c2-utopia/lib/RTIMULib/RTIMULSM9DS0.h

247 lines
8.1 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 _RTIMULSM9DS0_H
#define _RTIMULSM9DS0_H
#include "RTIMU.h"
// I2C Slave Addresses
#define LSM9DS0_GYRO_ADDRESS0 0x6a
#define LSM9DS0_GYRO_ADDRESS1 0x6b
#define LSM9DS0_GYRO_ID 0xd4
#define LSM9DS0_ACCELMAG_ADDRESS0 0x1e
#define LSM9DS0_ACCELMAG_ADDRESS1 0x1d
#define LSM9DS0_ACCELMAG_ID 0x49
// L3GD20 Register map
#define LSM9DS0_GYRO_WHO_AM_I 0x0f
#define LSM9DS0_GYRO_CTRL1 0x20
#define LSM9DS0_GYRO_CTRL2 0x21
#define LSM9DS0_GYRO_CTRL3 0x22
#define LSM9DS0_GYRO_CTRL4 0x23
#define LSM9DS0_GYRO_CTRL5 0x24
#define LSM9DS0_GYRO_OUT_TEMP 0x26
#define LSM9DS0_GYRO_STATUS 0x27
#define LSM9DS0_GYRO_OUT_X_L 0x28
#define LSM9DS0_GYRO_OUT_X_H 0x29
#define LSM9DS0_GYRO_OUT_Y_L 0x2a
#define LSM9DS0_GYRO_OUT_Y_H 0x2b
#define LSM9DS0_GYRO_OUT_Z_L 0x2c
#define LSM9DS0_GYRO_OUT_Z_H 0x2d
#define LSM9DS0_GYRO_FIFO_CTRL 0x2e
#define LSM9DS0_GYRO_FIFO_SRC 0x2f
#define LSM9DS0_GYRO_IG_CFG 0x30
#define LSM9DS0_GYRO_IG_SRC 0x31
#define LSM9DS0_GYRO_IG_THS_XH 0x32
#define LSM9DS0_GYRO_IG_THS_XL 0x33
#define LSM9DS0_GYRO_IG_THS_YH 0x34
#define LSM9DS0_GYRO_IG_THS_YL 0x35
#define LSM9DS0_GYRO_IG_THS_ZH 0x36
#define LSM9DS0_GYRO_IG_THS_ZL 0x37
#define LSM9DS0_GYRO_IG_DURATION 0x38
// Gyro sample rate defines
#define LSM9DS0_GYRO_SAMPLERATE_95 0
#define LSM9DS0_GYRO_SAMPLERATE_190 1
#define LSM9DS0_GYRO_SAMPLERATE_380 2
#define LSM9DS0_GYRO_SAMPLERATE_760 3
// Gyro banwidth defines
#define LSM9DS0_GYRO_BANDWIDTH_0 0
#define LSM9DS0_GYRO_BANDWIDTH_1 1
#define LSM9DS0_GYRO_BANDWIDTH_2 2
#define LSM9DS0_GYRO_BANDWIDTH_3 3
// Gyro FSR defines
#define LSM9DS0_GYRO_FSR_250 0
#define LSM9DS0_GYRO_FSR_500 1
#define LSM9DS0_GYRO_FSR_2000 2
// Gyro high pass filter defines
#define LSM9DS0_GYRO_HPF_0 0
#define LSM9DS0_GYRO_HPF_1 1
#define LSM9DS0_GYRO_HPF_2 2
#define LSM9DS0_GYRO_HPF_3 3
#define LSM9DS0_GYRO_HPF_4 4
#define LSM9DS0_GYRO_HPF_5 5
#define LSM9DS0_GYRO_HPF_6 6
#define LSM9DS0_GYRO_HPF_7 7
#define LSM9DS0_GYRO_HPF_8 8
#define LSM9DS0_GYRO_HPF_9 9
// Accel/Mag Register Map
#define LSM9DS0_TEMP_OUT_L 0x05
#define LSM9DS0_TEMP_OUT_H 0x06
#define LSM9DS0_STATUS_M 0x07
#define LSM9DS0_OUT_X_L_M 0x08
#define LSM9DS0_OUT_X_H_M 0x09
#define LSM9DS0_OUT_Y_L_M 0x0a
#define LSM9DS0_OUT_Y_H_M 0x0b
#define LSM9DS0_OUT_Z_L_M 0x0c
#define LSM9DS0_OUT_Z_H_M 0x0d
#define LSM9DS0_WHO_AM_I 0x0f
#define LSM9DS0_INT_CTRL_M 0x12
#define LSM9DS0_INT_SRC_M 0x13
#define LSM9DS0_INT_THS_L_M 0x14
#define LSM9DS0_INT_THS_H_M 0x15
#define LSM9DS0_OFFSET_X_L_M 0x16
#define LSM9DS0_OFFSET_X_H_M 0x17
#define LSM9DS0_OFFSET_Y_L_M 0x18
#define LSM9DS0_OFFSET_Y_H_M 0x19
#define LSM9DS0_OFFSET_Z_L_M 0x1a
#define LSM9DS0_OFFSET_Z_H_M 0x1b
#define LSM9DS0_REFERENCE_X 0x1c
#define LSM9DS0_REFERENCE_Y 0x1d
#define LSM9DS0_REFERENCE_Z 0x1e
#define LSM9DS0_CTRL0 0x1f
