Taeyong Shin
fealkn
Dependencies: mbed LSM9DS1_Library VL53L0X
Diff: LSM9DS1.h
- Revision:
- 1:15e0c8f3d4a0
- Parent:
- 0:ea1c50666fc2
--- a/LSM9DS1.h Wed Apr 28 17:44:45 2021 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,557 +0,0 @@
-/******************************************************************************
-SFE_LSM9DS1.h
-SFE_LSM9DS1 Library Header File
-Jim Lindblom @ SparkFun Electronics
-Original Creation Date: February 27, 2015
-https://github.com/sparkfun/LSM9DS1_Breakout
-
-This file prototypes the LSM9DS1 class, implemented in SFE_LSM9DS1.cpp. In
-addition, it defines every register in the LSM9DS1 (both the Gyro and Accel/
-Magnetometer registers).
-
-Development environment specifics:
- IDE: Arduino 1.6.0
- Hardware Platform: Arduino Uno
- LSM9DS1 Breakout Version: 1.0
-
-This code is beerware; if you see me (or any other SparkFun employee) at the
-local, and you've found our code helpful, please buy us a round!
-
-Distributed as-is; no warranty is given.
-******************************************************************************/
-#ifndef __SparkFunLSM9DS1_H__
-#define __SparkFunLSM9DS1_H__
-
-//#if defined(ARDUINO) && ARDUINO >= 100
-// #include "Arduino.h"
-//#else
-// #include "WProgram.h"
-// #include "pins_arduino.h"
-//#endif
-
-#include "mbed.h"
-#include <stdint.h>
-#include "LSM9DS1_Registers.h"
-#include "LSM9DS1_Types.h"
-
-#define LSM9DS1_AG_ADDR(sa0) ((sa0) == 0 ? 0x6A : 0x6B)
-#define LSM9DS1_M_ADDR(sa1) ((sa1) == 0 ? 0x1C : 0x1E)
-
-enum lsm9ds1_axis {
- X_AXIS,
- Y_AXIS,
- Z_AXIS,
- ALL_AXIS
-};
-
-class LSM9DS1
-{
-public:
- IMUSettings settings;
-
- // 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; // Chip temperature
- float gBias[3], aBias[3], mBias[3];
- int16_t gBiasRaw[3], aBiasRaw[3], mBiasRaw[3];
-
- // LSM9DS1 -- LSM9DS1 class constructor
- // The constructor will set up a handful of private variables, and set the
- // communication mode as well.
- /**Input:
- * - interface = Either IMU_MODE_SPI or IMU_MODE_I2C, whichever you're using
- * to talk to the IC.
- * - xgAddr = If IMU_MODE_I2C, this is the I2C address of the accel/gyroscope.
- * If IMU_MODE_SPI, this is the chip select pin of the gyro (CS_AG)
- * - mAddr = If IMU_MODE_I2C, this is the I2C address of the magnetometer.
- * If IMU_MODE_SPI, this is the cs pin of the magnetometer (CS_M)
-
- */
- LSM9DS1(PinName sda, PinName scl, uint8_t xgAddr, uint8_t mAddr);
- //LSM9DS1(interface_mode interface, uint8_t xgAddr, uint8_t mAddr);
- //LSM9DS1();
-
-
- /** begin() -- Initialize the gyro, accelerometer, and magnetometer.
- *This will set up the scale and output rate of each sensor. The values set
- * in the IMUSettings struct will take effect after calling this function.
- */
- uint16_t begin();
-
- void calibrate(bool autoCalc = true);
- void calibrateMag(bool loadIn = true);
- void magOffset(uint8_t axis, int16_t offset);
-
- /** accelAvailable() -- Polls the accelerometer status register to check
- * if new data is available.
- * Output: 1 - New data available
- * 0 - No new data available
- */
- uint8_t accelAvailable();
-
- /** gyroAvailable() -- Polls the gyroscope status register to check
- * if new data is available.
- * Output: 1 - New data available
- * 0 - No new data available
- */
- uint8_t gyroAvailable();
-
- /** gyroAvailable() -- Polls the temperature status register to check
- * if new data is available.
- * Output: 1 - New data available
- * 0 - No new data available
- */
- uint8_t tempAvailable();
-
- /** magAvailable() -- Polls the accelerometer status register to check
- * if new data is available.
- * Input:
- * - axis can be either X_AXIS, Y_AXIS, Z_AXIS, to check for new data
- * on one specific axis. Or ALL_AXIS (default) to check for new data
- * on all axes.
- * Output: 1 - New data available
- * 0 - No new data available
- */
- uint8_t magAvailable(lsm9ds1_axis axis = ALL_AXIS);
-
- /** 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();
-
- /** int16_t readGyro(axis) -- Read a specific axis of the gyroscope.
- * [axis] can be any of X_AXIS, Y_AXIS, or Z_AXIS.
- * Input:
- * - axis: can be either X_AXIS, Y_AXIS, or Z_AXIS.
- * Output:
- * A 16-bit signed integer with sensor data on requested axis.
