Allows for reading accelerometer, gyroscope, and magnetometer data from an LSM9DS0 IMU device
Dependents: uVGA_4180 uLCD_4180_mini ECE4781_Project
LSM9DS0.h
- Committer:
- randrews33
- Date:
- 2015-01-11
- Revision:
- 5:e6a15dcba942
- Parent:
- 4:bf8f4e7c9905
File content as of revision 5:e6a15dcba942:
//Most of the Credit goes to jimblom #ifndef _LSM9DS0_H__ #define _LSM9DS0_H__ #include "mbed.h" #include "I2Cdev.h" //////////////////////////// // LSM9DS0 Gyro Registers // //////////////////////////// #define WHO_AM_I_G 0x0F #define CTRL_REG1_G 0x20 #define CTRL_REG2_G 0x21 #define CTRL_REG3_G 0x22 #define CTRL_REG4_G 0x23 #define CTRL_REG5_G 0x24 #define REFERENCE_G 0x25 #define STATUS_REG_G 0x27 #define OUT_X_L_G 0x28 #define OUT_X_H_G 0x29 #define OUT_Y_L_G 0x2A #define OUT_Y_H_G 0x2B #define OUT_Z_L_G 0x2C #define OUT_Z_H_G 0x2D #define FIFO_CTRL_REG_G 0x2E #define FIFO_SRC_REG_G 0x2F #define INT1_CFG_G 0x30 #define INT1_SRC_G 0x31 #define INT1_THS_XH_G 0x32 #define INT1_THS_XL_G 0x33 #define INT1_THS_YH_G 0x34 #define INT1_THS_YL_G 0x35 #define INT1_THS_ZH_G 0x36 #define INT1_THS_ZL_G 0x37 #define INT1_DURATION_G 0x38 ////////////////////////////////////////// // LSM9DS0 Accel/Magneto (XM) Registers // ////////////////////////////////////////// #define OUT_TEMP_L_XM 0x05 #define OUT_TEMP_H_XM 0x06 #define STATUS_REG_M 0x07 #define OUT_X_L_M 0x08 #define OUT_X_H_M 0x09 #define OUT_Y_L_M 0x0A #define OUT_Y_H_M 0x0B #define OUT_Z_L_M 0x0C #define OUT_Z_H_M 0x0D #define WHO_AM_I_XM 0x0F #define INT_CTRL_REG_M 0x12 #define INT_SRC_REG_M 0x13 #define INT_THS_L_M 0x14 #define INT_THS_H_M 0x15 #define OFFSET_X_L_M 0x16 #define OFFSET_X_H_M 0x17 #define OFFSET_Y_L_M 0x18 #define OFFSET_Y_H_M 0x19 #define OFFSET_Z_L_M 0x1A #define OFFSET_Z_H_M 0x1B #define REFERENCE_X 0x1C #define REFERENCE_Y 0x1D #define REFERENCE_Z 0x1E #define CTRL_REG0_XM 0x1F #define CTRL_REG1_XM 0x20 #define CTRL_REG2_XM 0x21 #define CTRL_REG3_XM 0x22 #define CTRL_REG4_XM 0x23 #define CTRL_REG5_XM 0x24 #define CTRL_REG6_XM 0x25 #define CTRL_REG7_XM 0x26 #define STATUS_REG_A 0x27 #define OUT_X_L_A 0x28 #define OUT_X_H_A 0x29 #define OUT_Y_L_A 0x2A #define OUT_Y_H_A 0x2B #define OUT_Z_L_A 0x2C #define OUT_Z_H_A 0x2D #define FIFO_CTRL_REG 0x2E #define FIFO_SRC_REG 0x2F #define INT_GEN_1_REG 0x30 #define INT_GEN_1_SRC 0x31 #define INT_GEN_1_THS 0x32 #define INT_GEN_1_DURATION 0x33 #define INT_GEN_2_REG 0x34 #define INT_GEN_2_SRC 0x35 #define INT_GEN_2_THS 0x36 #define INT_GEN_2_DURATION 0x37 #define CLICK_CFG 0x38 #define CLICK_SRC 0x39 #define CLICK_THS 0x3A #define TIME_LIMIT 0x3B #define TIME_LATENCY 0x3C #define TIME_WINDOW 0x3D #define ACT_THS 0x3E #define ACT_DUR 0x3F class LSM9DS0 { public: // gyro_scale defines the possible full-scale ranges of the gyroscope: enum gyro_scale { G_SCALE_245DPS, // 00: +/- 245 degrees per second G_SCALE_500DPS, // 01: +/- 500 dps G_SCALE_2000DPS, // 10: +/- 2000 dps }; // accel_scale defines all possible FSR's of the accelerometer: enum accel_scale { A_SCALE_2G, // 000: +/- 2g A_SCALE_4G, // 001: +/- 4g A_SCALE_6G, // 010: +/- 6g A_SCALE_8G, // 011: +/- 8g A_SCALE_16G // 100: +/- 16g }; // mag_scale defines all possible FSR's of the magnetometer: enum mag_scale { M_SCALE_2GS, // 00: +/- 2Gs M_SCALE_4GS, // 01: +/- 4Gs M_SCALE_8GS, // 10: +/- 8Gs M_SCALE_12GS, // 11: +/- 12Gs }; // gyro_odr defines all possible data rate/bandwidth combos of the gyro: enum gyro_odr { // ODR (Hz) --- Cutoff G_ODR_95_BW_125 = 0x0, // 95 12.5 G_ODR_95_BW_25 = 0x1, // 95 25 // 0x2 and 0x3 define the same data rate and bandwidth G_ODR_190_BW_125 = 0x4, // 190 12.5 G_ODR_190_BW_25 = 0x5, // 190 25 G_ODR_190_BW_50 = 0x6, // 190 50 G_ODR_190_BW_70 = 0x7, // 190 70 G_ODR_380_BW_20 = 0x8, // 380 20 G_ODR_380_BW_25 = 0x9, // 380 25 G_ODR_380_BW_50 = 0xA, // 380 50 G_ODR_380_BW_100 = 0xB, // 380 100 G_ODR_760_BW_30 = 0xC, // 760 