines all possible output data rates of the magnetometer:
randrews33 0:1b975a6ae539 161 enum mag_odr
randrews33 0:1b975a6ae539 162 {
randrews33 0:1b975a6ae539 163 M_ODR_3125, // 3.125 Hz (0x00)
randrews33 0:1b975a6ae539 164 M_ODR_625, // 6.25 Hz (0x01)
randrews33 0:1b975a6ae539 165 M_ODR_125, // 12.5 Hz (0x02)
randrews33 0:1b975a6ae539 166 M_ODR_25, // 25 Hz (0x03)
randrews33 0:1b975a6ae539 167 M_ODR_50, // 50 (0x04)
randrews33 0:1b975a6ae539 168 M_ODR_100, // 100 Hz (0x05)
randrews33 0:1b975a6ae539 169 };
randrews33 0:1b975a6ae539 170
randrews33 0:1b975a6ae539 171 // We'll store the gyro, accel, and magnetometer readings in a series of
randrews33 0:1b975a6ae539 172 // public class variables. Each sensor gets three variables -- one for each
randrews33 0:1b975a6ae539 173 // axis. Call readGyro(), readAccel(), and readMag() first, before using
randrews33 0:1b975a6ae539 174 // these variables!
randrews33 0:1b975a6ae539 175 // These values are the RAW signed 16-bit readings from the sensors.
randrews33 0:1b975a6ae539 176 int16_t gx, gy, gz; // x, y, and z axis readings of the gyroscope
randrews33 0:1b975a6ae539 177 int16_t ax, ay, az; // x, y, and z axis readings of the accelerometer
randrews33 0:1b975a6ae539 178 int16_t mx, my, mz; // x, y, and z axis readings of the magnetometer
randrews33 4:bf8f4e7c9905 179 int16_t temperature;
randrews33 4:bf8f4e7c9905 180 float abias[3];
randrews33 4:bf8f4e7c9905 181 float gbias[3];
randrews33 4:bf8f4e7c9905 182
randrews33 0:1b975a6ae539 183
randrews33 0:1b975a6ae539 184 // LSM9DS0 -- LSM9DS0 class constructor
randrews33 0:1b975a6ae539 185 // The constructor will set up a handful of private variables, and set the
randrews33 0:1b975a6ae539 186 // communication mode as well.
randrews33 0:1b975a6ae539 187 // Input:
randrews33 0:1b975a6ae539 188 // - interface = Either MODE_SPI or MODE_I2C, whichever you're using
randrews33 0:1b975a6ae539 189 // to talk to the IC.
randrews33 0:1b975a6ae539 190 // - gAddr = If MODE_I2C, this is the I2C address of the gyroscope.
randrews33 0:1b975a6ae539 191 // If MODE_SPI, this is the chip select pin of the gyro (CSG)
randrews33 0:1b975a6ae539 192 // - xmAddr = If MODE_I2C, this is the I2C address of the accel/mag.
randrews33 0:1b975a6ae539 193 // If MODE_SPI, this is the cs pin of the accel/mag (CSXM)
randrews33 0:1b975a6ae539 194 LSM9DS0(PinName sda, PinName scl, uint8_t gAddr, uint8_t xmAddr);
randrews33 0:1b975a6ae539 195
randrews33 0:1b975a6ae539 196 // begin() -- Initialize the gyro, accelerometer, and magnetometer.
randrews33 0:1b975a6ae539 197 // This will set up the scale and output rate of each sensor. It'll also
randrews33 0:1b975a6ae539 198 // "turn on" every sensor and every axis of every sensor.
randrews33 0:1b975a6ae539 199 // Input:
randrews33 0:1b975a6ae539 200 // - gScl = The scale of the gyroscope. This should be a gyro_scale value.
randrews33 0:1b975a6ae539 201 // - aScl = The scale of the accelerometer. Should be a accel_scale value.
randrews33 0:1b975a6ae539 202 // - mScl = The scale of the magnetometer. Should be a mag_scale value.
