Daniel Begasse / Mbed 2 deprecated ECE4180_lab4

This is our rendition of popular labyrinth games. We use readings from the IMU accelerometer to move a little yellow ball around the screen. We have created a maze of walls and holes that will end the game if the user runs into either of these.

Dependencies:   4DGL-uLCD-SE mbed

LSM9DS0.h@1:2250e33823e2, 2015-10-20 (annotated)

Committer:
dbegasse
Date:
Tue Oct 20 18:34:56 2015 +0000
Revision:
1:2250e33823e2
Parent:
0:7b4bbd744f6d 
ECE4180 Lab 4 to_publish

Who changed what in which revision?

UserRevisionLine numberNew contents of line
dbegasse 0:7b4bbd744f6d 1 //Most of the Credit goes to jimblom
dbegasse 0:7b4bbd744f6d 2 #ifndef _LSM9DS0_H__
dbegasse 0:7b4bbd744f6d 3 #define _LSM9DS0_H__
dbegasse 0:7b4bbd744f6d 4
dbegasse 0:7b4bbd744f6d 5 #include "mbed.h"
dbegasse 0:7b4bbd744f6d 6 #include "I2Cdev.h"
dbegasse 0:7b4bbd744f6d 7
dbegasse 0:7b4bbd744f6d 8
dbegasse 0:7b4bbd744f6d 9 ////////////////////////////
dbegasse 0:7b4bbd744f6d 10 // LSM9DS0 Gyro Registers //
dbegasse 0:7b4bbd744f6d 11 ////////////////////////////
dbegasse 0:7b4bbd744f6d 12 #define WHO_AM_I_G 0x0F
dbegasse 0:7b4bbd744f6d 13 #define CTRL_REG1_G 0x20
dbegasse 0:7b4bbd744f6d 14 #define CTRL_REG2_G 0x21
dbegasse 0:7b4bbd744f6d 15 #define CTRL_REG3_G 0x22
dbegasse 0:7b4bbd744f6d 16 #define CTRL_REG4_G 0x23
dbegasse 0:7b4bbd744f6d 17 #define CTRL_REG5_G 0x24
dbegasse 0:7b4bbd744f6d 18 #define REFERENCE_G 0x25
dbegasse 0:7b4bbd744f6d 19 #define STATUS_REG_G 0x27
dbegasse 0:7b4bbd744f6d 20 #define OUT_X_L_G 0x28
dbegasse 0:7b4bbd744f6d 21 #define OUT_X_H_G 0x29
dbegasse 0:7b4bbd744f6d 22 #define OUT_Y_L_G 0x2A
dbegasse 0:7b4bbd744f6d 23 #define OUT_Y_H_G 0x2B
dbegasse 0:7b4bbd744f6d 24 #define OUT_Z_L_G 0x2C
dbegasse 0:7b4bbd744f6d 25 #define OUT_Z_H_G 0x2D
dbegasse 0:7b4bbd744f6d 26 #define FIFO_CTRL_REG_G 0x2E
dbegasse 0:7b4bbd744f6d 27 #define FIFO_SRC_REG_G 0x2F
dbegasse 0:7b4bbd744f6d 28 #define INT1_CFG_G 0x30
dbegasse 0:7b4bbd744f6d 29 #define INT1_SRC_G 0x31
dbegasse 0:7b4bbd744f6d 30 #define INT1_THS_XH_G 0x32
dbegasse 0:7b4bbd744f6d 31 #define INT1_THS_XL_G 0x33
dbegasse 0:7b4bbd744f6d 32 #define INT1_THS_YH_G 0x34
dbegasse 0:7b4bbd744f6d 33 #define INT1_THS_YL_G 0x35
dbegasse 0:7b4bbd744f6d 34 #define INT1_THS_ZH_G 0x36
dbegasse 0:7b4bbd744f6d 35 #define INT1_THS_ZL_G 0x37
dbegasse 0:7b4bbd744f6d 36 #define INT1_DURATION_G 0x38
dbegasse 0:7b4bbd744f6d 37
dbegasse 0:7b4bbd744f6d 38 //////////////////////////////////////////
dbegasse 0:7b4bbd744f6d 39 // LSM9DS0 Accel/Magneto (XM) Registers //
dbegasse 0:7b4bbd744f6d 40 //////////////////////////////////////////
dbegasse 0:7b4bbd744f6d 41 #define OUT_TEMP_L_XM 0x05
dbegasse 0:7b4bbd744f6d 42 #define OUT_TEMP_H_XM 0x06
dbegasse 0:7b4bbd744f6d 43 #define STATUS_REG_M 0x07
dbegasse 0:7b4bbd744f6d 44 #define OUT_X_L_M 0x08
dbegasse 0:7b4bbd744f6d 45 #define OUT_X_H_M 0x09
dbegasse 0:7b4bbd744f6d 46 #define OUT_Y_L_M 0x0A
dbegasse 0:7b4bbd744f6d 47 #define OUT_Y_H_M 0x0B
dbegasse 0:7b4bbd744f6d 48 #define OUT_Z_L_M 0x0C
dbegasse 0:7b4bbd744f6d 49 #define OUT_Z_H_M 0x0D
dbegasse 0:7b4bbd744f6d 50 #define WHO_AM_I_XM 0x0F
dbegasse 0:7b4bbd744f6d 51 #define INT_CTRL_REG_M 0x12
dbegasse 0:7b4bbd744f6d 52 #define INT_SRC_REG_M 0x13
dbegasse 0:7b4bbd744f6d 53 #define INT_THS_L_M 0x14
dbegasse 0:7b4bbd744f6d 54 #define INT_THS_H_M 0x15