#define LSM9DS0_CTRL1 0x20
#define LSM9DS0_CTRL2 0x21
#define LSM9DS0_CTRL3 0x22
#define LSM9DS0_CTRL4 0x23
#define LSM9DS0_CTRL5 0x24
#define LSM9DS0_CTRL6 0x25
#define LSM9DS0_CTRL7 0x26
#define LSM9DS0_STATUS_A 0x27
#define LSM9DS0_OUT_X_L_A 0x28
#define LSM9DS0_OUT_X_H_A 0x29
#define LSM9DS0_OUT_Y_L_A 0x2a
#define LSM9DS0_OUT_Y_H_A 0x2b
#define LSM9DS0_OUT_Z_L_A 0x2c
#define LSM9DS0_OUT_Z_H_A 0x2d
#define LSM9DS0_FIFO_CTRL 0x2e
#define LSM9DS0_FIFO_SRC 0x2f
#define LSM9DS0_IG_CFG1 0x30
#define LSM9DS0_IG_SRC1 0x31
#define LSM9DS0_IG_THS1 0x32
#define LSM9DS0_IG_DUR1 0x33
#define LSM9DS0_IG_CFG2 0x34
#define LSM9DS0_IG_SRC2 0x35
#define LSM9DS0_IG_THS2 0x36
#define LSM9DS0_IG_DUR2 0x37
#define LSM9DS0_CLICK_CFG 0x38
#define LSM9DS0_CLICK_SRC 0x39
#define LSM9DS0_CLICK_THS 0x3a
#define LSM9DS0_TIME_LIMIT 0x3b
#define LSM9DS0_TIME_LATENCY 0x3c
#define LSM9DS0_TIME_WINDOW 0x3d
#define LSM9DS0_ACT_THIS 0x3e
#define LSM9DS0_ACT_DUR 0x3f
// Accel sample rate defines
#define LSM9DS0_ACCEL_SAMPLERATE_3_125 1
#define LSM9DS0_ACCEL_SAMPLERATE_6_25 2
#define LSM9DS0_ACCEL_SAMPLERATE_12_5 3
#define LSM9DS0_ACCEL_SAMPLERATE_25 4
#define LSM9DS0_ACCEL_SAMPLERATE_50 5
#define LSM9DS0_ACCEL_SAMPLERATE_100 6
#define LSM9DS0_ACCEL_SAMPLERATE_200 7
#define LSM9DS0_ACCEL_SAMPLERATE_400 8
#define LSM9DS0_ACCEL_SAMPLERATE_800 9
#define LSM9DS0_ACCEL_SAMPLERATE_1600 10
// Accel FSR
#define LSM9DS0_ACCEL_FSR_2 0
#define LSM9DS0_ACCEL_FSR_4 1
#define LSM9DS0_ACCEL_FSR_6 2
#define LSM9DS0_ACCEL_FSR_8 3
#define LSM9DS0_ACCEL_FSR_16 4
// Accel filter bandwidth
#define LSM9DS0_ACCEL_LPF_773 0
#define LSM9DS0_ACCEL_LPF_194 1
#define LSM9DS0_ACCEL_LPF_362 2
#define LSM9DS0_ACCEL_LPF_50 3
// Compass sample rate defines
#define LSM9DS0_COMPASS_SAMPLERATE_3_125 0
#define LSM9DS0_COMPASS_SAMPLERATE_6_25 1
#define LSM9DS0_COMPASS_SAMPLERATE_12_5 2
#define LSM9DS0_COMPASS_SAMPLERATE_25 3
#define LSM9DS0_COMPASS_SAMPLERATE_50 4
#define LSM9DS0_COMPASS_SAMPLERATE_100 5
// Compass FSR
#define LSM9DS0_COMPASS_FSR_2 0
#define LSM9DS0_COMPASS_FSR_4 1
#define LSM9DS0_COMPASS_FSR_8 2
#define LSM9DS0_COMPASS_FSR_12 3
class RTIMULSM9DS0 : public RTIMU
{
public:
RTIMULSM9DS0(RTIMUSettings *settings);
~RTIMULSM9DS0();
virtual const char *IMUName() { return "LSM9DS0"; }
virtual int IMUType() { return RTIMU_TYPE_LSM9DS0; }
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 gyro
unsigned char m_accelCompassSlaveAddr; // I2C address of accel and mag
unsigned char m_bus; // I2C bus (usually 1 for Raspberry Pi for example)
RTFLOAT m_gyroScale;
RTFLOAT m_accelScale;
RTFLOAT m_compassScale;
#ifdef LSM9DS0_CACHE_MODE
bool m_firstTime; // if first sample
LSM9DS0_CACHE_BLOCK m_cache[LSM9DS0_CACHE_BLOCK_COUNT]; // the cache itself
int m_cacheIn; // the in index
int m_cacheOut; // the out index
int m_cacheCount; // number of used cache blocks
#endif
};
#endif // _RTIMULSM9DS0_H