randrews33 0:1b975a6ae539 203 // - gODR = Output data rate of the gyroscope. gyro_odr value.
randrews33 0:1b975a6ae539 204 // - aODR = Output data rate of the accelerometer. accel_odr value.
randrews33 0:1b975a6ae539 205 // - mODR = Output data rate of the magnetometer. mag_odr value.
randrews33 0:1b975a6ae539 206 // Output: The function will return an unsigned 16-bit value. The most-sig
randrews33 0:1b975a6ae539 207 // bytes of the output are the WHO_AM_I reading of the accel. The
randrews33 0:1b975a6ae539 208 // least significant two bytes are the WHO_AM_I reading of the gyro.
randrews33 0:1b975a6ae539 209 // All parameters have a defaulted value, so you can call just "begin()".
randrews33 0:1b975a6ae539 210 // Default values are FSR's of: +/- 245DPS, 2g, 2Gs; ODRs of 95 Hz for
randrews33 0:1b975a6ae539 211 // gyro, 100 Hz for accelerometer, 100 Hz for magnetometer.
randrews33 0:1b975a6ae539 212 // Use the return value of this function to verify communication.
randrews33 0:1b975a6ae539 213 uint16_t begin(gyro_scale gScl = G_SCALE_245DPS,
randrews33 0:1b975a6ae539 214 accel_scale aScl = A_SCALE_2G, mag_scale mScl = M_SCALE_2GS,
randrews33 0:1b975a6ae539 215 gyro_odr gODR = G_ODR_95_BW_125, accel_odr aODR = A_ODR_50,
randrews33 0:1b975a6ae539 216 mag_odr mODR = M_ODR_50);
randrews33 0:1b975a6ae539 217
randrews33 0:1b975a6ae539 218 // readGyro() -- Read the gyroscope output registers.
randrews33 0:1b975a6ae539 219 // This function will read all six gyroscope output registers.
randrews33 0:1b975a6ae539 220 // The readings are stored in the class' gx, gy, and gz variables. Read
randrews33 0:1b975a6ae539 221 // those _after_ calling readGyro().
randrews33 0:1b975a6ae539 222 void readGyro();
randrews33 0:1b975a6ae539 223
randrews33 0:1b975a6ae539 224 // readAccel() -- Read the accelerometer output registers.
randrews33 0:1b975a6ae539 225 // This function will read all six accelerometer output registers.
randrews33 0:1b975a6ae539 226 // The readings are stored in the class' ax, ay, and az variables. Read
randrews33 0:1b975a6ae539 227 // those _after_ calling readAccel().
randrews33 0:1b975a6ae539 228 void readAccel();
randrews33 0:1b975a6ae539 229
randrews33 0:1b975a6ae539 230 // readMag() -- Read the magnetometer output registers.
randrews33 0:1b975a6ae539 231 // This function will read all six magnetometer output registers.
randrews33 0:1b975a6ae539 232 // The readings are stored in the class' mx, my, and mz variables. Read
randrews33 0:1b975a6ae539 233 // those _after_ calling readMag().
randrews33 0:1b975a6ae539 234 void readMag();
randrews33 0:1b975a6ae539 235
randrews33 4:bf8f4e7c9905 236 // readTemp() -- Read the temperature output register.
randrews33 4:bf8f4e7c9905 237 // This function will read two temperature output registers.
randrews33 4:bf8f4e7c9905 238 // The combined readings are stored in the class' temperature variables. Read
randrews33 4:bf8f4e7c9905 239 // those _after_ calling readTemp().
randrews33 4:bf8f4e7c9905 240 void readTemp();
randrews33 4:bf8f4e7c9905 241
randrews33 0:1b975a6ae539 242 // calcGyro() -- Convert from RAW signed 16-bit value to degrees per second
randrews33 0:1b975a6ae539 243 // This function reads in a signed 16-bit value and returns the scaled
randrews33 0:1b975a6ae539 244 // DPS. This function relies on gScale and gRes being correct.