dbegasse 0:7b4bbd744f6d 55 #define OFFSET_X_L_M 0x16
dbegasse 0:7b4bbd744f6d 56 #define OFFSET_X_H_M 0x17
dbegasse 0:7b4bbd744f6d 57 #define OFFSET_Y_L_M 0x18
dbegasse 0:7b4bbd744f6d 58 #define OFFSET_Y_H_M 0x19
dbegasse 0:7b4bbd744f6d 59 #define OFFSET_Z_L_M 0x1A
dbegasse 0:7b4bbd744f6d 60 #define OFFSET_Z_H_M 0x1B
dbegasse 0:7b4bbd744f6d 61 #define REFERENCE_X 0x1C
dbegasse 0:7b4bbd744f6d 62 #define REFERENCE_Y 0x1D
dbegasse 0:7b4bbd744f6d 63 #define REFERENCE_Z 0x1E
dbegasse 0:7b4bbd744f6d 64 #define CTRL_REG0_XM 0x1F
dbegasse 0:7b4bbd744f6d 65 #define CTRL_REG1_XM 0x20
dbegasse 0:7b4bbd744f6d 66 #define CTRL_REG2_XM 0x21
dbegasse 0:7b4bbd744f6d 67 #define CTRL_REG3_XM 0x22
dbegasse 0:7b4bbd744f6d 68 #define CTRL_REG4_XM 0x23
dbegasse 0:7b4bbd744f6d 69 #define CTRL_REG5_XM 0x24
dbegasse 0:7b4bbd744f6d 70 #define CTRL_REG6_XM 0x25
dbegasse 0:7b4bbd744f6d 71 #define CTRL_REG7_XM 0x26
dbegasse 0:7b4bbd744f6d 72 #define STATUS_REG_A 0x27
dbegasse 0:7b4bbd744f6d 73 #define OUT_X_L_A 0x28
dbegasse 0:7b4bbd744f6d 74 #define OUT_X_H_A 0x29
dbegasse 0:7b4bbd744f6d 75 #define OUT_Y_L_A 0x2A
dbegasse 0:7b4bbd744f6d 76 #define OUT_Y_H_A 0x2B
dbegasse 0:7b4bbd744f6d 77 #define OUT_Z_L_A 0x2C
dbegasse 0:7b4bbd744f6d 78 #define OUT_Z_H_A 0x2D
dbegasse 0:7b4bbd744f6d 79 #define FIFO_CTRL_REG 0x2E
dbegasse 0:7b4bbd744f6d 80 #define FIFO_SRC_REG 0x2F
dbegasse 0:7b4bbd744f6d 81 #define INT_GEN_1_REG 0x30
dbegasse 0:7b4bbd744f6d 82 #define INT_GEN_1_SRC 0x31
dbegasse 0:7b4bbd744f6d 83 #define INT_GEN_1_THS 0x32
dbegasse 0:7b4bbd744f6d 84 #define INT_GEN_1_DURATION 0x33
dbegasse 0:7b4bbd744f6d 85 #define INT_GEN_2_REG 0x34
dbegasse 0:7b4bbd744f6d 86 #define INT_GEN_2_SRC 0x35
dbegasse 0:7b4bbd744f6d 87 #define INT_GEN_2_THS 0x36
dbegasse 0:7b4bbd744f6d 88 #define INT_GEN_2_DURATION 0x37
dbegasse 0:7b4bbd744f6d 89 #define CLICK_CFG 0x38
dbegasse 0:7b4bbd744f6d 90 #define CLICK_SRC 0x39
dbegasse 0:7b4bbd744f6d 91 #define CLICK_THS 0x3A
dbegasse 0:7b4bbd744f6d 92 #define TIME_LIMIT 0x3B
dbegasse 0:7b4bbd744f6d 93 #define TIME_LATENCY 0x3C
dbegasse 0:7b4bbd744f6d 94 #define TIME_WINDOW 0x3D
dbegasse 0:7b4bbd744f6d 95 #define ACT_THS 0x3E
dbegasse 0:7b4bbd744f6d 96 #define ACT_DUR 0x3F
dbegasse 0:7b4bbd744f6d 97
dbegasse 0:7b4bbd744f6d 98
dbegasse 0:7b4bbd744f6d 99 class LSM9DS0
dbegasse 0:7b4bbd744f6d 100 {
dbegasse 0:7b4bbd744f6d 101 public:
dbegasse 0:7b4bbd744f6d 102 // gyro_scale defines the possible full-scale ranges of the gyroscope:
dbegasse 0:7b4bbd744f6d 103 enum gyro_scale
dbegasse 0:7b4bbd744f6d 104 {
dbegasse 0:7b4bbd744f6d 105 G_SCALE_245DPS, // 00: +/- 245 degrees per second
dbegasse 0:7b4bbd744f6d 106 G_SCALE_500DPS, // 01: +/- 500 dps
dbegasse 0:7b4bbd744f6d 107 G_SCALE_2000DPS, // 10: +/- 2000 dps
dbegasse 0:7b4bbd744f6d 108 };
dbegasse 0:7b4bbd744f6d 109 // accel_scale defines all possible FSR's of the accelerometer:
dbegasse 0:7b4bbd744f6d 110 enum accel_scale
dbegasse 0:7b4bbd744f6d 111 {
dbegasse 0:7b4bbd744f6d 112 A_SCALE_2G, // 000: +/- 2g
dbegasse 0:7b4bbd744f6d 113 A_SCALE_4G, // 001: +/- 4g
dbegasse 0:7b4bbd744f6d 114 A_SCALE_6G, // 010: +/- 6g
dbegasse 0:7b4bbd744f6d 115 A_SCALE_8G, // 011: +/- 8g
dbegasse 0:7b4bbd744f6d 116 A_SCALE_16G // 100: +/- 16g
dbegasse 0:7b4bbd744f6d 117 };
dbegasse 0:7b4bbd744f6d 118 // mag_scale defines all possible FSR's of the magnetometer:
dbegasse 0:7b4bbd744f6d 119 enum mag_scale
dbegasse 0:7b4bbd744f6d 120 {
dbegasse 0:7b4bbd744f6d 121 M_SCALE_2GS, // 00: +/- 2Gs
dbegasse 0:7b4bbd744f6d 122 M_SCALE_4GS, // 01: +/- 4Gs
dbegasse 0:7b4bbd744f6d 123 M_SCALE_8GS, // 10: +/- 8Gs
dbegasse 0:7b4bbd744f6d 124 M_SCALE_12GS, // 11: +/- 12Gs
dbegasse 0:7b4bbd744f6d 125 };
dbegasse 0:7b4bbd744f6d 126 // gyro_odr defines all possible data rate/bandwidth combos of the gyro:
dbegasse 0:7b4bbd744f6d 127 enum gyro_odr
dbegasse 0:7b4bbd744f6d 128 { // ODR (Hz) --- Cutoff
dbegasse 0:7b4bbd744f6d 129 G_ODR_95_BW_125 = 0x0, // 95 12.5
dbegasse 0:7b4bbd744f6d 130 G_ODR_95_BW_25 = 0x1, // 95 25
dbegasse 0:7b4bbd744f6d 131 // 0x2 and 0x3 define the same data rate and bandwidth
dbegasse 0:7b4bbd744f6d 132 G_ODR_190_BW_125 = 0x4, // 190 12.5
dbegasse 0:7b4bbd744f6d 133 G_ODR_190_BW_25 = 0x5, // 190 25
dbegasse 0:7b4bbd744f6d 134 G_ODR_190_BW_50 = 0x6, // 190 50
dbegasse 0:7b4bbd744f6d 135 G_ODR_190_BW_70 = 0x7, // 190 70
dbegasse 0:7b4bbd744f6d 136 G_ODR_380_BW_20 = 0x8, // 380 20
dbegasse 0:7b4bbd744f6d 137 G_ODR_380_BW_25 = 0x9, // 380 25
dbegasse 0:7b4bbd744f6d 138 G_ODR_380_BW_50 = 0xA, // 380 50
dbegasse 0:7b4bbd744f6d 139 G_ODR_380_BW_100 = 0xB, // 380 100
dbegasse 0:7b4bbd744f6d 140 G_ODR_760_BW_30 = 0xC, // 760 30
dbegasse 0:7b4bbd744f6d 141 G_ODR_760_BW_35 = 0xD, // 760 35
dbegasse 0:7b4bbd744f6d 142 G_ODR_760_BW_50 = 0xE, // 760 50
dbegasse 0:7b4bbd744f6d 143 G_ODR_760_BW_100 = 0xF, // 760 100
dbegasse 0:7b4bbd744f6d 144 };
dbegasse 0:7b4bbd744f6d 145 // accel_oder defines all possible output data rates of the accelerometer:
dbegasse 0:7b4bbd744f6d 146 enum accel_odr
dbegasse 0:7b4bbd744f6d 147 {
dbegasse 0:7b4bbd744f6d 148 A_POWER_DOWN, // Power-down mode (0x0)
dbegasse 0:7b4bbd744f6d 149 A_ODR_3125, // 3.125 Hz (0x1)
dbegasse 0:7b4bbd744f6d 150 A_ODR_625, // 6.25 Hz (0x2)
dbegasse 0:7b4bbd744f6d 151 A_ODR_125, // 12.5 Hz (0x3)
dbegasse 0:7b4bbd744f6d 152 A_ODR_25, // 25 Hz (0x4)
dbegasse 0:7b4bbd744f6d 153 A_ODR_50, // 50 Hz (0x5)
dbegasse 0:7b4bbd744f6d 154 A_ODR_100, // 100 Hz (0x6)
dbegasse 0:7b4bbd744f6d 155 A_ODR_200, // 200 Hz (0x7)
dbegasse 0:7b4bbd744f6d 156 A_ODR_400, // 400 Hz (0x8)
dbegasse 0:7b4bbd744f6d 157 A_ODR_800, // 800 Hz (9)
dbegasse 0:7b4bbd744f6d 158 A_ODR_1600 // 1600 Hz (0xA)
dbegasse 0:7b4bbd744f6d 159 };
dbegasse 0:7b4bbd744f6d 160 // accel_oder defines all possible output data rates of the magnetometer:
dbegasse 0:7b4bbd744f6d 161 enum mag_odr
dbegasse 0:7b4bbd744f6d 162 {
dbegasse 0:7b4bbd744f6d 163 M_ODR_3125, // 3.125 Hz (0x00)
dbegasse 0:7b4bbd744f6d 164 M_ODR_625, // 6.25 Hz (0x01)
dbegasse 0:7b4bbd744f6d 165 M_ODR_125, // 12.5 Hz (0x02)
dbegasse 0:7b4bbd744f6d 166 M_ODR_25, // 25 Hz (0x03)
dbegasse 0:7b4bbd744f6d 167 M_ODR_50, // 50 (0x04)
dbegasse 0:7b4bbd744f6d 168 M_ODR_100, // 100 Hz (0x05)
dbegasse 0:7b4bbd744f6d 169 };
dbegasse 0:7b4bbd744f6d 170
dbegasse 0:7b4bbd744f6d 171 // We'll store the gyro, accel, and magnetometer readings in a series of
dbegasse 0:7b4bbd744f6d 172 // public class variables. Each sensor gets three variables -- one for each
dbegasse 0:7b4bbd744f6d 173 // axis. Call readGyro(), readAccel(), and readMag() first, before using
dbegasse 0:7b4bbd744f6d 174 // these variables!
dbegasse 0:7b4bbd744f6d 175 // These values are the RAW signed 16-bit readings from the sensors.