- */
- int16_t readGyro(lsm9ds1_axis axis);
-
- /** 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();
-
- /** int16_t readAccel(axis) -- Read a specific axis of the accelerometer.
- * [axis] can be any of X_AXIS, Y_AXIS, or Z_AXIS.
- * Input:
- * - axis: can be either X_AXIS, Y_AXIS, or Z_AXIS.
- * Output:
- * A 16-bit signed integer with sensor data on requested axis.
- */
- int16_t readAccel(lsm9ds1_axis axis);
-
- /** 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();
-
- /** int16_t readMag(axis) -- Read a specific axis of the magnetometer.
- * [axis] can be any of X_AXIS, Y_AXIS, or Z_AXIS.
- * Input:
- * - axis: can be either X_AXIS, Y_AXIS, or Z_AXIS.
- * Output:
- * A 16-bit signed integer with sensor data on requested axis.
- */
- int16_t readMag(lsm9ds1_axis axis);
-
- /** 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.
- */
- void setGyroScale(uint16_t 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.
- */
- void setAccelScale(uint8_t 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.
- */
- void setMagScale(uint8_t mScl);
-
- /** setGyroODR() -- Set the output data rate and bandwidth of the gyroscope
- * Input:
- * - gRate = The desired output rate and cutoff frequency of the gyro.
- */
- void setGyroODR(uint8_t gRate);
-
- // setAccelODR() -- Set the output data rate of the accelerometer
- // Input:
- // - aRate = The desired output rate of the accel.
- void setAccelODR(uint8_t aRate);
-
- // setMagODR() -- Set the output data rate of the magnetometer
- // Input:
- // - mRate = The desired output rate of the mag.
- void setMagODR(uint8_t mRate);
-
- // configInactivity() -- Configure inactivity interrupt parameters
- // Input:
- // - duration = Inactivity duration - actual value depends on gyro ODR
- // - threshold = Activity Threshold
- // - sleepOn = Gyroscope operating mode during inactivity.
- // true: gyroscope in sleep mode
- // false: gyroscope in power-down
- void configInactivity(uint8_t duration, uint8_t threshold, bool sleepOn);
-
- // configAccelInt() -- Configure Accelerometer Interrupt Generator
- // Input:
- // - generator = Interrupt axis/high-low events
- // Any OR'd combination of ZHIE_XL, ZLIE_XL, YHIE_XL, YLIE_XL, XHIE_XL, XLIE_XL
- // - andInterrupts = AND/OR combination of interrupt events
- // true: AND combination
- // false: OR combination
- void configAccelInt(uint8_t generator, bool andInterrupts = false);
-
- // configAccelThs() -- Configure the threshold of an accelereomter axis
- // Input:
- // - threshold = Interrupt threshold. Possible values: 0-255.
- // Multiply by 128 to get the actual raw accel value.
- // - axis = Axis to be configured. Either X_AXIS, Y_AXIS, or Z_AXIS
- // - duration = Duration value must be above or below threshold to trigger interrupt
- // - wait = Wait function on duration counter
- // true: Wait for duration samples before exiting interrupt
- // false: Wait function off
- void configAccelThs(uint8_t threshold, lsm9ds1_axis axis, uint8_t duration = 0, bool wait = 0);
-
- // configGyroInt() -- Configure Gyroscope Interrupt Generator
- // Input:
- // - generator = Interrupt axis/high-low events
- // Any OR'd combination of ZHIE_G, ZLIE_G, YHIE_G, YLIE_G, XHIE_G, XLIE_G
- // - aoi = AND/OR combination of interrupt events
- // true: AND combination
- // false: OR combination
- // - latch: latch gyroscope interrupt request.
- void configGyroInt(uint8_t generator, bool aoi, bool latch);
-
- // configGyroThs() -- Configure the threshold of a gyroscope axis
- // Input:
- // - threshold = Interrupt threshold. Possible values: 0-0x7FF.
- // Value is equivalent to raw gyroscope value.
- // - axis = Axis to be configured. Either X_AXIS, Y_AXIS, or Z_AXIS
- // - duration = Duration value must be above or below threshold to trigger interrupt
- // - wait = Wait function on duration counter
- // true: Wait for duration samples before exiting interrupt
- // false: Wait function off
- void configGyroThs(int16_t threshold, lsm9ds1_axis axis, uint8_t duration, bool wait);
-
- // configInt() -- Configure INT1 or INT2 (Gyro and Accel Interrupts only)
- // Input:
- // - interrupt = Select INT1 or INT2
- // Possible values: XG_INT1 or XG_INT2
- // - generator = Or'd combination of interrupt generators.