randrews33 0:1b975a6ae539 245 // Input:
randrews33 0:1b975a6ae539 246 // - gyro = A signed 16-bit raw reading from the gyroscope.
randrews33 0:1b975a6ae539 247 float calcGyro(int16_t gyro);
randrews33 0:1b975a6ae539 248
randrews33 0:1b975a6ae539 249 // calcAccel() -- Convert from RAW signed 16-bit value to gravity (g's).
randrews33 0:1b975a6ae539 250 // This function reads in a signed 16-bit value and returns the scaled
randrews33 0:1b975a6ae539 251 // g's. This function relies on aScale and aRes being correct.
randrews33 0:1b975a6ae539 252 // Input:
randrews33 0:1b975a6ae539 253 // - accel = A signed 16-bit raw reading from the accelerometer.
randrews33 0:1b975a6ae539 254 float calcAccel(int16_t accel);
randrews33 0:1b975a6ae539 255
randrews33 0:1b975a6ae539 256 // calcMag() -- Convert from RAW signed 16-bit value to Gauss (Gs)
randrews33 0:1b975a6ae539 257 // This function reads in a signed 16-bit value and returns the scaled
randrews33 0:1b975a6ae539 258 // Gs. This function relies on mScale and mRes being correct.
randrews33 0:1b975a6ae539 259 // Input:
randrews33 0:1b975a6ae539 260 // - mag = A signed 16-bit raw reading from the magnetometer.
randrews33 0:1b975a6ae539 261 float calcMag(int16_t mag);
randrews33 0:1b975a6ae539 262
randrews33 0:1b975a6ae539 263 // setGyroScale() -- Set the full-scale range of the gyroscope.
randrews33 0:1b975a6ae539 264 // This function can be called to set the scale of the gyroscope to
randrews33 0:1b975a6ae539 265 // 245, 500, or 200 degrees per second.
randrews33 0:1b975a6ae539 266 // Input:
randrews33 0:1b975a6ae539 267 // - gScl = The desired gyroscope scale. Must be one of three possible
randrews33 0:1b975a6ae539 268 // values from the gyro_scale enum.
randrews33 0:1b975a6ae539 269 void setGyroScale(gyro_scale gScl);
randrews33 0:1b975a6ae539 270
randrews33 0:1b975a6ae539 271 // setAccelScale() -- Set the full-scale range of the accelerometer.
randrews33 0:1b975a6ae539 272 // This function can be called to set the scale of the accelerometer to
randrews33 0:1b975a6ae539 273 // 2, 4, 6, 8, or 16 g's.
randrews33 0:1b975a6ae539 274 // Input:
randrews33 0:1b975a6ae539 275 // - aScl = The desired accelerometer scale. Must be one of five possible
randrews33 0:1b975a6ae539 276 // values from the accel_scale enum.
randrews33 0:1b975a6ae539 277 void setAccelScale(accel_scale aScl);
randrews33 0:1b975a6ae539 278
randrews33 0:1b975a6ae539 279 // setMagScale() -- Set the full-scale range of the magnetometer.
randrews33 0:1b975a6ae539 280 // This function can be called to set the scale of the magnetometer to
randrews33 0:1b975a6ae539 281 // 2, 4, 8, or 12 Gs.
randrews33 0:1b975a6ae539 282 // Input:
randrews33 0:1b975a6ae539 283 // - mScl = The desired magnetometer scale. Must be one of four possible
randrews33 0:1b975a6ae539 284 // values from the mag_scale enum.
randrews33 0:1b975a6ae539 285 void setMagScale(mag_scale mScl);
randrews33 0:1b975a6ae539 286
randrews33 0:1b975a6ae539 287 // setGyroODR() -- Set the output data rate and bandwidth of the gyroscope
randrews33 0:1b975a6ae539 288 // Input:
randrews33 0:1b975a6ae539 289 // - gRate = The desired output rate and cutoff frequency of the gyro.
randrews33 0:1b975a6ae539 290 // Must be a value from the gyro_odr enum (check above, there're 14).