dbegasse 0:7b4bbd744f6d 176 int16_t gx, gy, gz; // x, y, and z axis readings of the gyroscope
dbegasse 0:7b4bbd744f6d 177 int16_t ax, ay, az; // x, y, and z axis readings of the accelerometer
dbegasse 0:7b4bbd744f6d 178 int16_t mx, my, mz; // x, y, and z axis readings of the magnetometer
dbegasse 0:7b4bbd744f6d 179 int16_t temperature;
dbegasse 0:7b4bbd744f6d 180 float abias[3];
dbegasse 0:7b4bbd744f6d 181 float gbias[3];
dbegasse 0:7b4bbd744f6d 182
dbegasse 0:7b4bbd744f6d 183
dbegasse 0:7b4bbd744f6d 184 // LSM9DS0 -- LSM9DS0 class constructor
dbegasse 0:7b4bbd744f6d 185 // The constructor will set up a handful of private variables, and set the
dbegasse 0:7b4bbd744f6d 186 // communication mode as well.
dbegasse 0:7b4bbd744f6d 187 // Input:
dbegasse 0:7b4bbd744f6d 188 // - interface = Either MODE_SPI or MODE_I2C, whichever you're using
dbegasse 0:7b4bbd744f6d 189 // to talk to the IC.
dbegasse 0:7b4bbd744f6d 190 // - gAddr = If MODE_I2C, this is the I2C address of the gyroscope.
dbegasse 0:7b4bbd744f6d 191 // If MODE_SPI, this is the chip select pin of the gyro (CSG)
dbegasse 0:7b4bbd744f6d 192 // - xmAddr = If MODE_I2C, this is the I2C address of the accel/mag.
dbegasse 0:7b4bbd744f6d 193 // If MODE_SPI, this is the cs pin of the accel/mag (CSXM)
dbegasse 0:7b4bbd744f6d 194 LSM9DS0(PinName sda, PinName scl, uint8_t gAddr, uint8_t xmAddr);
dbegasse 0:7b4bbd744f6d 195
dbegasse 0:7b4bbd744f6d 196 // begin() -- Initialize the gyro, accelerometer, and magnetometer.
dbegasse 0:7b4bbd744f6d 197 // This will set up the scale and output rate of each sensor. It'll also
dbegasse 0:7b4bbd744f6d 198 // "turn on" every sensor and every axis of every sensor.
dbegasse 0:7b4bbd744f6d 199 // Input:
dbegasse 0:7b4bbd744f6d 200 // - gScl = The scale of the gyroscope. This should be a gyro_scale value.
dbegasse 0:7b4bbd744f6d 201 // - aScl = The scale of the accelerometer. Should be a accel_scale value.
dbegasse 0:7b4bbd744f6d 202 // - mScl = The scale of the magnetometer. Should be a mag_scale value.
dbegasse 0:7b4bbd744f6d 203 // - gODR = Output data rate of the gyroscope. gyro_odr value.
dbegasse 0:7b4bbd744f6d 204 // - aODR = Output data rate of the accelerometer. accel_odr value.
dbegasse 0:7b4bbd744f6d 205 // - mODR = Output data rate of the magnetometer. mag_odr value.
dbegasse 0:7b4bbd744f6d 206 // Output: The function will return an unsigned 16-bit value. The most-sig
dbegasse 0:7b4bbd744f6d 207 // bytes of the output are the WHO_AM_I reading of the accel. The
dbegasse 0:7b4bbd744f6d 208 // least significant two bytes are the WHO_AM_I reading of the gyro.
dbegasse 0:7b4bbd744f6d 209 // All parameters have a defaulted value, so you can call just "begin()".
dbegasse 0:7b4bbd744f6d 210 // Default values are FSR's of: +/- 245DPS, 2g, 2Gs; ODRs of 95 Hz for
dbegasse 0:7b4bbd744f6d 211 // gyro, 100 Hz for accelerometer, 100 Hz for magnetometer.
dbegasse 0:7b4bbd744f6d 212 // Use the return value of this function to verify communication.
dbegasse 0:7b4bbd744f6d 213 uint16_t begin(gyro_scale gScl = G_SCALE_245DPS,
dbegasse 0:7b4bbd744f6d 214 accel_scale aScl = A_SCALE_2G, mag_scale mScl = M_SCALE_2GS,
dbegasse 0:7b4bbd744f6d 215 gyro_odr gODR = G_ODR_95_BW_125, accel_odr aODR = A_ODR_50,
dbegasse 0:7b4bbd744f6d 216 mag_odr mODR = M_ODR_50);
dbegasse 0:7b4bbd744f6d 217
dbegasse 0:7b4bbd744f6d 218 // readGyro() -- Read the gyroscope output registers.
dbegasse 0:7b4bbd744f6d 219 // This function will read all six gyroscope output registers.
dbegasse 0:7b4bbd744f6d 220 // The readings are stored in the class' gx, gy, and gz variables. Read
dbegasse 0:7b4bbd744f6d 221 // those _after_ calling readGyro().
dbegasse 0:7b4bbd744f6d 222 void readGyro();
dbegasse 0:7b4bbd744f6d 223
dbegasse 0:7b4bbd744f6d 224 // readAccel() -- Read the accelerometer output registers.
dbegasse 0:7b4bbd744f6d 225 // This function will read all six accelerometer output registers.
dbegasse 0:7b4bbd744f6d 226 // The readings are stored in the class' ax, ay, and az variables. Read
dbegasse 0:7b4bbd744f6d 227 // those _after_ calling readAccel().
dbegasse 0:7b4bbd744f6d 228 void readAccel();
dbegasse 0:7b4bbd744f6d 229
dbegasse 0:7b4bbd744f6d 230 // readMag() -- Read the magnetometer output registers.
dbegasse 0:7b4bbd744f6d 231 // This function will read all six magnetometer output registers.
