247 lines
8.1 KiB
C++
247 lines
8.1 KiB
C++
////////////////////////////////////////////////////////////////////////////
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//
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// This file is part of RTIMULib-Arduino
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//
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// Copyright (c) 2014-2015, richards-tech
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//
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// Permission is hereby granted, free of charge, to any person obtaining a copy of
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// this software and associated documentation files (the "Software"), to deal in
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// the Software without restriction, including without limitation the rights to use,
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// copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the
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// Software, and to permit persons to whom the Software is furnished to do so,
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// subject to the following conditions:
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//
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// The above copyright notice and this permission notice shall be included in all
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// copies or substantial portions of the Software.
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//
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// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
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// INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
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// PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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// HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
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// OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
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// SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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#ifndef _RTIMULSM9DS0_H
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#define _RTIMULSM9DS0_H
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#include "RTIMU.h"
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// I2C Slave Addresses
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#define LSM9DS0_GYRO_ADDRESS0 0x6a
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#define LSM9DS0_GYRO_ADDRESS1 0x6b
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#define LSM9DS0_GYRO_ID 0xd4
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#define LSM9DS0_ACCELMAG_ADDRESS0 0x1e
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#define LSM9DS0_ACCELMAG_ADDRESS1 0x1d
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#define LSM9DS0_ACCELMAG_ID 0x49
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// L3GD20 Register map
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#define LSM9DS0_GYRO_WHO_AM_I 0x0f
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#define LSM9DS0_GYRO_CTRL1 0x20
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#define LSM9DS0_GYRO_CTRL2 0x21
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#define LSM9DS0_GYRO_CTRL3 0x22
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#define LSM9DS0_GYRO_CTRL4 0x23
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#define LSM9DS0_GYRO_CTRL5 0x24
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#define LSM9DS0_GYRO_OUT_TEMP 0x26
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#define LSM9DS0_GYRO_STATUS 0x27
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#define LSM9DS0_GYRO_OUT_X_L 0x28
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#define LSM9DS0_GYRO_OUT_X_H 0x29
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#define LSM9DS0_GYRO_OUT_Y_L 0x2a
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#define LSM9DS0_GYRO_OUT_Y_H 0x2b
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#define LSM9DS0_GYRO_OUT_Z_L 0x2c
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#define LSM9DS0_GYRO_OUT_Z_H 0x2d
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#define LSM9DS0_GYRO_FIFO_CTRL 0x2e
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#define LSM9DS0_GYRO_FIFO_SRC 0x2f
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#define LSM9DS0_GYRO_IG_CFG 0x30
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#define LSM9DS0_GYRO_IG_SRC 0x31
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#define LSM9DS0_GYRO_IG_THS_XH 0x32
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#define LSM9DS0_GYRO_IG_THS_XL 0x33
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#define LSM9DS0_GYRO_IG_THS_YH 0x34
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#define LSM9DS0_GYRO_IG_THS_YL 0x35
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#define LSM9DS0_GYRO_IG_THS_ZH 0x36
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#define LSM9DS0_GYRO_IG_THS_ZL 0x37
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#define LSM9DS0_GYRO_IG_DURATION 0x38
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// Gyro sample rate defines
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#define LSM9DS0_GYRO_SAMPLERATE_95 0
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#define LSM9DS0_GYRO_SAMPLERATE_190 1
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#define LSM9DS0_GYRO_SAMPLERATE_380 2
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#define LSM9DS0_GYRO_SAMPLERATE_760 3
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// Gyro banwidth defines
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#define LSM9DS0_GYRO_BANDWIDTH_0 0
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#define LSM9DS0_GYRO_BANDWIDTH_1 1