randrews33 0:1b975a6ae539 291 void setGyroODR(gyro_odr gRate);
randrews33 0:1b975a6ae539 292
randrews33 0:1b975a6ae539 293 // setAccelODR() -- Set the output data rate of the accelerometer
randrews33 0:1b975a6ae539 294 // Input:
randrews33 0:1b975a6ae539 295 // - aRate = The desired output rate of the accel.
randrews33 0:1b975a6ae539 296 // Must be a value from the accel_odr enum (check above, there're 11).
randrews33 0:1b975a6ae539 297 void setAccelODR(accel_odr aRate);
randrews33 0:1b975a6ae539 298
randrews33 0:1b975a6ae539 299 // setMagODR() -- Set the output data rate of the magnetometer
randrews33 0:1b975a6ae539 300 // Input:
randrews33 0:1b975a6ae539 301 // - mRate = The desired output rate of the mag.
randrews33 0:1b975a6ae539 302 // Must be a value from the mag_odr enum (check above, there're 6).
randrews33 0:1b975a6ae539 303 void setMagODR(mag_odr mRate);
randrews33 0:1b975a6ae539 304
randrews33 0:1b975a6ae539 305 // configGyroInt() -- Configure the gyro interrupt output.
randrews33 0:1b975a6ae539 306 // Triggers can be set to either rising above or falling below a specified
randrews33 0:1b975a6ae539 307 // threshold. This function helps setup the interrupt configuration and
randrews33 0:1b975a6ae539 308 // threshold values for all axes.
randrews33 0:1b975a6ae539 309 // Input:
randrews33 0:1b975a6ae539 310 // - int1Cfg = A 8-bit value that is sent directly to the INT1_CFG_G
randrews33 0:1b975a6ae539 311 // register. This sets AND/OR and high/low interrupt gen for each axis
randrews33 0:1b975a6ae539 312 // - int1ThsX = 16-bit interrupt threshold value for x-axis
randrews33 0:1b975a6ae539 313 // - int1ThsY = 16-bit interrupt threshold value for y-axis
randrews33 0:1b975a6ae539 314 // - int1ThsZ = 16-bit interrupt threshold value for z-axis
randrews33 0:1b975a6ae539 315 // - duration = Duration an interrupt holds after triggered. This value
randrews33 0:1b975a6ae539 316 // is copied directly into the INT1_DURATION_G register.
randrews33 0:1b975a6ae539 317 // Before using this function, read about the INT1_CFG_G register and
randrews33 0:1b975a6ae539 318 // the related INT1* registers in the LMS9DS0 datasheet.
randrews33 0:1b975a6ae539 319 void configGyroInt(uint8_t int1Cfg, uint16_t int1ThsX = 0,
randrews33 0:1b975a6ae539 320 uint16_t int1ThsY = 0, uint16_t int1ThsZ = 0,
randrews33 0:1b975a6ae539 321 uint8_t duration = 0);
randrews33 4:bf8f4e7c9905 322
randrews33 4:bf8f4e7c9905 323 void calLSM9DS0(float gbias[3], float abias[3]);
randrews33 4:bf8f4e7c9905 324
randrews33 0:1b975a6ae539 325
randrews33 0:1b975a6ae539 326 private:
randrews33 4:bf8f4e7c9905 327 // xmAddress and gAddress store the I2C address
randrews33 0:1b975a6ae539 328 // for each sensor.
randrews33 0:1b975a6ae539 329 uint8_t xmAddress, gAddress;
randrews33 0:1b975a6ae539 330
randrews33 0:1b975a6ae539 331 // gScale, aScale, and mScale store the current scale range for each
randrews33 0:1b975a6ae539 332 // sensor. Should be updated whenever that value changes.
randrews33 0:1b975a6ae539 333 gyro_scale gScale;
randrews33 0:1b975a6ae539 334 accel_scale aScale;
randrews33 0:1b975a6ae539 335 mag_scale mScale;
randrews33 0:1b975a6ae539 336
randrews33 0:1b975a6ae539 337 // gRes, aRes, and mRes store the current resolution for each sensor.