30 G_ODR_760_BW_35 = 0xD, // 760 35 G_ODR_760_BW_50 = 0xE, // 760 50 G_ODR_760_BW_100 = 0xF, // 760 100 }; // accel_oder defines all possible output data rates of the accelerometer: enum accel_odr { A_POWER_DOWN, // Power-down mode (0x0) A_ODR_3125, // 3.125 Hz (0x1) A_ODR_625, // 6.25 Hz (0x2) A_ODR_125, // 12.5 Hz (0x3) A_ODR_25, // 25 Hz (0x4) A_ODR_50, // 50 Hz (0x5) A_ODR_100, // 100 Hz (0x6) A_ODR_200, // 200 Hz (0x7) A_ODR_400, // 400 Hz (0x8) A_ODR_800, // 800 Hz (9) A_ODR_1600 // 1600 Hz (0xA) }; // accel_oder defines all possible output data rates of the magnetometer: enum mag_odr { M_ODR_3125, // 3.125 Hz (0x00) M_ODR_625, // 6.25 Hz (0x01) M_ODR_125, // 12.5 Hz (0x02) M_ODR_25, // 25 Hz (0x03) M_ODR_50, // 50 (0x04) M_ODR_100, // 100 Hz (0x05) }; // We'll store the gyro, accel, and magnetometer readings in a series of // public class variables. Each sensor gets three variables -- one for each // axis. Call readGyro(), readAccel(), and readMag() first, before using // these variables! // These values are the RAW signed 16-bit readings from the sensors. int16_t gx, gy, gz; // x, y, and z axis readings of the gyroscope int16_t ax, ay, az; // x, y, and z axis readings of the accelerometer int16_t mx, my, mz; // x, y, and z axis readings of the magnetometer int16_t temperature; float abias[3]; float gbias[3]; // LSM9DS0 -- LSM9DS0 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. // - gAddr = If MODE_I2C, this is the I2C address of the gyroscope. // If MODE_SPI, this is the chip select pin of the gyro (CSG) // - xmAddr = If MODE_I2C, this is the I2C address of the accel/mag. // If MODE_SPI, this is the cs pin of the accel/mag (CSXM) LSM9DS0(PinName sda, PinName scl, uint8_t gAddr, uint8_t xmAddr); // begin() -- Initialize the gyro, accelerometer, and magnetometer. // 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. // - mScl = The scale of the magnetometer. Should be a mag_scale value. // - gODR = Output data rate of the gyroscope. gyro_odr value. // - aODR = Output data rate of the accelerometer. accel_odr value. // - mODR = Output data rate of the magnetometer. mag_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. The // least significant two bytes are the WHO_AM_I reading of the gyro. // All parameters have a defaulted value, so you can call just "begin()". // Default values are FSR's of: +/- 245DPS, 2g, 2Gs; ODRs of 95 Hz for // gyro, 100 Hz for accelerometer, 100 Hz for magnetometer. // 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, mag_scale mScl = M_SCALE_2GS, gyro_odr gODR = G_ODR_95_BW_125, accel_odr aODR = A_ODR_50, mag_odr mODR = M_ODR_50); // readGyro() -- Read the gyroscope output registers. // This function will read all six gyroscope output registers. // The readings are stored in the class' gx, gy, and gz 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, ay, and az variables. Read // those _after_ calling readAccel(). void readAccel(); // readMag() -- Read the magnetometer output registers. // This function will read all six magnetometer output registers. // The readings are stored in the class' mx, my, and mz variables. Read // those _after_ calling readMag(). void readMag(); // 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(); // calcGyro() -- Convert from RAW signed 16-bit value to degrees per second // This function reads in a signed 16-bit value and returns the scaled // DPS. This function relies on gScale and gRes being correct. // Input: // - gyro = A signed 16-bit raw reading from the gyroscope. float calcGyro(int16_t gyro); // calcAccel() -- Convert from RAW signed 16-bit value to gravity (g's). // This function reads in a signed 16-bit value and returns the scaled // g's. This function relies on aScale and aRes being correct. // Input: // - accel = A signed 16-bit raw reading from the accelerometer. float calcAccel(int16_t