dbegasse 0:7b4bbd744f6d 232 // The readings are stored in the class' mx, my, and mz variables. Read
dbegasse 0:7b4bbd744f6d 233 // those _after_ calling readMag().
dbegasse 0:7b4bbd744f6d 234 void readMag();
dbegasse 0:7b4bbd744f6d 235
dbegasse 0:7b4bbd744f6d 236 // readTemp() -- Read the temperature output register.
dbegasse 0:7b4bbd744f6d 237 // This function will read two temperature output registers.
dbegasse 0:7b4bbd744f6d 238 // The combined readings are stored in the class' temperature variables. Read
dbegasse 0:7b4bbd744f6d 239 // those _after_ calling readTemp().
dbegasse 0:7b4bbd744f6d 240 void readTemp();
dbegasse 0:7b4bbd744f6d 241
dbegasse 0:7b4bbd744f6d 242 // calcGyro() -- Convert from RAW signed 16-bit value to degrees per second
dbegasse 0:7b4bbd744f6d 243 // This function reads in a signed 16-bit value and returns the scaled
dbegasse 0:7b4bbd744f6d 244 // DPS. This function relies on gScale and gRes being correct.
dbegasse 0:7b4bbd744f6d 245 // Input:
dbegasse 0:7b4bbd744f6d 246 // - gyro = A signed 16-bit raw reading from the gyroscope.
dbegasse 0:7b4bbd744f6d 247 float calcGyro(int16_t gyro);
dbegasse 0:7b4bbd744f6d 248
dbegasse 0:7b4bbd744f6d 249
dbegasse 0:7b4bbd744f6d 250 // I added these two functions
dbegasse 0:7b4bbd744f6d 251 float calcTemp(int16_t temp);
dbegasse 0:7b4bbd744f6d 252 float getAccel();
dbegasse 0:7b4bbd744f6d 253
dbegasse 0:7b4bbd744f6d 254 // calcAccel() -- Convert from RAW signed 16-bit value to gravity (g's).
dbegasse 0:7b4bbd744f6d 255 // This function reads in a signed 16-bit value and returns the scaled
dbegasse 0:7b4bbd744f6d 256 // g's. This function relies on aScale and aRes being correct.
dbegasse 0:7b4bbd744f6d 257 // Input:
dbegasse 0:7b4bbd744f6d 258 // - accel = A signed 16-bit raw reading from the accelerometer.
dbegasse 0:7b4bbd744f6d 259 float calcAccel(int16_t accel);
dbegasse 0:7b4bbd744f6d 260
dbegasse 0:7b4bbd744f6d 261 // calcMag() -- Convert from RAW signed 16-bit value to Gauss (Gs)
dbegasse 0:7b4bbd744f6d 262 // This function reads in a signed 16-bit value and returns the scaled
dbegasse 0:7b4bbd744f6d 263 // Gs. This function relies on mScale and mRes being correct.
dbegasse 0:7b4bbd744f6d 264 // Input:
dbegasse 0:7b4bbd744f6d 265 // - mag = A signed 16-bit raw reading from the magnetometer.
dbegasse 0:7b4bbd744f6d 266 float calcMag(int16_t mag);
dbegasse 0:7b4bbd744f6d 267
dbegasse 0:7b4bbd744f6d 268 // setGyroScale() -- Set the full-scale range of the gyroscope.
dbegasse 0:7b4bbd744f6d 269 // This function can be called to set the scale of the gyroscope to
dbegasse 0:7b4bbd744f6d 270 // 245, 500, or 200 degrees per second.
dbegasse 0:7b4bbd744f6d 271 // Input:
dbegasse 0:7b4bbd744f6d 272 // - gScl = The desired gyroscope scale. Must be one of three possible
dbegasse 0:7b4bbd744f6d 273 // values from the gyro_scale enum.
dbegasse 0:7b4bbd744f6d 274 void setGyroScale(gyro_scale gScl);
dbegasse 0:7b4bbd744f6d 275
dbegasse 0:7b4bbd744f6d 276 // setAccelScale() -- Set the full-scale range of the accelerometer.
dbegasse 0:7b4bbd744f6d 277 // This function can be called to set the scale of the accelerometer to
dbegasse 0:7b4bbd744f6d 278 // 2, 4, 6, 8, or 16 g's.
dbegasse 0:7b4bbd744f6d 279 // Input:
dbegasse 0:7b4bbd744f6d 280 // - aScl = The desired accelerometer scale. Must be one of five possible
dbegasse 0:7b4bbd744f6d 281 // values from the accel_scale enum.
dbegasse 0:7b4bbd744f6d 282 void setAccelScale(accel_scale aScl);
dbegasse 0:7b4bbd744f6d 283
dbegasse 0:7b4bbd744f6d 284 // setMagScale() -- Set the full-scale range of the magnetometer.
dbegasse 0:7b4bbd744f6d 285 // This function can be called to set the scale of the magnetometer to
dbegasse 0:7b4bbd744f6d 286 // 2, 4, 8, or 12 Gs.
dbegasse 0:7b4bbd744f6d 287 // Input:
dbegasse 0:7b4bbd744f6d 288 // - mScl = The desired magnetometer scale. Must be one of four possible
dbegasse 0:7b4bbd744f6d 289 // values from the mag_scale enum.
dbegasse 0:7b4bbd744f6d 290 void setMagScale(mag_scale mScl);
dbegasse 0:7b4bbd744f6d 291
dbegasse 0:7b4bbd744f6d 292 // setGyroODR() -- Set the output data rate and bandwidth of the gyroscope
dbegasse 0:7b4bbd744f6d 293 // Input:
dbegasse 0:7b4bbd744f6d 294 // - gRate = The desired output rate and cutoff frequency of the gyro.
dbegasse 0:7b4bbd744f6d 295 // Must be a value from the gyro_odr enum (check above, there're 14).