randrews33 0:1b975a6ae539 338 // Units of these values would be DPS (or g's or Gs's) per ADC tick.
randrews33 0:1b975a6ae539 339 // This value is calculated as (sensor scale) / (2^15).
randrews33 0:1b975a6ae539 340 float gRes, aRes, mRes;
randrews33 0:1b975a6ae539 341
randrews33 0:1b975a6ae539 342 // initGyro() -- Sets up the gyroscope to begin reading.
randrews33 0:1b975a6ae539 343 // This function steps through all five gyroscope control registers.
randrews33 0:1b975a6ae539 344 // Upon exit, the following parameters will be set:
randrews33 0:1b975a6ae539 345 // - CTRL_REG1_G = 0x0F: Normal operation mode, all axes enabled.
randrews33 0:1b975a6ae539 346 // 95 Hz ODR, 12.5 Hz cutoff frequency.
randrews33 0:1b975a6ae539 347 // - CTRL_REG2_G = 0x00: HPF set to normal mode, cutoff frequency
randrews33 0:1b975a6ae539 348 // set to 7.2 Hz (depends on ODR).
randrews33 0:1b975a6ae539 349 // - CTRL_REG3_G = 0x88: Interrupt enabled on INT_G (set to push-pull and
randrews33 0:1b975a6ae539 350 // active high). Data-ready output enabled on DRDY_G.
randrews33 0:1b975a6ae539 351 // - CTRL_REG4_G = 0x00: Continuous update mode. Data LSB stored in lower
randrews33 0:1b975a6ae539 352 // address. Scale set to 245 DPS. SPI mode set to 4-wire.
randrews33 0:1b975a6ae539 353 // - CTRL_REG5_G = 0x00: FIFO disabled. HPF disabled.
randrews33 0:1b975a6ae539 354 void initGyro();
randrews33 0:1b975a6ae539 355
randrews33 0:1b975a6ae539 356 // initAccel() -- Sets up the accelerometer to begin reading.
randrews33 0:1b975a6ae539 357 // This function steps through all accelerometer related control registers.
randrews33 0:1b975a6ae539 358 // Upon exit these registers will be set as:
randrews33 0:1b975a6ae539 359 // - CTRL_REG0_XM = 0x00: FIFO disabled. HPF bypassed. Normal mode.
randrews33 0:1b975a6ae539 360 // - CTRL_REG1_XM = 0x57: 100 Hz data rate. Continuous update.
randrews33 0:1b975a6ae539 361 // all axes enabled.
randrews33 0:1b975a6ae539 362 // - CTRL_REG2_XM = 0x00: +/- 2g scale. 773 Hz anti-alias filter BW.
randrews33 0:1b975a6ae539 363 // - CTRL_REG3_XM = 0x04: Accel data ready signal on INT1_XM pin.
randrews33 0:1b975a6ae539 364 void initAccel();
randrews33 0:1b975a6ae539 365
randrews33 0:1b975a6ae539 366 // initMag() -- Sets up the magnetometer to begin reading.
randrews33 0:1b975a6ae539 367 // This function steps through all magnetometer-related control registers.
randrews33 0:1b975a6ae539 368 // Upon exit these registers will be set as:
randrews33 0:1b975a6ae539 369 // - CTRL_REG4_XM = 0x04: Mag data ready signal on INT2_XM pin.
randrews33 0:1b975a6ae539 370 // - CTRL_REG5_XM = 0x14: 100 Hz update rate. Low resolution. Interrupt
randrews33 0:1b975a6ae539 371 // requests don't latch. Temperature sensor disabled.
randrews33 0:1b975a6ae539 372 // - CTRL_REG6_XM = 0x00: +/- 2 Gs scale.
randrews33 0:1b975a6ae539 373 // - CTRL_REG7_XM = 0x00: Continuous conversion mode. Normal HPF mode.
randrews33 0:1b975a6ae539 374 // - INT_CTRL_REG_M = 0x09: Interrupt active-high. Enable interrupts.
