Revision 0:8e17d3584f99, committed 2017-02-20

Comitter:

tona0516

Date:

Mon Feb 20 07:11:57 2017 +0000

Commit message:

Zumipen???????

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/LSM9DS1.cpp	Mon Feb 20 07:11:57 2017 +0000
@@ -0,0 +1,165 @@
+/**
+ * Includes
+ */
+#include "LSM9DS1.h"
+
+LSM9DS1::LSM9DS1(PinName sda, PinName scl) : connection(sda, scl) {
+    //Initializations:
+    this->setSleepMode(false);
+    this->initCTRL_REG1_G();
+//    this->initORIENT_CFG_G();
+//    this->initCTRL_REG4();
+    this->initCTRL_REG6_XL();
+    currentGyroRange = 0;
+    currentAcceleroRange = 0;
+}
+
+//--------------------------------------------------
+//-------------------General------------------------
+//--------------------------------------------------
+
+void LSM9DS1::write(char address, char data) {
+    char temp[2];
+    temp[0]=address;
+    temp[1]=data;
+    
+    connection.write(LSM9DS1_ADDRESS * 2,temp,2);
+}
+
+char LSM9DS1::read(char address) {
+    char retval;
+    connection.write(LSM9DS1_ADDRESS * 2, &address, 1, true);
+    connection.read(LSM9DS1_ADDRESS * 2, &retval, 1);
+    return retval;
+}
+
+void LSM9DS1::read(char address, char *data, int length) {
+    connection.write(LSM9DS1_ADDRESS * 2, &address, 1, true);
+    connection.read(LSM9DS1_ADDRESS * 2, data, length);
+}
+
+bool LSM9DS1::testConnection( void ) {
+    char temp;
+    temp = this->read(LSM9DS1_WHO_AM_I_REG);
+    return (temp == (LSM9DS1_ADDRESS & 0x68));
+}
+
+void LSM9DS1::setSleepMode(bool state) {
+    char temp;
+    temp = this->read(LSM9DS1_CTRL_REG9);
+    if (state == true)
+        temp |= 1<<LSM9DS1_SLP_BIT;
+    if (state == false)
+        temp &= ~(1<<LSM9DS1_SLP_BIT);
+    this->write(LSM9DS1_CTRL_REG9 , temp);
+}
+
+void LSM9DS1::initCTRL_REG1_G( void ){
+    this->write(LSM9DS1_CTRL_REG1_G, 0xC3);
+}
+
+void LSM9DS1::initORIENT_CFG_G( void ){
+    this->write(LSM9DS1_ORIENT_CFG_G, 0x38);
+}
+
+void LSM9DS1::initCTRL_REG4( void ){
+    this->write(LSM9DS1_CTRL_REG4, 0x39);
+}
+
+void LSM9DS1::initCTRL_REG6_XL( void ){
+    this->write(LSM9DS1_CTRL_REG6_XL, 0xC3);
+}
+
+
+//--------------------------------------------------
+//----------------Accelerometer---------------------
+//--------------------------------------------------
+
+void LSM9DS1::setAcceleroRange( char range ) {
+    char temp;
+    range = range & 0x03;
+    currentAcceleroRange = range;
+    temp = this->read(LSM9DS1_CTRL_REG6_XL);
+    temp &= ~(3<<3);
+    temp = temp + (range<<3);
+    this->write(LSM9DS1_CTRL_REG6_XL, temp);
+}
+
+int LSM9DS1::getAcceleroRawX( void ) {
+    short retval;
+    char data[2];
+    this->read(LSM9DS1_ACCEL_XOUT_L_REG, data, 2);
+    retval = (data[1]<<8) + data[0];
+    return (int)retval;
+}
+    
+int LSM9DS1::getAcceleroRawY( void ) {
+    short retval;
+    char data[2];
+    this->read(LSM9DS1_ACCEL_YOUT_L_REG, data, 2);
+    retval = (data[1]<<8) + data[0];
+    return (int)retval;
+}
+
+int LSM9DS1::getAcceleroRawZ( void ) {
+    short retval;
+    char data[2];
+    this->read(LSM9DS1_ACCEL_ZOUT_L_REG, data, 2);
+    retval = (data[1]<<8) + data[0];
+    return (int)retval;
+}
+
+void LSM9DS1::getAcceleroRaw( int *data ) {
+    char temp[6];
+    this->read(LSM9DS1_ACCEL_XOUT_L_REG, temp, 6);
+    data[0] = (int)(short)((temp[1]<<8) + temp[0]);
+    data[1] = (int)(short)((temp[3]<<8) + temp[2]);
+    data[2] = (int)(short)((temp[5]<<8) + temp[4]);
+}
+
+
+//--------------------------------------------------