dbegasse 0:7b4bbd744f6d 296 void setGyroODR(gyro_odr gRate);
dbegasse 0:7b4bbd744f6d 297
dbegasse 0:7b4bbd744f6d 298 // setAccelODR() -- Set the output data rate of the accelerometer
dbegasse 0:7b4bbd744f6d 299 // Input:
dbegasse 0:7b4bbd744f6d 300 // - aRate = The desired output rate of the accel.
dbegasse 0:7b4bbd744f6d 301 // Must be a value from the accel_odr enum (check above, there're 11).
dbegasse 0:7b4bbd744f6d 302 void setAccelODR(accel_odr aRate);
dbegasse 0:7b4bbd744f6d 303
dbegasse 0:7b4bbd744f6d 304 // setMagODR() -- Set the output data rate of the magnetometer
dbegasse 0:7b4bbd744f6d 305 // Input:
dbegasse 0:7b4bbd744f6d 306 // - mRate = The desired output rate of the mag.
dbegasse 0:7b4bbd744f6d 307 // Must be a value from the mag_odr enum (check above, there're 6).
dbegasse 0:7b4bbd744f6d 308 void setMagODR(mag_odr mRate);
dbegasse 0:7b4bbd744f6d 309
dbegasse 0:7b4bbd744f6d 310 // configGyroInt() -- Configure the gyro interrupt output.
dbegasse 0:7b4bbd744f6d 311 // Triggers can be set to either rising above or falling below a specified
dbegasse 0:7b4bbd744f6d 312 // threshold. This function helps setup the interrupt configuration and
dbegasse 0:7b4bbd744f6d 313 // threshold values for all axes.
dbegasse 0:7b4bbd744f6d 314 // Input:
dbegasse 0:7b4bbd744f6d 315 // - int1Cfg = A 8-bit value that is sent directly to the INT1_CFG_G
dbegasse 0:7b4bbd744f6d 316 // register. This sets AND/OR and high/low interrupt gen for each axis
dbegasse 0:7b4bbd744f6d 317 // - int1ThsX = 16-bit interrupt threshold value for x-axis
dbegasse 0:7b4bbd744f6d 318 // - int1ThsY = 16-bit interrupt threshold value for y-axis
dbegasse 0:7b4bbd744f6d 319 // - int1ThsZ = 16-bit interrupt threshold value for z-axis
dbegasse 0:7b4bbd744f6d 320 // - duration = Duration an interrupt holds after triggered. This value
dbegasse 0:7b4bbd744f6d 321 // is copied directly into the INT1_DURATION_G register.
dbegasse 0:7b4bbd744f6d 322 // Before using this function, read about the INT1_CFG_G register and
dbegasse 0:7b4bbd744f6d 323 // the related INT1* registers in the LMS9DS0 datasheet.
dbegasse 0:7b4bbd744f6d 324 void configGyroInt(uint8_t int1Cfg, uint16_t int1ThsX = 0,
dbegasse 0:7b4bbd744f6d 325 uint16_t int1ThsY = 0, uint16_t int1ThsZ = 0,
dbegasse 0:7b4bbd744f6d 326 uint8_t duration = 0);
dbegasse 0:7b4bbd744f6d 327
dbegasse 0:7b4bbd744f6d 328 void calLSM9DS0(float gbias[3], float abias[3]);
dbegasse 0:7b4bbd744f6d 329
dbegasse 0:7b4bbd744f6d 330
dbegasse 0:7b4bbd744f6d 331 private:
dbegasse 0:7b4bbd744f6d 332 // xmAddress and gAddress store the I2C address
dbegasse 0:7b4bbd744f6d 333 // for each sensor.
dbegasse 0:7b4bbd744f6d 334 uint8_t xmAddress, gAddress;
dbegasse 0:7b4bbd744f6d 335
dbegasse 0:7b4bbd744f6d 336 // gScale, aScale, and mScale store the current scale range for each
dbegasse 0:7b4bbd744f6d 337 // sensor. Should be updated whenever that value changes.
dbegasse 0:7b4bbd744f6d 338 gyro_scale gScale;
dbegasse 0:7b4bbd744f6d 339 accel_scale aScale;
dbegasse 0:7b4bbd744f6d 340 mag_scale mScale;
dbegasse 0:7b4bbd744f6d 341
dbegasse 0:7b4bbd744f6d 342 // gRes, aRes, and mRes store the current resolution for each sensor.
dbegasse 0:7b4bbd744f6d 343 // Units of these values would be DPS (or g's or Gs's) per ADC tick.
dbegasse 0:7b4bbd744f6d 344 // This value is calculated as (sensor scale) / (2^15).
dbegasse 0:7b4bbd744f6d 345 float gRes, aRes, mRes;
dbegasse 0:7b4bbd744f6d 346
dbegasse 0:7b4bbd744f6d 347 // initGyro() -- Sets up the gyroscope to begin reading.
dbegasse 0:7b4bbd744f6d 348 // This function steps through all five gyroscope control registers.
dbegasse 0:7b4bbd744f6d 349 // Upon exit, the following parameters will be set:
dbegasse 0:7b4bbd744f6d 350 // - CTRL_REG1_G = 0x0F: Normal operation mode, all axes enabled.
dbegasse 0:7b4bbd744f6d 351 // 95 Hz ODR, 12.5 Hz cutoff frequency.
dbegasse 0:7b4bbd744f6d 352 // - CTRL_REG2_G = 0x00: HPF set to normal mode, cutoff frequency
dbegasse 0:7b4bbd744f6d 353 // set to 7.2 Hz (depends on ODR).
dbegasse 0:7b4bbd744f6d 354 // - CTRL_REG3_G = 0x88: Interrupt enabled on INT_G (set to push-pull and
dbegasse 0:7b4bbd744f6d 355 // active high). Data-ready output enabled on DRDY_G.