randrews33 0:1b975a6ae539 375 void initMag();
randrews33 0:1b975a6ae539 376
randrews33 0:1b975a6ae539 377 // gReadByte() -- Reads a byte from a specified gyroscope register.
randrews33 0:1b975a6ae539 378 // Input:
randrews33 0:1b975a6ae539 379 // - subAddress = Register to be read from.
randrews33 0:1b975a6ae539 380 // Output:
randrews33 0:1b975a6ae539 381 // - An 8-bit value read from the requested address.
randrews33 0:1b975a6ae539 382 uint8_t gReadByte(uint8_t subAddress);
randrews33 0:1b975a6ae539 383
randrews33 0:1b975a6ae539 384 // gReadBytes() -- Reads a number of bytes -- beginning at an address
randrews33 0:1b975a6ae539 385 // and incrementing from there -- from the gyroscope.
randrews33 0:1b975a6ae539 386 // Input:
randrews33 0:1b975a6ae539 387 // - subAddress = Register to be read from.
randrews33 0:1b975a6ae539 388 // - * dest = A pointer to an array of uint8_t's. Values read will be
randrews33 0:1b975a6ae539 389 // stored in here on return.
randrews33 0:1b975a6ae539 390 // - count = The number of bytes to be read.
randrews33 0:1b975a6ae539 391 // Output: No value is returned, but the `dest` array will store
randrews33 0:1b975a6ae539 392 // the data read upon exit.
randrews33 0:1b975a6ae539 393 void gReadBytes(uint8_t subAddress, uint8_t * dest, uint8_t count);
randrews33 0:1b975a6ae539 394
randrews33 0:1b975a6ae539 395 // gWriteByte() -- Write a byte to a register in the gyroscope.
randrews33 0:1b975a6ae539 396 // Input:
randrews33 0:1b975a6ae539 397 // - subAddress = Register to be written to.
randrews33 0:1b975a6ae539 398 // - data = data to be written to the register.
randrews33 0:1b975a6ae539 399 void gWriteByte(uint8_t subAddress, uint8_t data);
randrews33 0:1b975a6ae539 400
randrews33 0:1b975a6ae539 401 // xmReadByte() -- Read a byte from a register in the accel/mag sensor
randrews33 0:1b975a6ae539 402 // Input:
randrews33 0:1b975a6ae539 403 // - subAddress = Register to be read from.
randrews33 0:1b975a6ae539 404 // Output:
randrews33 0:1b975a6ae539 405 // - An 8-bit value read from the requested register.
randrews33 0:1b975a6ae539 406 uint8_t xmReadByte(uint8_t subAddress);
randrews33 0:1b975a6ae539 407
randrews33 0:1b975a6ae539 408 // xmReadBytes() -- Reads a number of bytes -- beginning at an address
randrews33 0:1b975a6ae539 409 // and incrementing from there -- from the accelerometer/magnetometer.
randrews33 0:1b975a6ae539 410 // Input:
randrews33 0:1b975a6ae539 411 // - subAddress = Register to be read from.
randrews33 0:1b975a6ae539 412 // - * dest = A pointer to an array of uint8_t's. Values read will be
randrews33 0:1b975a6ae539 413 // stored in here on return.
randrews33 0:1b975a6ae539 414 // - count = The number of bytes to be read.
randrews33 0:1b975a6ae539 415 // Output: No value is returned, but the `dest` array will store
randrews33 0:1b975a6ae539 416 // the data read upon exit.
randrews33 0:1b975a6ae539 417 void xmReadBytes(uint8_t subAddress, uint8_t * dest, uint8_t count);
randrews33 0:1b975a6ae539 418
randrews33 0:1b975a6ae539 419 // xmWriteByte() -- Write a byte to a register in the accel/mag sensor.
randrews33 0:1b975a6ae539 420 // Input:
randrews33 0:1b975a6ae539 421 // - subAddress = Register to be written to.
randrews33 0:1b975a6ae539 422 // - data = data to be written to the register.
