c2-utopia/lib/RTIMULib/RTIMUGD20HM303D.h

239 lines
7.6 KiB
C++

////////////////////////////////////////////////////////////////////////////
//
// This file is part of RTIMULib-Arduino
//
// Copyright (c) 2014-2015, richards-tech
//
// Permission is hereby granted, free of charge, to any person obtaining a copy of
// this software and associated documentation files (the "Software"), to deal in
// the Software without restriction, including without limitation the rights to use,
// copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the
// Software, and to permit persons to whom the Software is furnished to do so,
// subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in all
// copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
// INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
// PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
// HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
// OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
// SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
#ifndef _RTIMUGD20HM303D_H
#define _RTIMUGD20HM303D_H
#include "RTIMU.h"
// I2C Slave Addresses
#define L3GD20H_ADDRESS0 0x6a
#define L3GD20H_ADDRESS1 0x6b
#define L3GD20H_ID 0xd7
#define LSM303D_ADDRESS0 0x1e
#define LSM303D_ADDRESS1 0x1d
#define LSM303D_ID 0x49
// L3GD20H Register map
#define L3GD20H_WHO_AM_I 0x0f
#define L3GD20H_CTRL1 0x20
#define L3GD20H_CTRL2 0x21
#define L3GD20H_CTRL3 0x22
#define L3GD20H_CTRL4 0x23
#define L3GD20H_CTRL5 0x24
#define L3GD20H_OUT_TEMP 0x26
#define L3GD20H_STATUS 0x27
#define L3GD20H_OUT_X_L 0x28
#define L3GD20H_OUT_X_H 0x29
#define L3GD20H_OUT_Y_L 0x2a
#define L3GD20H_OUT_Y_H 0x2b
#define L3GD20H_OUT_Z_L 0x2c
#define L3GD20H_OUT_Z_H 0x2d
#define L3GD20H_FIFO_CTRL 0x2e
#define L3GD20H_FIFO_SRC 0x2f
#define L3GD20H_IG_CFG 0x30
#define L3GD20H_IG_SRC 0x31
#define L3GD20H_IG_THS_XH 0x32
#define L3GD20H_IG_THS_XL 0x33
#define L3GD20H_IG_THS_YH 0x34
#define L3GD20H_IG_THS_YL 0x35
#define L3GD20H_IG_THS_ZH 0x36
#define L3GD20H_IG_THS_ZL 0x37
#define L3GD20H_IG_DURATION 0x38
#define L3GD20H_LOW_ODR 0x39
// Gyro sample rate defines
#define L3GD20H_SAMPLERATE_12_5 0
#define L3GD20H_SAMPLERATE_25 1
#define L3GD20H_SAMPLERATE_50 2
#define L3GD20H_SAMPLERATE_100 3
#define L3GD20H_SAMPLERATE_200 4
#define L3GD20H_SAMPLERATE_400 5
#define L3GD20H_SAMPLERATE_800 6
// Gyro banwidth defines
#define L3GD20H_BANDWIDTH_0 0
#define L3GD20H_BANDWIDTH_1 1
#define L3GD20H_BANDWIDTH_2 2
#define L3GD20H_BANDWIDTH_3 3
// Gyro FSR defines
#define L3GD20H_FSR_245 0
#define L3GD20H_FSR_500 1
#define L3GD20H_FSR_2000 2
// Gyro high pass filter defines
#define L3GD20H_HPF_0 0
#define L3GD20H_HPF_1 1
#define L3GD20H_HPF_2 2
#define L3GD20H_HPF_3 3
#define L3GD20H_HPF_4 4
#define L3GD20H_HPF_5 5
#define L3GD20H_HPF_6 6
#define L3GD20H_HPF_7 7
#define L3GD20H_HPF_8 8
#define L3GD20H_HPF_9 9
// LSM303D Register Map
#define LSM303D_TEMP_OUT_L 0x05
#define LSM303D_TEMP_OUT_H 0x06
#define LSM303D_STATUS_M 0x07
#define LSM303D_OUT_X_L_M 0x08
#define LSM303D_OUT_X_H_M 0x09
#define LSM303D_OUT_Y_L_M 0x0a
#define LSM303D_OUT_Y_H_M 0x0b
#define LSM303D_OUT_Z_L_M 0x0c
#define LSM303D_OUT_Z_H_M 0x0d
#define LSM303D_WHO_AM_I 0x0f
#define LSM303D_INT_CTRL_M 0x12
#define LSM303D_INT_SRC_M 0x13