+//------------------Gyroscope-----------------------
+//--------------------------------------------------
+
+void LSM9DS1::setGyroRange( char range ) {
+    char temp;
+    currentGyroRange = range;
+    range = range & 0x03;
+    temp = this->read(LSM9DS1_CTRL_REG1_G);
+    temp &= ~(3<<3);
+    temp = temp + range<<3;
+    this->write(LSM9DS1_CTRL_REG1_G, temp);
+}
+
+int LSM9DS1::getGyroRawX( void ) {
+    short retval;
+    char data[2];
+    this->read(LSM9DS1_GYRO_XOUT_L_REG, data, 2);
+    retval = (data[1]<<8) + data[0];
+    return (int)retval;
+}
+    
+int LSM9DS1::getGyroRawY( void ) {
+    short retval;
+    char data[2];
+    this->read(LSM9DS1_GYRO_YOUT_L_REG, data, 2);
+    retval = (data[1]<<8) + data[0];
+    return (int)retval;
+}
+
+int LSM9DS1::getGyroRawZ( void ) {
+    short retval;
+    char data[2];
+    this->read(LSM9DS1_GYRO_ZOUT_L_REG, data, 2);
+    retval = (data[1]<<8) + data[0];
+    return (int)retval;
+}
+
+void LSM9DS1::getGyroRaw( int *data ) {
+    char temp[6];
+    this->read(LSM9DS1_GYRO_XOUT_L_REG, temp, 6);
+    data[0] = (int)(short)((temp[1]<<8) + temp[0]);
+    data[1] = (int)(short)((temp[3]<<8) + temp[2]);
+    data[2] = (int)(short)((temp[5]<<8) + temp[4]);
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/LSM9DS1.h	Mon Feb 20 07:11:57 2017 +0000
@@ -0,0 +1,215 @@
+/*Use #define LSM9DS1_ES before you include this file if you have an engineering sample (older EVBs will have them), to find out if you have one, check your accelerometer output. 
+If it is half of what you expected, and you still are on the correct planet, you got an engineering sample
+*/
+
+
+#ifndef LSM9DS1_H
+#define LSM9DS1_H
+
+/**
+ * Includes
+ */
+#include "mbed.h"
+
+
+/**
+ * Defines
+ */
+#ifndef LSM9DS1_ADDRESS
+    #define LSM9DS1_ADDRESS        0x6B // address pin low (GND), default for InvenSense evaluation board
+#endif
+
+#ifdef LSM9DS1_ES
+        #define DOUBLE_ACCELERO
+#endif  
+
+/**
+ * Registers
+ */
+
+ 
+#define LSM9DS1_ACCEL_XOUT_L_REG   0x28
+#define LSM9DS1_ACCEL_YOUT_L_REG   0x2A
+#define LSM9DS1_ACCEL_ZOUT_L_REG   0x2C
+
+#define LSM9DS1_GYRO_XOUT_L_REG    0x18
+#define LSM9DS1_GYRO_YOUT_L_REG    0x1A
+#define LSM9DS1_GYRO_ZOUT_L_REG    0x1C
+
+#define LSM9DS1_WHO_AM_I_REG       0x0F
+
+#define LSM9DS1_CTRL_REG1_G        0x10
+#define LSM9DS1_ORIENT_CFG_G       0x13
+#define LSM9DS1_CTRL_REG4          0x1E
+#define LSM9DS1_CTRL_REG6_XL       0x20
+#define LSM9DS1_CTRL_REG9          0x23
+ 
+ /**
+  * Definitions
+  */
+
+#define LSM9DS1_ACCELERO_RANGE_2G   0
+#define LSM9DS1_ACCELERO_RANGE_16G  1
+#define LSM9DS1_ACCELERO_RANGE_4G   2
+#define LSM9DS1_ACCELERO_RANGE_8G   3
+
+#define LSM9DS1_GYRO_RANGE_245      0
+#define LSM9DS1_GYRO_RANGE_500      1
+#define LSM9DS1_GYRO_RANGE_2000     3
+
+#define LSM9DS1_SLP_BIT             6
+
+
+/** LSM9DS1 IMU library.
+  *
+  * Example:
+  * @code
+  * Later, maybe
+  * @endcode
+  */
+class LSM9DS1 {
+    public:
+     /**
+     * Constructor.
+     *
+     * Sleep mode of LSM9DS1 is immediatly disabled
+     *
+     * @param sda - mbed pin to use for the SDA I2C line.
+     * @param scl - mbed pin to use for the SCL I2C line.
+     */
+     LSM9DS1(PinName sda, PinName scl);
+     
+
+     /**
+     * Tests the I2C connection by reading the WHO_AM_I register. 
+     *
+     * @return True for a working connection, false for an error
+     */     
+     bool testConnection( void );
+     
