Diego Hamilton
/
LSM6DS3
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Fork of
LSM6DS3
by 
Sherry Yang
Revision 1:924c7dea286e, committed 2016-06-20
- Comitter:
- 5hel2l2y
- Date:
- Mon Jun 20 19:15:31 2016 +0000
- Parent:
- 0:46630122dec9
- Child:
- 2:ed14e6196255
- Commit message:
- Modified Library to accept low power mode.
Changed in this revision
| LSM6DS3.cpp | Show annotated file Show diff for this revision Revisions of this file |
| LSM6DS3.h | Show annotated file Show diff for this revision Revisions of this file |
--- a/LSM6DS3.cpp Thu Jun 16 20:07:13 2016 +0000
+++ b/LSM6DS3.cpp Mon Jun 20 19:15:31 2016 +0000
@@ -52,7 +52,7 @@
{
char cmd[4] = {
CTRL2_G,
- gScale | G_ODR_119_BW_14,
+ gScale | G_ODR_104,
0, // Default data out and int out
0 // Default power mode and high pass settings
};
@@ -66,7 +66,7 @@
char cmd[4] = {
CTRL1_XL,
0x38, // Enable all axis and don't decimate data in out Registers
- (A_ODR_119 << 5) | (aScale << 3) | (A_BW_AUTO_SCALE), // 119 Hz ODR, set scale, and auto BW
+ (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
};
@@ -238,6 +238,24 @@
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);
@@ -260,6 +278,24 @@
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);
--- a/LSM6DS3.h Thu Jun 16 20:07:13 2016 +0000
+++ b/LSM6DS3.h Mon Jun 20 19:15:31 2016 +0000
@@ -26,7 +26,7 @@
#define CTRL3_C 0x12
#define CTRL4_C 0x13
#define CTRL5_C 0x14
-#define CTRL6_G 0x15
+#define CTRL6_C 0x15
#define CTRL7_G 0x16
#define CTRL8_XL 0x17
#define CTRL9_XL 0x18
@@ -98,6 +98,7 @@
{
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
};
@@ -105,22 +106,14 @@
enum gyro_odr
{ // ODR (Hz) --- Cutoff
G_POWER_DOWN = 0x00, // 0 0
- G_ODR_15_BW_0 = 0x20, // 14.9 0
- G_ODR_60_BW_16 = 0x40, // 59.5 16
- G_ODR_119_BW_14 = 0x60, // 119 14
- G_ODR_119_BW_31 = 0x61, // 119 31
- G_ODR_238_BW_14 = 0x80, // 238 14
- G_ODR_238_BW_29 = 0x81, // 238 29
- G_ODR_238_BW_63 = 0x82, // 238 63
- G_ODR_238_BW_78 = 0x83, // 238 78
- G_ODR_476_BW_21 = 0xA0, // 476 21
- G_ODR_476_BW_28 = 0xA1, // 476 28
- G_ODR_476_BW_57 = 0xA2, // 476 57
- G_ODR_476_BW_100 = 0xA3, // 476 100
- G_ODR_952_BW_33 = 0xC0, // 952 33
- G_ODR_952_BW_40 = 0xC1, // 952 40
- G_ODR_952_BW_58 = 0xC2, // 952 58
- G_ODR_952_BW_100 = 0xC3 // 952 100
+ 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:
@@ -136,12 +129,16 @@
enum accel_odr
{
A_POWER_DOWN, // Power-down mode (0x0)
- A_ODR_10, // 10 Hz (0x1)
- A_ODR_50, // 50 Hz (0x2)
- A_ODR_119, // 119 Hz (0x3)
- A_ODR_238, // 238 Hz (0x4)
- A_ODR_476, // 476 Hz (0x5)
- A_ODR_952 // 952 Hz (0x6)
+ 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:
@@ -196,8 +193,8 @@
* 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_119_BW_14,
- accel_odr aODR = A_ODR_119);
+ 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.