#define LSM303D_INT_THS_L_M 0x14
#define LSM303D_INT_THS_H_M 0x15
#define LSM303D_OFFSET_X_L_M 0x16
#define LSM303D_OFFSET_X_H_M 0x17
#define LSM303D_OFFSET_Y_L_M 0x18
#define LSM303D_OFFSET_Y_H_M 0x19
#define LSM303D_OFFSET_Z_L_M 0x1a
#define LSM303D_OFFSET_Z_H_M 0x1b
#define LSM303D_REFERENCE_X 0x1c
#define LSM303D_REFERENCE_Y 0x1d
#define LSM303D_REFERENCE_Z 0x1e
#define LSM303D_CTRL0 0x1f
#define LSM303D_CTRL1 0x20
#define LSM303D_CTRL2 0x21
#define LSM303D_CTRL3 0x22
#define LSM303D_CTRL4 0x23
#define LSM303D_CTRL5 0x24
#define LSM303D_CTRL6 0x25
#define LSM303D_CTRL7 0x26
#define LSM303D_STATUS_A 0x27
#define LSM303D_OUT_X_L_A 0x28
#define LSM303D_OUT_X_H_A 0x29
#define LSM303D_OUT_Y_L_A 0x2a
#define LSM303D_OUT_Y_H_A 0x2b
#define LSM303D_OUT_Z_L_A 0x2c
#define LSM303D_OUT_Z_H_A 0x2d
#define LSM303D_FIFO_CTRL 0x2e
#define LSM303D_FIFO_SRC 0x2f
#define LSM303D_IG_CFG1 0x30
#define LSM303D_IG_SRC1 0x31
#define LSM303D_IG_THS1 0x32
#define LSM303D_IG_DUR1 0x33
#define LSM303D_IG_CFG2 0x34
#define LSM303D_IG_SRC2 0x35
#define LSM303D_IG_THS2 0x36
#define LSM303D_IG_DUR2 0x37
#define LSM303D_CLICK_CFG 0x38
#define LSM303D_CLICK_SRC 0x39
#define LSM303D_CLICK_THS 0x3a
#define LSM303D_TIME_LIMIT 0x3b
#define LSM303D_TIME_LATENCY 0x3c
#define LSM303D_TIME_WINDOW 0x3d
#define LSM303D_ACT_THIS 0x3e
#define LSM303D_ACT_DUR 0x3f
// Accel sample rate defines
#define LSM303D_ACCEL_SAMPLERATE_3_125 1
#define LSM303D_ACCEL_SAMPLERATE_6_25 2
#define LSM303D_ACCEL_SAMPLERATE_12_5 3
#define LSM303D_ACCEL_SAMPLERATE_25 4
#define LSM303D_ACCEL_SAMPLERATE_50 5
#define LSM303D_ACCEL_SAMPLERATE_100 6
#define LSM303D_ACCEL_SAMPLERATE_200 7
#define LSM303D_ACCEL_SAMPLERATE_400 8
#define LSM303D_ACCEL_SAMPLERATE_800 9
#define LSM303D_ACCEL_SAMPLERATE_1600 10
// Accel FSR
#define LSM303D_ACCEL_FSR_2 0
#define LSM303D_ACCEL_FSR_4 1
#define LSM303D_ACCEL_FSR_6 2
#define LSM303D_ACCEL_FSR_8 3
#define LSM303D_ACCEL_FSR_16 4
// Accel filter bandwidth
#define LSM303D_ACCEL_LPF_773 0
#define LSM303D_ACCEL_LPF_194 1
#define LSM303D_ACCEL_LPF_362 2
#define LSM303D_ACCEL_LPF_50 3
// Compass sample rate defines
#define LSM303D_COMPASS_SAMPLERATE_3_125 0
#define LSM303D_COMPASS_SAMPLERATE_6_25 1
#define LSM303D_COMPASS_SAMPLERATE_12_5 2
#define LSM303D_COMPASS_SAMPLERATE_25 3
#define LSM303D_COMPASS_SAMPLERATE_50 4
#define LSM303D_COMPASS_SAMPLERATE_100 5
// Compass FSR
#define LSM303D_COMPASS_FSR_2 0
#define LSM303D_COMPASS_FSR_4 1
#define LSM303D_COMPASS_FSR_8 2
#define LSM303D_COMPASS_FSR_12 3
class RTIMUGD20HM303D : public RTIMU
{
public:
RTIMUGD20HM303D(RTIMUSettings *settings);
~RTIMUGD20HM303D();
virtual const char *IMUName() { return "L3GD20H + LSM303D"; }
virtual int IMUType() { return RTIMU_TYPE_GD20HM303D; }
virtual int IMUInit();
virtual int IMUGetPollInterval();
virtual bool IMURead();
private:
bool setGyroSampleRate();
bool setGyroCTRL2();
bool setGyroCTRL4();
bool setGyroCTRL5();
bool setAccelCTRL1();
bool setAccelCTRL2();
bool setCompassCTRL5();
bool setCompassCTRL6();
bool setCompassCTRL7();
unsigned char m_gyroSlaveAddr; // I2C address of L3GD20H
unsigned char m_accelCompassSlaveAddr; // I2C address of LSM303D
RTFLOAT m_gyroScale;
RTFLOAT m_accelScale;
RTFLOAT m_compassScale;
};
#endif // _RTIMUGD20HM303D_H