ECE 4180 Lab 2 IMU code template
Dependencies: 4DGL-uLCD-SE LSM9DS0 mbed
Revision 3:6d7606db18e1, committed 2015-01-26
- Comitter:
- aswild
- Date:
- Mon Jan 26 06:39:49 2015 +0000
- Parent:
- 2:4d1fd40fbf43
- Child:
- 4:a9e3007530a7
- Commit message:
- fixed documentation/library
Changed in this revision
--- a/LSM9DS0.cpp Mon Jan 26 06:32:58 2015 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,450 +0,0 @@ -#include "LSM9DS0.h" -#include "math.h" - -LSM9DS0::LSM9DS0(PinName sda, PinName scl, uint8_t gAddr, uint8_t xmAddr) : i2c(sda, scl) -{ - // xmAddress and gAddress will store the 7-bit I2C address, if using I2C. - xmAddress = xmAddr; - gAddress = gAddr; -} - -uint16_t LSM9DS0::begin(gyro_scale gScl, accel_scale aScl, mag_scale mScl, - gyro_odr gODR, accel_odr aODR, mag_odr mODR) -{ - // Store the given scales in class variables. These scale variables - // are used throughout to calculate the actual g's, DPS,and Gs's. - gScale = gScl; - aScale = aScl; - mScale = mScl; - - // Once we have the scale values, we can calculate the resolution - // of each sensor. That's what these functions are for. One for each sensor - calcgRes(); // Calculate DPS / ADC tick, stored in gRes variable - calcmRes(); // Calculate Gs / ADC tick, stored in mRes variable - calcaRes(); // Calculate g / ADC tick, stored in aRes variable - - - // To verify communication, we can read from the WHO_AM_I register of - // each device. Store those in a variable so we can return them. - uint8_t gTest = gReadByte(WHO_AM_I_G); // Read the gyro WHO_AM_I - uint8_t xmTest = xmReadByte(WHO_AM_I_XM); // Read the accel/mag WHO_AM_I - - // Gyro initialization stuff: - initGyro(); // This will "turn on" the gyro. Setting up interrupts, etc. - setGyroODR(gODR); // Set the gyro output data rate and bandwidth. - setGyroScale(gScale); // Set the gyro range - - // Accelerometer initialization stuff: - initAccel(); // "Turn on" all axes of the accel. Set up interrupts, etc. - setAccelODR(aODR); // Set the accel data rate. - setAccelScale(aScale); // Set the accel range. - - // Magnetometer initialization stuff: - initMag(); // "Turn on" all axes of the mag. Set up interrupts, etc. - setMagODR(mODR); // Set the magnetometer output data rate. - setMagScale(mScale); // Set the magnetometer's range. - - // Once everything is initialized, return the WHO_AM_I registers we read: - return (xmTest << 8) | gTest; -} - -void LSM9DS0::initGyro() -{ - - gWriteByte(CTRL_REG1_G, 0x0F); // Normal mode, enable all axes - gWriteByte(CTRL_REG2_G, 0x00); // Normal mode, high cutoff frequency - gWriteByte(CTRL_REG3_G, 0x88); //Interrupt enabled on both INT_G and I2_DRDY - gWriteByte(CTRL_REG4_G, 0x00); // Set scale to 245 dps - gWriteByte(CTRL_REG5_G, 0x00); //Init default values - -} - -void LSM9DS0::initAccel() -{ - xmWriteByte(CTRL_REG0_XM, 0x00); - xmWriteByte(CTRL_REG1_XM, 0x57); // 50Hz data rate, x/y/z all enabled - xmWriteByte(CTRL_REG2_XM, 0x00); // Set scale to 2g - xmWriteByte(CTRL_REG3_XM, 0x04); // Accelerometer data ready on INT1_XM (0x04) - -} - -void LSM9DS0::initMag() -{ - xmWriteByte(CTRL_REG5_XM, 0x94); // Mag data rate - 100 Hz, enable temperature sensor - xmWriteByte(CTRL_REG6_XM, 0x00); // Mag scale to +/- 