dbegasse 0:7b4bbd744f6d 356 // - CTRL_REG4_G = 0x00: Continuous update mode. Data LSB stored in lower
dbegasse 0:7b4bbd744f6d 357 // address. Scale set to 245 DPS. SPI mode set to 4-wire.
dbegasse 0:7b4bbd744f6d 358 // - CTRL_REG5_G = 0x00: FIFO disabled. HPF disabled.
dbegasse 0:7b4bbd744f6d 359 void initGyro();
dbegasse 0:7b4bbd744f6d 360
dbegasse 0:7b4bbd744f6d 361 // initAccel() -- Sets up the accelerometer to begin reading.
dbegasse 0:7b4bbd744f6d 362 // This function steps through all accelerometer related control registers.
dbegasse 0:7b4bbd744f6d 363 // Upon exit these registers will be set as:
dbegasse 0:7b4bbd744f6d 364 // - CTRL_REG0_XM = 0x00: FIFO disabled. HPF bypassed. Normal mode.
dbegasse 0:7b4bbd744f6d 365 // - CTRL_REG1_XM = 0x57: 100 Hz data rate. Continuous update.
dbegasse 0:7b4bbd744f6d 366 // all axes enabled.
dbegasse 0:7b4bbd744f6d 367 // - CTRL_REG2_XM = 0x00: +/- 2g scale. 773 Hz anti-alias filter BW.
dbegasse 0:7b4bbd744f6d 368 // - CTRL_REG3_XM = 0x04: Accel data ready signal on INT1_XM pin.
dbegasse 0:7b4bbd744f6d 369 void initAccel();
dbegasse 0:7b4bbd744f6d 370
dbegasse 0:7b4bbd744f6d 371 // initMag() -- Sets up the magnetometer to begin reading.
dbegasse 0:7b4bbd744f6d 372 // This function steps through all magnetometer-related control registers.
dbegasse 0:7b4bbd744f6d 373 // Upon exit these registers will be set as:
dbegasse 0:7b4bbd744f6d 374 // - CTRL_REG4_XM = 0x04: Mag data ready signal on INT2_XM pin.
dbegasse 0:7b4bbd744f6d 375 // - CTRL_REG5_XM = 0x14: 100 Hz update rate. Low resolution. Interrupt
dbegasse 0:7b4bbd744f6d 376 // requests don't latch. Temperature sensor disabled.
dbegasse 0:7b4bbd744f6d 377 // - CTRL_REG6_XM = 0x00: +/- 2 Gs scale.
dbegasse 0:7b4bbd744f6d 378 // - CTRL_REG7_XM = 0x00: Continuous conversion mode. Normal HPF mode.
dbegasse 0:7b4bbd744f6d 379 // - INT_CTRL_REG_M = 0x09: Interrupt active-high. Enable interrupts.
dbegasse 0:7b4bbd744f6d 380 void initMag();
dbegasse 0:7b4bbd744f6d 381
dbegasse 0:7b4bbd744f6d 382 // gReadByte() -- Reads a byte from a specified gyroscope register.
dbegasse 0:7b4bbd744f6d 383 // Input:
dbegasse 0:7b4bbd744f6d 384 // - subAddress = Register to be read from.
dbegasse 0:7b4bbd744f6d 385 // Output:
dbegasse 0:7b4bbd744f6d 386 // - An 8-bit value read from the requested address.
dbegasse 0:7b4bbd744f6d 387 uint8_t gReadByte(uint8_t subAddress);
dbegasse 0:7b4bbd744f6d 388
dbegasse 0:7b4bbd744f6d 389 // gReadBytes() -- Reads a number of bytes -- beginning at an address
dbegasse 0:7b4bbd744f6d 390 // and incrementing from there -- from the gyroscope.
dbegasse 0:7b4bbd744f6d 391 // Input:
dbegasse 0:7b4bbd744f6d 392 // - subAddress = Register to be read from.
dbegasse 0:7b4bbd744f6d 393 // - * dest = A pointer to an array of uint8_t's. Values read will be
dbegasse 0:7b4bbd744f6d 394 // stored in here on return.
dbegasse 0:7b4bbd744f6d 395 // - count = The number of bytes to be read.
dbegasse 0:7b4bbd744f6d 396 // Output: No value is returned, but the `dest` array will store
dbegasse 0:7b4bbd744f6d 397 // the data read upon exit.
dbegasse 0:7b4bbd744f6d 398 void gReadBytes(uint8_t subAddress, uint8_t * dest, uint8_t count);
dbegasse 0:7b4bbd744f6d 399
dbegasse 0:7b4bbd744f6d 400 // gWriteByte() -- Write a byte to a register in the gyroscope.
dbegasse 0:7b4bbd744f6d 401 // Input:
dbegasse 0:7b4bbd744f6d 402 // - subAddress = Register to be written to.
dbegasse 0:7b4bbd744f6d 403 // - data = data to be written to the register.
dbegasse 0:7b4bbd744f6d 404 void gWriteByte(uint8_t subAddress, uint8_t data);
dbegasse 0:7b4bbd744f6d 405
dbegasse 0:7b4bbd744f6d 406 // xmReadByte() -- Read a byte from a register in the accel/mag sensor
dbegasse 0:7b4bbd744f6d 407 // Input:
dbegasse 0:7b4bbd744f6d 408 // - subAddress = Register to be read from.
dbegasse 0:7b4bbd744f6d 409 // Output:
dbegasse 0:7b4bbd744f6d 410 // - An 8-bit value read from the requested register.
dbegasse 0:7b4bbd744f6d 411 uint8_t xmReadByte(uint8_t subAddress);
dbegasse 0:7b4bbd744f6d 412
dbegasse 0:7b4bbd744f6d 413 // xmReadBytes() -- Reads a number of bytes -- beginning at an address
dbegasse 0:7b4bbd744f6d 414 // and incrementing from there -- from the accelerometer/magnetometer.