+     void initCTRL_REG1_G( void );
+     void initORIENT_CFG_G( void );
+     void initCTRL_REG4( void );
+     void initCTRL_REG6_XL( void );
+     
+     /**
+     * Sets the Accelero full-scale range
+     *
+     * Macros: LSM9DS1_ACCELERO_RANGE_2G - LSM9DS1_ACCELERO_RANGE_4G - LSM9DS1_ACCELERO_RANGE_8G - LSM9DS1_ACCELERO_RANGE_16G
+     *
+     * @param range - The two bits that set the full-scale range (use the predefined macros)
+     */
+     void setAcceleroRange(char range);
+     
+     /**
+     * Reads the accelero x-axis.
+     *
+     * @return 16-bit signed integer x-axis accelero data
+     */   
+     int getAcceleroRawX( void );
+     
+     /**
+     * Reads the accelero y-axis.
+     *
+     * @return 16-bit signed integer y-axis accelero data
+     */   
+     int getAcceleroRawY( void );
+     
+     /**
+     * Reads the accelero z-axis.
+     *
+     * @return 16-bit signed integer z-axis accelero data
+     */   
+     int getAcceleroRawZ( void );
+     
+     /**
+     * Reads all accelero data.
+     *
+     * @param data - pointer to signed integer array with length three: data[0] = X, data[1] = Y, data[2] = Z
+     */   
+     void getAcceleroRaw( int *data );
+     
+     /**
+     * Sets the Gyro full-scale range
+     *
+     * Macros: LSM9DS1_GYRO_RANGE_250 - LSM9DS1_GYRO_RANGE_500 - LSM9DS1_GYRO_RANGE_1000 - LSM9DS1_GYRO_RANGE_2000
+     *
+     * @param range - The two bits that set the full-scale range (use the predefined macros)
+     */
+     void setGyroRange(char range);
+
+     /**
+     * Reads the gyro x-axis.
+     *
+     * @return 16-bit signed integer x-axis gyro data
+     */   
+     int getGyroRawX( void );
+     
+     /**
+     * Reads the gyro y-axis.
+     *
+     * @return 16-bit signed integer y-axis gyro data
+     */   
+     int getGyroRawY( void );
+     
+     /**
+     * Reads the gyro z-axis.
+     *
+     * @return 16-bit signed integer z-axis gyro data
+     */   
+     int getGyroRawZ( void );
+     
+     /**
+     * Reads all gyro data.
+     *
+     * @param data - pointer to signed integer array with length three: data[0] = X, data[1] = Y, data[2] = Z
+     */   
+     void getGyroRaw( int *data );
+     
+     /**
+     * Sets the sleep mode of the MPU6050 
+     *
+     * @param state - true for sleeping, false for wake up
+     */     
+     void setSleepMode( bool state );
+     
+     /**
+     * Writes data to the device, could be private, but public is handy so you can transmit directly to the MPU. 
+     *
+     * @param adress - register address to write to
+     * @param data - data to write
+     */
+     void write( char address, char data);
+     
+     /**
+     * Read data from the device, could be private, but public is handy so you can transmit directly to the MPU. 
+     *
+     * @param adress - register address to write to
+     * @return - data from the register specified by RA
+     */
+     char read( char adress);
+     
+     /**
+     * Read multtiple regigsters from the device, more efficient than using multiple normal reads. 
+     *
+     * @param adress - register address to write to
+     * @param length - number of bytes to read
+     * @param data - pointer where the data needs to be written to 
+     */
+     void read( char adress, char *data, int length);
+     
+
+     
+        
+     private:
+
+     I2C connection;
+     char currentAcceleroRange;
+     char currentGyroRange;
+     
+
+};
+
+
+
+#endif