randrews33 0:1b975a6ae539 423 void xmWriteByte(uint8_t subAddress, uint8_t data);
randrews33 0:1b975a6ae539 424
randrews33 0:1b975a6ae539 425 // calcgRes() -- Calculate the resolution of the gyroscope.
randrews33 0:1b975a6ae539 426 // This function will set the value of the gRes variable. gScale must
randrews33 0:1b975a6ae539 427 // be set prior to calling this function.
randrews33 0:1b975a6ae539 428 void calcgRes();
randrews33 0:1b975a6ae539 429
randrews33 0:1b975a6ae539 430 // calcmRes() -- Calculate the resolution of the magnetometer.
randrews33 0:1b975a6ae539 431 // This function will set the value of the mRes variable. mScale must
randrews33 0:1b975a6ae539 432 // be set prior to calling this function.
randrews33 0:1b975a6ae539 433 void calcmRes();
randrews33 0:1b975a6ae539 434
randrews33 0:1b975a6ae539 435 // calcaRes() -- Calculate the resolution of the accelerometer.
randrews33 0:1b975a6ae539 436 // This function will set the value of the aRes variable. aScale must
randrews33 0:1b975a6ae539 437 // be set prior to calling this function.
randrews33 0:1b975a6ae539 438 void calcaRes();
randrews33 0:1b975a6ae539 439
randrews33 0:1b975a6ae539 440
randrews33 0:1b975a6ae539 441 ///////////////////
randrews33 0:1b975a6ae539 442 // I2C Functions //
randrews33 0:1b975a6ae539 443 ///////////////////
randrews33 4:bf8f4e7c9905 444 I2Cdev* i2c_;
randrews33 0:1b975a6ae539 445
randrews33 0:1b975a6ae539 446
randrews33 0:1b975a6ae539 447 // I2CwriteByte() -- Write a byte out of I2C to a register in the device
randrews33 0:1b975a6ae539 448 // Input:
randrews33 0:1b975a6ae539 449 // - address = The 7-bit I2C address of the slave device.
randrews33 0:1b975a6ae539 450 // - subAddress = The register to be written to.
randrews33 0:1b975a6ae539 451 // - data = Byte to be written to the register.
randrews33 0:1b975a6ae539 452 void I2CwriteByte(uint8_t address, uint8_t subAddress, uint8_t data);
randrews33 0:1b975a6ae539 453
randrews33 0:1b975a6ae539 454 // I2CreadByte() -- Read a single byte from a register over I2C.
randrews33 0:1b975a6ae539 455 // Input:
randrews33 0:1b975a6ae539 456 // - address = The 7-bit I2C address of the slave device.
randrews33 0:1b975a6ae539 457 // - subAddress = The register to be read from.
randrews33 0:1b975a6ae539 458 // Output:
randrews33 0:1b975a6ae539 459 // - The byte read from the requested address.
randrews33 0:1b975a6ae539 460 uint8_t I2CreadByte(uint8_t address, uint8_t subAddress);
randrews33 0:1b975a6ae539 461
randrews33 0:1b975a6ae539 462 // I2CreadBytes() -- Read a series of bytes, starting at a register via SPI
randrews33 0:1b975a6ae539 463 // Input:
randrews33 0:1b975a6ae539 464 // - address = The 7-bit I2C address of the slave device.
randrews33 0:1b975a6ae539 465 // - subAddress = The register to begin reading.
randrews33 0:1b975a6ae539 466 // - * dest = Pointer to an array where we'll store the readings.
randrews33 0:1b975a6ae539 467 // - count = Number of registers to be read.
randrews33 0:1b975a6ae539 468 // Output: No value is returned by the function, but the registers read are
randrews33 0:1b975a6ae539 469 // all stored in the *dest array given.
randrews33 0:1b975a6ae539 470 void I2CreadBytes(uint8_t address, uint8_t subAddress, uint8_t * dest, uint8_t count);
randrews33 0:1b975a6ae539 471 };
randrews33 0:1b975a6ae539 472
randrews33 0:1b975a6ae539 473 #endif // _LSM9DS0_H //