2GS - xmWriteByte(CTRL_REG7_XM, 0x00); // Continuous conversion mode - xmWriteByte(CTRL_REG4_XM, 0x04); // Magnetometer data ready on INT2_XM (0x08) - xmWriteByte(INT_CTRL_REG_M, 0x09); // Enable interrupts for mag, active-low, push-pull -} - -void LSM9DS0::readAccel() -{ - uint16_t data = 0; - - //Get x - data = xmReadByte(OUT_X_H_A); - data <<= 8; - data |= xmReadByte(OUT_X_L_A); - ax_raw = data; - ax = ax_raw * aRes; - - //Get y - data=0; - data = xmReadByte(OUT_Y_H_A); - data <<= 8; - data |= xmReadByte(OUT_Y_L_A); - ay_raw = data; - ay = ay_raw * aRes; - - //Get z - data=0; - data = xmReadByte(OUT_Z_H_A); - data <<= 8; - data |= xmReadByte(OUT_Z_L_A); - az_raw = data; - az = az_raw * aRes; -} - -void LSM9DS0::readMag() -{ - uint16_t data = 0; - - //Get x - data = xmReadByte(OUT_X_H_M); - data <<= 8; - data |= xmReadByte(OUT_X_L_M); - mx_raw = data; - mx = mx_raw * mRes; - - //Get y - data = xmReadByte(OUT_Y_H_M); - data <<= 8; - data |= xmReadByte(OUT_Y_L_M); - my_raw = data; - my = my_raw * mRes; - - //Get z - data = xmReadByte(OUT_Z_H_M); - data <<= 8; - data |= xmReadByte(OUT_Z_L_M); - mz_raw = data; - mz = mz_raw * mRes; -} - -void LSM9DS0::readTemp() -{ - uint8_t temp[2]; // We'll read two bytes from the temperature sensor into temp - - temp[0] = xmReadByte(OUT_TEMP_L_XM); - temp[1] = xmReadByte(OUT_TEMP_H_XM); - - // Temperature is a 12-bit signed integer - temperature_raw = (((int16_t) temp[1] << 12) | temp[0] << 4 ) >> 4; - - temperature_c = (float)temperature_raw / 8.0; - temperature_f = temperature_c * 1.8 + 32; -} - - -void LSM9DS0::readGyro() -{ - uint16_t data = 0; - - //Get x - data = gReadByte(OUT_X_H_G); - data <<= 8; - data |= gReadByte(OUT_X_L_G); - gx_raw = data; - gx = gx_raw * gRes; - - //Get y - data = gReadByte(OUT_Y_H_G); - data <<= 8; - data |= gReadByte(OUT_Y_L_G); - gy_raw = data; - gy = gy_raw * gRes; - - //Get z - data = gReadByte(OUT_Z_H_G); - data <<= 8; - data |= gReadByte(OUT_Z_L_G); - gz_raw = data; - gz = gz_raw * gRes; -} - -void LSM9DS0::setGyroScale(gyro_scale gScl) -{ - // We need to preserve the other bytes in CTRL_REG4_G. So, first read it: - uint8_t temp = gReadByte(CTRL_REG4_G); - // Then mask out the gyro scale bits: - temp &= 0xFF^(0x3 << 4); - // Then shift in our new scale bits: - temp |= gScl << 4; - // And write the new register value back into CTRL_REG4_G: - gWriteByte(CTRL_REG4_G, temp); - - // We've updated the sensor, but we also need to update our class variables - // First update gScale: - gScale = gScl; - // Then calculate a new gRes, which relies on gScale being set correctly: - calcgRes(); -} - -void LSM9DS0::setAccelScale(accel_scale aScl) -{ - // We need to preserve the other bytes in CTRL_REG2_XM. So, first read it: - uint8_t temp = xmReadByte(CTRL_REG2_XM); - // Then mask out the accel scale bits: - temp &= 0xFF^(0x3 << 3); - // Then shift in our new scale bits: - temp |= aScl << 3; - // And write the new register value back into CTRL_REG2_XM: - xmWriteByte(CTRL_REG2_XM, temp); - - // We've updated the sensor, but we also need to update our class variables - // First update aScale: - aScale = aScl; - // Then calculate a new aRes, which relies on aScale being set correctly: - calcaRes(); -} - -void