accel); // calcMag() -- Convert from RAW signed 16-bit value to Gauss (Gs) // This function reads in a signed 16-bit value and returns the scaled // Gs. This function relies on mScale and mRes being correct. // Input: // - mag = A signed 16-bit raw reading from the magnetometer. float calcMag(int16_t mag); // 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 200 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, 6, 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); // setMagScale() -- Set the full-scale range of the magnetometer. // This function can be called to set the scale of the magnetometer to // 2, 4, 8, or 12 Gs. // Input: // - mScl = The desired magnetometer scale. Must be one of four possible // values from the mag_scale enum. void setMagScale(mag_scale mScl); // 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, there're 14). 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, there're 11). void setAccelODR(accel_odr aRate); // setMagODR() -- Set the output data rate of the magnetometer // Input: // - mRate = The desired output rate of the mag. // Must be a value from the mag_odr enum (check above, there're 6). void setMagODR(mag_odr mRate); // configGyroInt() -- Configure the gyro interrupt output. // Triggers can be set to either rising above or falling below a specified // threshold. This function helps setup the interrupt configuration and // threshold values for all axes. // Input: // - int1Cfg = A 8-bit value that is sent directly to the INT1_CFG_G // register. This sets AND/OR and high/low interrupt gen for each axis // - int1ThsX = 16-bit interrupt threshold value for x-axis // - int1ThsY = 16-bit interrupt threshold value for y-axis // - int1ThsZ = 16-bit interrupt threshold value for z-axis // - duration = Duration an interrupt holds after triggered. This value // is copied directly into the INT1_DURATION_G register. // Before using this function, read about the INT1_CFG_G register and // the related INT1* registers in the LMS9DS0 datasheet. void configGyroInt(uint8_t int1Cfg, uint16_t int1ThsX = 0, uint16_t int1ThsY = 0, uint16_t int1ThsZ = 0, uint8_t duration = 0); void calLSM9DS0(float gbias[3], float abias[3]); private: // xmAddress and gAddress store the I2C address // for each sensor. uint8_t xmAddress, gAddress; // gScale, aScale, and mScale store the current scale range for each // sensor. Should be updated whenever that value changes. gyro_scale gScale; accel_scale aScale; mag_scale mScale; // gRes, aRes, and mRes 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, mRes; // initGyro() -- Sets up the gyroscope to begin reading. // This function steps through all five gyroscope control registers. // Upon exit, the following parameters will be set: // - CTRL_REG1_G = 0x0F: Normal operation mode, all axes enabled. // 95 Hz ODR, 12.5 Hz cutoff frequency. // - CTRL_REG2_G = 0x00: HPF set to normal mode, cutoff frequency // set to 7.2 Hz (depends on ODR). // - CTRL_REG3_G = 0x88: Interrupt enabled on INT_G (set to push-pull and // active high). Data-ready output enabled on DRDY_G. // - CTRL_REG4_G = 0x00: Continuous update mode. Data LSB stored in lower // address. Scale set to 245 DPS. SPI mode set to 4-wire. // - CTRL_REG5_G = 0x00: FIFO disabled. HPF disabled. void initGyro(); // initAccel() -- Sets up the accelerometer to begin reading. // This function steps through all accelerometer related control registers. // Upon exit these registers will be set as: // - CTRL_REG0_XM = 0x00: FIFO disabled. HPF bypassed. Normal mode. // - CTRL_REG1_XM = 0x57: 100 Hz data rate. Continuous update. // all axes enabled. // - CTRL_REG2_XM = 0x00: +/- 2g scale. 