dbegasse 0:7b4bbd744f6d 415 // Input:
dbegasse 0:7b4bbd744f6d 416 // - subAddress = Register to be read from.
dbegasse 0:7b4bbd744f6d 417 // - * dest = A pointer to an array of uint8_t's. Values read will be
dbegasse 0:7b4bbd744f6d 418 // stored in here on return.
dbegasse 0:7b4bbd744f6d 419 // - count = The number of bytes to be read.
dbegasse 0:7b4bbd744f6d 420 // Output: No value is returned, but the `dest` array will store
dbegasse 0:7b4bbd744f6d 421 // the data read upon exit.
dbegasse 0:7b4bbd744f6d 422 void xmReadBytes(uint8_t subAddress, uint8_t * dest, uint8_t count);
dbegasse 0:7b4bbd744f6d 423
dbegasse 0:7b4bbd744f6d 424 // xmWriteByte() -- Write a byte to a register in the accel/mag sensor.
dbegasse 0:7b4bbd744f6d 425 // Input:
dbegasse 0:7b4bbd744f6d 426 // - subAddress = Register to be written to.
dbegasse 0:7b4bbd744f6d 427 // - data = data to be written to the register.
dbegasse 0:7b4bbd744f6d 428 void xmWriteByte(uint8_t subAddress, uint8_t data);
dbegasse 0:7b4bbd744f6d 429
dbegasse 0:7b4bbd744f6d 430 // calcgRes() -- Calculate the resolution of the gyroscope.
dbegasse 0:7b4bbd744f6d 431 // This function will set the value of the gRes variable. gScale must
dbegasse 0:7b4bbd744f6d 432 // be set prior to calling this function.
dbegasse 0:7b4bbd744f6d 433 void calcgRes();
dbegasse 0:7b4bbd744f6d 434
dbegasse 0:7b4bbd744f6d 435 // calcmRes() -- Calculate the resolution of the magnetometer.
dbegasse 0:7b4bbd744f6d 436 // This function will set the value of the mRes variable. mScale must
dbegasse 0:7b4bbd744f6d 437 // be set prior to calling this function.
dbegasse 0:7b4bbd744f6d 438 void calcmRes();
dbegasse 0:7b4bbd744f6d 439
dbegasse 0:7b4bbd744f6d 440 // calcaRes() -- Calculate the resolution of the accelerometer.
dbegasse 0:7b4bbd744f6d 441 // This function will set the value of the aRes variable. aScale must
dbegasse 0:7b4bbd744f6d 442 // be set prior to calling this function.
dbegasse 0:7b4bbd744f6d 443 void calcaRes();
dbegasse 0:7b4bbd744f6d 444
dbegasse 0:7b4bbd744f6d 445
dbegasse 0:7b4bbd744f6d 446 ///////////////////
dbegasse 0:7b4bbd744f6d 447 // I2C Functions //
dbegasse 0:7b4bbd744f6d 448 ///////////////////
dbegasse 0:7b4bbd744f6d 449 I2Cdev* i2c_;
dbegasse 0:7b4bbd744f6d 450
dbegasse 0:7b4bbd744f6d 451
dbegasse 0:7b4bbd744f6d 452 // I2CwriteByte() -- Write a byte out of I2C to a register in the device
dbegasse 0:7b4bbd744f6d 453 // Input:
dbegasse 0:7b4bbd744f6d 454 // - address = The 7-bit I2C address of the slave device.
dbegasse 0:7b4bbd744f6d 455 // - subAddress = The register to be written to.
dbegasse 0:7b4bbd744f6d 456 // - data = Byte to be written to the register.
dbegasse 0:7b4bbd744f6d 457 void I2CwriteByte(uint8_t address, uint8_t subAddress, uint8_t data);
dbegasse 0:7b4bbd744f6d 458
dbegasse 0:7b4bbd744f6d 459 // I2CreadByte() -- Read a single byte from a register over I2C.
dbegasse 0:7b4bbd744f6d 460 // Input:
dbegasse 0:7b4bbd744f6d 461 // - address = The 7-bit I2C address of the slave device.
dbegasse 0:7b4bbd744f6d 462 // - subAddress = The register to be read from.
dbegasse 0:7b4bbd744f6d 463 // Output:
dbegasse 0:7b4bbd744f6d 464 // - The byte read from the requested address.
dbegasse 0:7b4bbd744f6d 465 uint8_t I2CreadByte(uint8_t address, uint8_t subAddress);
dbegasse 0:7b4bbd744f6d 466
dbegasse 0:7b4bbd744f6d 467 // I2CreadBytes() -- Read a series of bytes, starting at a register via SPI
dbegasse 0:7b4bbd744f6d 468 // Input:
dbegasse 0:7b4bbd744f6d 469 // - address = The 7-bit I2C address of the slave device.
dbegasse 0:7b4bbd744f6d 470 // - subAddress = The register to begin reading.
dbegasse 0:7b4bbd744f6d 471 // - * dest = Pointer to an array where we'll store the readings.
dbegasse 0:7b4bbd744f6d 472 // - count = Number of registers to be read.
dbegasse 0:7b4bbd744f6d 473 // Output: No value is returned by the function, but the registers read are
dbegasse 0:7b4bbd744f6d 474 // all stored in the *dest array given.
dbegasse 0:7b4bbd744f6d 475 void I2CreadBytes(uint8_t address, uint8_t subAddress, uint8_t * dest, uint8_t count);
dbegasse 0:7b4bbd744f6d 476 };
dbegasse 0:7b4bbd744f6d 477
dbegasse 0:7b4bbd744f6d 478 #endif // _LSM9DS0_H //