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#define LSM9DS0_GYRO_BANDWIDTH_2 2
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#define LSM9DS0_GYRO_BANDWIDTH_3 3
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// Gyro FSR defines
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#define LSM9DS0_GYRO_FSR_250 0
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#define LSM9DS0_GYRO_FSR_500 1
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#define LSM9DS0_GYRO_FSR_2000 2
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// Gyro high pass filter defines
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#define LSM9DS0_GYRO_HPF_0 0
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#define LSM9DS0_GYRO_HPF_1 1
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#define LSM9DS0_GYRO_HPF_2 2
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#define LSM9DS0_GYRO_HPF_3 3
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#define LSM9DS0_GYRO_HPF_4 4
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#define LSM9DS0_GYRO_HPF_5 5
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#define LSM9DS0_GYRO_HPF_6 6
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#define LSM9DS0_GYRO_HPF_7 7
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#define LSM9DS0_GYRO_HPF_8 8
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#define LSM9DS0_GYRO_HPF_9 9
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// Accel/Mag Register Map
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#define LSM9DS0_TEMP_OUT_L 0x05
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#define LSM9DS0_TEMP_OUT_H 0x06
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#define LSM9DS0_STATUS_M 0x07
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#define LSM9DS0_OUT_X_L_M 0x08
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#define LSM9DS0_OUT_X_H_M 0x09
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#define LSM9DS0_OUT_Y_L_M 0x0a
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#define LSM9DS0_OUT_Y_H_M 0x0b
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#define LSM9DS0_OUT_Z_L_M 0x0c
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#define LSM9DS0_OUT_Z_H_M 0x0d
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#define LSM9DS0_WHO_AM_I 0x0f
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#define LSM9DS0_INT_CTRL_M 0x12
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#define LSM9DS0_INT_SRC_M 0x13
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#define LSM9DS0_INT_THS_L_M 0x14
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#define LSM9DS0_INT_THS_H_M 0x15
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#define LSM9DS0_OFFSET_X_L_M 0x16
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#define LSM9DS0_OFFSET_X_H_M 0x17
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#define LSM9DS0_OFFSET_Y_L_M 0x18
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#define LSM9DS0_OFFSET_Y_H_M 0x19
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#define LSM9DS0_OFFSET_Z_L_M 0x1a
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#define LSM9DS0_OFFSET_Z_H_M 0x1b
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#define LSM9DS0_REFERENCE_X 0x1c
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#define LSM9DS0_REFERENCE_Y 0x1d
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#define LSM9DS0_REFERENCE_Z 0x1e
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#define LSM9DS0_CTRL0 0x1f
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#define LSM9DS0_CTRL1 0x20
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#define LSM9DS0_CTRL2 0x21
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#define LSM9DS0_CTRL3 0x22
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#define LSM9DS0_CTRL4 0x23
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#define LSM9DS0_CTRL5 0x24
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#define LSM9DS0_CTRL6 0x25
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#define LSM9DS0_CTRL7 0x26
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#define LSM9DS0_STATUS_A 0x27
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#define LSM9DS0_OUT_X_L_A 0x28
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#define LSM9DS0_OUT_X_H_A 0x29
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#define LSM9DS0_OUT_Y_L_A 0x2a
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#define LSM9DS0_OUT_Y_H_A 0x2b
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#define LSM9DS0_OUT_Z_L_A 0x2c
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#define LSM9DS0_OUT_Z_H_A 0x2d
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#define LSM9DS0_FIFO_CTRL 0x2e
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#define LSM9DS0_FIFO_SRC 0x2f
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#define LSM9DS0_IG_CFG1 0x30
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#define LSM9DS0_IG_SRC1 0x31
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#define LSM9DS0_IG_THS1 0x32
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#define LSM9DS0_IG_DUR1 0x33
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#define LSM9DS0_IG_CFG2 0x34
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#define LSM9DS0_IG_SRC2 0x35
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#define LSM9DS0_IG_THS2 0x36
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#define LSM9DS0_IG_DUR2 0x37
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#define LSM9DS0_CLICK_CFG 0x38
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#define LSM9DS0_CLICK_SRC 0x39
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#define LSM9DS0_CLICK_THS 0x3a
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#define LSM9DS0_TIME_LIMIT 0x3b
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#define LSM9DS0_TIME_LATENCY 0x3c
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#define LSM9DS0_TIME_WINDOW 0x3d
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#define LSM9DS0_ACT_THIS 0x3e