LSM9DS0::setMagScale(mag_scale mScl) -{ - // We need to preserve the other bytes in CTRL_REG6_XM. So, first read it: - uint8_t temp = xmReadByte(CTRL_REG6_XM); - // Then mask out the mag scale bits: - temp &= 0xFF^(0x3 << 5); - // Then shift in our new scale bits: - temp |= mScl << 5; - // And write the new register value back into CTRL_REG6_XM: - xmWriteByte(CTRL_REG6_XM, temp); - - // We've updated the sensor, but we also need to update our class variables - // First update mScale: - mScale = mScl; - // Then calculate a new mRes, which relies on mScale being set correctly: - calcmRes(); -} - -void LSM9DS0::setGyroODR(gyro_odr gRate) -{ - // We need to preserve the other bytes in CTRL_REG1_G. So, first read it: - uint8_t temp = gReadByte(CTRL_REG1_G); - // Then mask out the gyro ODR bits: - temp &= 0xFF^(0xF << 4); - // Then shift in our new ODR bits: - temp |= (gRate << 4); - // And write the new register value back into CTRL_REG1_G: - gWriteByte(CTRL_REG1_G, temp); -} -void LSM9DS0::setAccelODR(accel_odr aRate) -{ - // We need to preserve the other bytes in CTRL_REG1_XM. So, first read it: - uint8_t temp = xmReadByte(CTRL_REG1_XM); - // Then mask out the accel ODR bits: - temp &= 0xFF^(0xF << 4); - // Then shift in our new ODR bits: - temp |= (aRate << 4); - // And write the new register value back into CTRL_REG1_XM: - xmWriteByte(CTRL_REG1_XM, temp); -} -void LSM9DS0::setMagODR(mag_odr mRate) -{ - // We need to preserve the other bytes in CTRL_REG5_XM. So, first read it: - uint8_t temp = xmReadByte(CTRL_REG5_XM); - // Then mask out the mag ODR bits: - temp &= 0xFF^(0x7 << 2); - // Then shift in our new ODR bits: - temp |= (mRate << 2); - // And write the new register value back into CTRL_REG5_XM: - xmWriteByte(CTRL_REG5_XM, temp); -} - -void LSM9DS0::configGyroInt(uint8_t int1Cfg, uint16_t int1ThsX, uint16_t int1ThsY, uint16_t int1ThsZ, uint8_t duration) -{ - gWriteByte(INT1_CFG_G, int1Cfg); - gWriteByte(INT1_THS_XH_G, (int1ThsX & 0xFF00) >> 8); - gWriteByte(INT1_THS_XL_G, (int1ThsX & 0xFF)); - gWriteByte(INT1_THS_YH_G, (int1ThsY & 0xFF00) >> 8); - gWriteByte(INT1_THS_YL_G, (int1ThsY & 0xFF)); - gWriteByte(INT1_THS_ZH_G, (int1ThsZ & 0xFF00) >> 8); - gWriteByte(INT1_THS_ZL_G, (int1ThsZ & 0xFF)); - if (duration) - gWriteByte(INT1_DURATION_G, 0x80 | duration); - else - gWriteByte(INT1_DURATION_G, 0x00); -} - -void LSM9DS0::calcgRes() -{ - // Possible gyro scales (and their register bit settings) are: - // 245 DPS (00), 500 DPS (01), 2000 DPS (10). Here's a bit of an algorithm - // to calculate DPS/(ADC tick) based on that 2-bit value: - switch (gScale) - { - case G_SCALE_245DPS: - gRes = 245.0 / 32768.0; - break; - case G_SCALE_500DPS: - gRes = 500.0 / 32768.0; - break; - case G_SCALE_2000DPS: - gRes = 2000.0 / 32768.0; - break; - } -} - -void LSM9DS0::calcaRes() -{ - // Possible accelerometer scales (and their register bit settings) are: - // 2 g (000), 4g (001), 6g (010) 8g (011), 16g (100). Here's a bit of an - // algorithm to calculate g/(ADC tick) based on that 3-bit value: - aRes = aScale == A_SCALE_16G ? 