773 Hz anti-alias filter BW. // - CTRL_REG3_XM = 0x04: Accel data ready signal on INT1_XM pin. void initAccel(); // initMag() -- Sets up the magnetometer to begin reading. // This function steps through all magnetometer-related control registers. // Upon exit these registers will be set as: // - CTRL_REG4_XM = 0x04: Mag data ready signal on INT2_XM pin. // - CTRL_REG5_XM = 0x14: 100 Hz update rate. Low resolution. Interrupt // requests don't latch. Temperature sensor disabled. // - CTRL_REG6_XM = 0x00: +/- 2 Gs scale. // - CTRL_REG7_XM = 0x00: Continuous conversion mode. Normal HPF mode. // - INT_CTRL_REG_M = 0x09: Interrupt active-high. Enable interrupts. void initMag(); // gReadByte() -- Reads a byte from a specified gyroscope register. // Input: // - subAddress = Register to be read from. // Output: // - An 8-bit value read from the requested address. uint8_t gReadByte(uint8_t subAddress); // gReadBytes() -- Reads a number of bytes -- beginning at an address // and incrementing from there -- from the gyroscope. // Input: // - subAddress = Register to be read from. // - * dest = A pointer to an array of uint8_t's. Values read will be // stored in here on return. // - count = The number of bytes to be read. // Output: No value is returned, but the `dest` array will store // the data read upon exit. void gReadBytes(uint8_t subAddress, uint8_t * dest, uint8_t count); // gWriteByte() -- Write a byte to a register in the gyroscope. // Input: // - subAddress = Register to be written to. // - data = data to be written to the register. void gWriteByte(uint8_t subAddress, uint8_t data); // xmReadByte() -- Read a byte from a register in the accel/mag sensor // Input: // - subAddress = Register to be read from. // Output: // - An 8-bit value read from the requested register. uint8_t xmReadByte(uint8_t subAddress); // xmReadBytes() -- Reads a number of bytes -- beginning at an address // and incrementing from there -- from the accelerometer/magnetometer. // Input: // - subAddress = Register to be read from. // - * dest = A pointer to an array of uint8_t's. Values read will be // stored in here on return. // - count = The number of bytes to be read. // Output: No value is returned, but the `dest` array will store // the data read upon exit. void xmReadBytes(uint8_t subAddress, uint8_t * dest, uint8_t count); // xmWriteByte() -- Write a byte to a register in the accel/mag sensor. // Input: // - subAddress = Register to be written to. // - data = data to be written to the register. void xmWriteByte(uint8_t subAddress, uint8_t data); // 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(); // calcmRes() -- Calculate the resolution of the magnetometer. // This function will set the value of the mRes variable. mScale must // be set prior to calling this function. void calcmRes(); // 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(); /////////////////// // I2C Functions // /////////////////// I2Cdev* i2c_; // I2CwriteByte() -- Write a byte out of I2C to a register in the device // Input: // - address = The 7-bit I2C address of the slave device. // - subAddress = The register to be written to. // - data = Byte to be written to the register. void I2CwriteByte(uint8_t address, uint8_t subAddress, uint8_t data); // I2CreadByte() -- Read a single byte from a register over I2C. // Input: // - address = The 7-bit I2C address of the slave device. // - subAddress = The register to be read from. // Output: // - The byte read from the requested address. uint8_t I2CreadByte(uint8_t address, uint8_t subAddress); // I2CreadBytes() -- Read a series of bytes, starting at a register via SPI // Input: // - address = The 7-bit I2C address of the slave device. // - subAddress = The register to begin reading. // - * dest = Pointer to an array where we'll store the readings. // - count = Number of registers to be read. // Output: No value is returned by the function, but the registers read are // all stored in the *dest array given. void I2CreadBytes(uint8_t address, uint8_t subAddress, uint8_t * dest, uint8_t count); }; #endif // _LSM9DS0_H //