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#define LSM9DS0_ACT_DUR 0x3f
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// Accel sample rate defines
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#define LSM9DS0_ACCEL_SAMPLERATE_3_125 1
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#define LSM9DS0_ACCEL_SAMPLERATE_6_25 2
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#define LSM9DS0_ACCEL_SAMPLERATE_12_5 3
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#define LSM9DS0_ACCEL_SAMPLERATE_25 4
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#define LSM9DS0_ACCEL_SAMPLERATE_50 5
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#define LSM9DS0_ACCEL_SAMPLERATE_100 6
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#define LSM9DS0_ACCEL_SAMPLERATE_200 7
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#define LSM9DS0_ACCEL_SAMPLERATE_400 8
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#define LSM9DS0_ACCEL_SAMPLERATE_800 9
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#define LSM9DS0_ACCEL_SAMPLERATE_1600 10
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// Accel FSR
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#define LSM9DS0_ACCEL_FSR_2 0
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#define LSM9DS0_ACCEL_FSR_4 1
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#define LSM9DS0_ACCEL_FSR_6 2
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#define LSM9DS0_ACCEL_FSR_8 3
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#define LSM9DS0_ACCEL_FSR_16 4
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// Accel filter bandwidth
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#define LSM9DS0_ACCEL_LPF_773 0
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#define LSM9DS0_ACCEL_LPF_194 1
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#define LSM9DS0_ACCEL_LPF_362 2
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#define LSM9DS0_ACCEL_LPF_50 3
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// Compass sample rate defines
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#define LSM9DS0_COMPASS_SAMPLERATE_3_125 0
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#define LSM9DS0_COMPASS_SAMPLERATE_6_25 1
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#define LSM9DS0_COMPASS_SAMPLERATE_12_5 2
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#define LSM9DS0_COMPASS_SAMPLERATE_25 3
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#define LSM9DS0_COMPASS_SAMPLERATE_50 4
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#define LSM9DS0_COMPASS_SAMPLERATE_100 5
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// Compass FSR
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#define LSM9DS0_COMPASS_FSR_2 0
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#define LSM9DS0_COMPASS_FSR_4 1
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#define LSM9DS0_COMPASS_FSR_8 2
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#define LSM9DS0_COMPASS_FSR_12 3
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class RTIMULSM9DS0 : public RTIMU
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{
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public:
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RTIMULSM9DS0(RTIMUSettings *settings);
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~RTIMULSM9DS0();
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virtual const char *IMUName() { return "LSM9DS0"; }
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virtual int IMUType() { return RTIMU_TYPE_LSM9DS0; }
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virtual int IMUInit();
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virtual int IMUGetPollInterval();
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virtual bool IMURead();
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private:
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bool setGyroSampleRate();
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bool setGyroCTRL2();
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bool setGyroCTRL4();
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bool setGyroCTRL5();
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bool setAccelCTRL1();
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bool setAccelCTRL2();
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bool setCompassCTRL5();
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bool setCompassCTRL6();
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bool setCompassCTRL7();
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unsigned char m_gyroSlaveAddr; // I2C address of gyro
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unsigned char m_accelCompassSlaveAddr; // I2C address of accel and mag
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unsigned char m_bus; // I2C bus (usually 1 for Raspberry Pi for example)
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RTFLOAT m_gyroScale;
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RTFLOAT m_accelScale;
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RTFLOAT m_compassScale;
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#ifdef LSM9DS0_CACHE_MODE
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bool m_firstTime; // if first sample
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LSM9DS0_CACHE_BLOCK m_cache[LSM9DS0_CACHE_BLOCK_COUNT]; // the cache itself
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int m_cacheIn; // the in index
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int m_cacheOut; // the out index
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int m_cacheCount; // number of used cache blocks
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#endif
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};
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#endif // _RTIMULSM9DS0_H
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