16.0 / 32768.0 : - (((float) aScale + 1.0) * 2.0) / 32768.0; -} - -void LSM9DS0::calcmRes() -{ - // Possible magnetometer scales (and their register bit settings) are: - // 2 Gs (00), 4 Gs (01), 8 Gs (10) 12 Gs (11). Here's a bit of an algorithm - // to calculate Gs/(ADC tick) based on that 2-bit value: - mRes = mScale == M_SCALE_2GS ? 2.0 / 32768.0 : - (float) (mScale << 2) / 32768.0; -} - -#define R2D 57.295779513F -// calculate compass heading, assuming readMag() has been called already -float LSM9DS0::calcHeading() -{ - if (my > 0) - return 90.0 - atan(mx / my)*R2D; - else if (my < 0) - return 270.0 - atan(mx / my)*R2D; - else if (mx < 0) - return 180.0; - else - return 0.0; -} - -void LSM9DS0::calcBias() -{ - uint8_t data[6] = {0, 0, 0, 0, 0, 0}; - int16_t gyro_bias[3] = {0, 0, 0}, accel_bias[3] = {0, 0, 0}; - int samples, ii; - - // First get gyro bias - uint8_t c = gReadByte(CTRL_REG5_G); - gWriteByte(CTRL_REG5_G, c | 0x40); // Enable gyro FIFO - wait_ms(20); // Wait for change to take effect - gWriteByte(FIFO_CTRL_REG_G, 0x20 | 0x1F); // Enable gyro FIFO stream mode and set watermark at 32 samples - wait_ms(1000); // delay 1000 milliseconds to collect FIFO samples - - samples = (gReadByte(FIFO_SRC_REG_G) & 0x1F); // Read number of stored samples - - for(ii = 0; ii < samples ; ii++) - { - // Read the gyro data stored in the FIFO - data[0] = gReadByte(OUT_X_L_G); - data[1] = gReadByte(OUT_X_H_G); - data[2] = gReadByte(OUT_Y_L_G); - data[3] = gReadByte(OUT_Y_H_G); - data[4] = gReadByte(OUT_Z_L_G); - data[5] = gReadByte(OUT_Z_H_G); - - gyro_bias[0] += (((int16_t)data[1] << 8) | data[0]); - gyro_bias[1] += (((int16_t)data[3] << 8) | data[2]); - gyro_bias[2] += (((int16_t)data[5] << 8) | data[4]); - } - - gyro_bias[0] /= samples; // average the data - gyro_bias[1] /= samples; - gyro_bias[2] /= samples; - - gbias[0] = (float)gyro_bias[0]*gRes; // Properly scale the data to get deg/s - gbias[1] = (float)gyro_bias[1]*gRes; - gbias[2] = (float)gyro_bias[2]*gRes; - - c = gReadByte(CTRL_REG5_G); - gWriteByte(CTRL_REG5_G, c & ~0x40); // Disable gyro FIFO - wait_ms(20); - gWriteByte(FIFO_CTRL_REG_G, 0x00); // Enable gyro bypass mode - - // Now get the accelerometer biases - c = xmReadByte(CTRL_REG0_XM); - xmWriteByte(CTRL_REG0_XM, c | 0x40); // Enable accelerometer FIFO - wait_ms(20); // Wait for change to take effect - xmWriteByte(FIFO_CTRL_REG, 0x20 | 0x1F); // Enable accelerometer FIFO stream mode and set watermark at 32 samples - wait_ms(1000); // delay 1000 milliseconds to collect FIFO samples - - samples = (xmReadByte(FIFO_SRC_REG) & 0x1F); // Read number of stored accelerometer samples - - for(ii = 0; ii < samples ; ii++) - { - // Read the accelerometer data stored in the FIFO - data[0] = xmReadByte(OUT_X_L_A); - data[1] = xmReadByte(OUT_X_H_A); - data[2] = xmReadByte(OUT_Y_L_A); - data[3] = xmReadByte(OUT_Y_H_A); - data[4] = xmReadByte(OUT_Z_L_A); - data[5] = xmReadByte(OUT_Z_H_A); - accel_bias[0] += (((int16_t)data[1] << 8) | data[0]); - accel_bias[1] += (((int16_t)data[3] << 8) | data[2]); - accel_bias[2] += (((int16_t)data[5] << 8) | data[4]) - (int16_t)(1./aRes); // Assumes sensor facing up! - } - - accel_bias[0] /= samples; // average the data - accel_bias[1] /= samples; - accel_bias[2] /= samples; - - abias[0] = (float)accel_bias[0]*aRes; // Properly scale data to get gs - abias[1] = (float)accel_bias[1]*aRes; - abias[2] = (float)accel_bias[2]*aRes; - - c = xmReadByte(CTRL_REG0_XM); - xmWriteByte(CTRL_REG0_XM, c & ~0x40); // Disable accelerometer FIFO - wait_ms(20); - xmWriteByte(FIFO_CTRL_REG, 0x00); // Enable accelerometer bypass mode -} - -void LSM9DS0::gWriteByte(uint8_t subAddress, uint8_t data) -{ - // Whether we're using I2C or SPI, write a byte using the - // gyro-specific I2C address or SPI CS pin. - I2CwriteByte(gAddress, subAddress, data); -} - -void LSM9DS0::xmWriteByte(uint8_t subAddress, uint8_t data) -{ - // Whether we're using I2C or SPI, write a byte using the - // accelerometer-specific I2C address or SPI CS pin. - return I2CwriteByte(xmAddress, subAddress, data); -} - -uint8_t LSM9DS0::gReadByte(uint8_t subAddress) -{ - return I2CreadByte(gAddress, subAddress); -} - -uint8_t LSM9DS0::xmReadByte(uint8_t subAddress) -{ - // Whether we're using I2C or SPI, read a byte using the - // accelerometer-specific I2C address. - return I2CreadByte(xmAddress, subAddress); -} - -void LSM9DS0::I2CwriteByte(char address, char subAddress, char data) -{ - char cmd[2] = {subAddress, data}; - i2c.write(address<<1, cmd, 2); - -} - -uint8_t LSM9DS0::I2CreadByte(char address, char subAddress) -{ - char data; // store the register data - i2c.write(address<<1, &subAddress, 1, true); - i2c.read(address<<1, &data, 1); - - return data; - -} \ No newline at end of file
--- a/LSM9DS0.h Mon Jan 26 06:32:58 2015 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,462 +0,0 @@ -// Most of the Credit goes to jimblom -// Modifications by Allen Wild -#ifndef _LSM9DS0_H__ -#define _LSM9DS0_H__ - -#include "mbed.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_raw, gy_raw, gz_raw; // x, y, and z axis readings of the gyroscope - int16_t ax_raw, ay_raw, az_raw; // x, y, and z axis readings of the accelerometer - int16_t mx_raw, my_raw, mz_raw; // x, y, and z axis readings of the magnetometer - int16_t temperature_raw; - - // floating-point values of scaled data in real-world units - float gx, gy, gz; - float ax, ay, az; - float mx, my, mz; - float temperature_c, temperature_f; // temperature in celcius and fahrenheit - - 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_raw, gy_raw, and gz_raw 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_raw, ay_raw, and az_raw 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_raw, my_raw, and mz_raw 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(); - - /** 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 calcBias(); - - * return a comass heading (in degrees) using X/Y magnetometer data - float calcHeading(); - - -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); - - /** 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); - - /** 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 // - /////////////////// - I2C 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(char address, char subAddress, char 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(char address, char subAddress); -}; - -#endif // _LSM9DS0_H //
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/LSM9DS0.lib Mon Jan 26 06:39:49 2015 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/users/aswild/code/LSM9DS0/#7c1e26d377ed