- // Possible values: INT_DRDY_XL, INT_DRDY_G, INT1_BOOT (INT1 only), INT2_DRDY_TEMP (INT2 only)
- // INT_FTH, INT_OVR, INT_FSS5, INT_IG_XL (INT1 only), INT1_IG_G (INT1 only), INT2_INACT (INT2 only)
- // - activeLow = Interrupt active configuration
- // Can be either INT_ACTIVE_HIGH or INT_ACTIVE_LOW
- // - pushPull = Push-pull or open drain interrupt configuration
- // Can be either INT_PUSH_PULL or INT_OPEN_DRAIN
- void configInt(interrupt_select interupt, uint8_t generator,
- h_lactive activeLow = INT_ACTIVE_LOW, pp_od pushPull = INT_PUSH_PULL);
-
- /** configMagInt() -- Configure Magnetometer Interrupt Generator
- * Input:
- * - generator = Interrupt axis/high-low events
- * Any OR'd combination of ZIEN, YIEN, XIEN
- * - activeLow = Interrupt active configuration
- * Can be either INT_ACTIVE_HIGH or INT_ACTIVE_LOW
- * - latch: latch gyroscope interrupt request.
- */
- void configMagInt(uint8_t generator, h_lactive activeLow, bool latch = true);
-
- /** configMagThs() -- Configure the threshold of a gyroscope axis
- * Input:
- * - threshold = Interrupt threshold. Possible values: 0-0x7FF.
- * Value is equivalent to raw magnetometer value.
- */
- void configMagThs(uint16_t threshold);
-
- //! getGyroIntSrc() -- Get contents of Gyroscope interrupt source register
- uint8_t getGyroIntSrc();
-
- //! getGyroIntSrc() -- Get contents of accelerometer interrupt source register
- uint8_t getAccelIntSrc();
-
- //! getGyroIntSrc() -- Get contents of magnetometer interrupt source register
- uint8_t getMagIntSrc();
-
- //! getGyroIntSrc() -- Get status of inactivity interrupt
- uint8_t getInactivity();
-
- /** sleepGyro() -- Sleep or wake the gyroscope
- * Input:
- * - enable: True = sleep gyro. False = wake gyro.
- */
- void sleepGyro(bool enable = true);
-
- /** enableFIFO() - Enable or disable the FIFO
- * Input:
- * - enable: true = enable, false = disable.
- */
- void enableFIFO(bool enable = true);
-
- /** setFIFO() - Configure FIFO mode and Threshold
- * Input:
- * - fifoMode: Set FIFO mode to off, FIFO (stop when full), continuous, bypass
- * Possible inputs: FIFO_OFF, FIFO_THS, FIFO_CONT_TRIGGER, FIFO_OFF_TRIGGER, FIFO_CONT
- * - fifoThs: FIFO threshold level setting
- * Any value from 0-0x1F is acceptable.
- */
- void setFIFO(fifoMode_type fifoMode, uint8_t fifoThs);
-
- //! getFIFOSamples() - Get number of FIFO samples
- uint8_t getFIFOSamples();
-
-
-protected:
- // x_mAddress and gAddress store the I2C address or SPI chip select pin
- // for each sensor.
- uint8_t _mAddress, _xgAddress;
-
- // 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;
-
- // _autoCalc keeps track of whether we're automatically subtracting off
- // accelerometer and gyroscope bias calculated in calibrate().
- bool _autoCalc;
-
- // init() -- Sets up gyro, accel, and mag settings to default.
- // - interface - Sets the interface mode (IMU_MODE_I2C or IMU_MODE_SPI)
- // - xgAddr - Sets either the I2C address of the accel/gyro or SPI chip
- // select pin connected to the CS_XG pin.
- // - mAddr - Sets either the I2C address of the magnetometer or SPI chip
- // select pin connected to the CS_M pin.
- void init(interface_mode interface, uint8_t xgAddr, uint8_t mAddr);
-
- // 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 mReadByte(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 mReadBytes(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 mWriteByte(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 xgReadByte(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 xgReadBytes(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 xgWriteByte(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();
-
- //////////////////////
- // Helper Functions //
- //////////////////////
- void constrainScales();
-
- ///////////////////
- // SPI Functions //
- ///////////////////
- // initSPI() -- Initialize the SPI hardware.
- // This function will setup all SPI pins and related hardware.
- void initSPI();
-
- // SPIwriteByte() -- Write a byte out of SPI to a register in the device
- // Input:
- // - csPin = The chip select pin of the slave device.
- // - subAddress = The register to be written to.
- // - data = Byte to be written to the register.
- void SPIwriteByte(uint8_t csPin, uint8_t subAddress, uint8_t data);
-
- // SPIreadByte() -- Read a single byte from a register over SPI.
- // Input:
- // - csPin = The chip select pin of the slave device.
- // - subAddress = The register to be read from.
- // Output:
- // - The byte read from the requested address.
- uint8_t SPIreadByte(uint8_t csPin, uint8_t subAddress);
-
- // SPIreadBytes() -- Read a series of bytes, starting at a register via SPI
- // Input:
- // - csPin = The chip select pin of a 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 SPIreadBytes(uint8_t csPin, uint8_t subAddress,
- uint8_t * dest, uint8_t count);
-
- ///////////////////
- // I2C Functions //
- ///////////////////
- // initI2C() -- Initialize the I2C hardware.
- // This function will setup all I2C pins and related hardware.
- void initI2C();
-
- // 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.
- uint8_t I2CreadBytes(uint8_t address, uint8_t subAddress, uint8_t * dest, uint8_t count);
-
-private:
- I2C i2c;
-};
-
-#endif // SFE_LSM9DS1_H //