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179 lines
6.6 KiB
179 lines
6.6 KiB
/* 09/23/2017 Copyright Tlera Corporation |
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Created by Kris Winer |
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This sketch uses SDA/SCL on pins 21/20 (Butterfly default), respectively, and it uses the Butterfly STM32L433CU Breakout Board. |
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The LSM6DSM is a sensor hub with embedded accel and gyro, here used as 6 DoF in a 9 DoF absolute orientation solution. |
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Library may be used freely and without limit with attribution. |
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*/ |
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#ifndef LSM6DSM_h |
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#define LSM6DSM_h |
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#include "Arduino.h" |
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#include <Wire.h> |
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/* LSM6DSM registers |
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http://www.st.com/content/ccc/resource/technical/document/datasheet/76/27/cf/88/c5/03/42/6b/DM00218116.pdf/files/DM00218116.pdf/jcr:content/translations/en.DM00218116.pdf |
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*/ |
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#define LSM6DSM_FUNC_CFG_ACCESS 0x01 |
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#define LSM6DSM_SENSOR_SYNC_TIME_FRAME 0x04 |
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#define LSM6DSM_SENSOR_SYNC_RES_RATIO 0x05 |
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#define LSM6DSM_FIFO_CTRL1 0x06 |
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#define LSM6DSM_FIFO_CTRL2 0x07 |
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#define LSM6DSM_FIFO_CTRL3 0x08 |
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#define LSM6DSM_FIFO_CTRL4 0x09 |
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#define LSM6DSM_FIFO_CTRL5 0x0A |
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#define LSM6DSM_DRDY_PULSE_CFG 0x0B |
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#define LSM6DSM_INT1_CTRL 0x0D |
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#define LSM6DSM_INT2_CTRL 0x0E |
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#define LSM6DSM_WHO_AM_I 0x0F // should be 0x6A |
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#define LSM6DSM_CTRL1_XL 0x10 |
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#define LSM6DSM_CTRL2_G 0x11 |
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#define LSM6DSM_CTRL3_C 0x12 |
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#define LSM6DSM_CTRL4_C 0x13 |
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#define LSM6DSM_CTRL5_C 0x14 |
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#define LSM6DSM_CTRL6_C 0x15 |
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#define LSM6DSM_CTRL7_G 0x16 |
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#define LSM6DSM_CTRL8_XL 0x17 |
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#define LSM6DSM_CTRL9_XL 0x18 |
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#define LSM6DSM_CTRL10_C 0x19 |
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#define LSM6DSM_MASTER_CONFIG 0x1A |
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#define LSM6DSM_WAKE_UP_SRC 0x1B |
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#define LSM6DSM_TAP_SRC 0x1C |
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#define LSM6DSM_D6D_SRC 0x1D |
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#define LSM6DSM_STATUS_REG 0x1E |
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#define LSM6DSM_OUT_TEMP_L 0x20 |
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#define LSM6DSM_OUT_TEMP_H 0x21 |
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#define LSM6DSM_OUTX_L_G 0x22 |
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#define LSM6DSM_OUTX_H_G 0x23 |
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#define LSM6DSM_OUTY_L_G 0x24 |
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#define LSM6DSM_OUTY_H_G 0x25 |
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#define LSM6DSM_OUTZ_L_G 0x26 |
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#define LSM6DSM_OUTZ_H_G 0x27 |
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#define LSM6DSM_OUTX_L_XL 0x28 |
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#define LSM6DSM_OUTX_H_XL 0x29 |
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#define LSM6DSM_OUTY_L_XL 0x2A |
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#define LSM6DSM_OUTY_H_XL 0x2B |
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#define LSM6DSM_OUTZ_L_XL 0x2C |
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#define LSM6DSM_OUTZ_H_XL 0x2D |
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#define LSM6DSM_SENSORHUB1_REG 0x2E |
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#define LSM6DSM_SENSORHUB2_REG 0x2F |
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#define LSM6DSM_SENSORHUB3_REG 0x30 |
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#define LSM6DSM_SENSORHUB4_REG 0x31 |
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#define LSM6DSM_SENSORHUB5_REG 0x32 |
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#define LSM6DSM_SENSORHUB6_REG 0x33 |
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#define LSM6DSM_SENSORHUB7_REG 0x34 |
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#define LSM6DSM_SENSORHUB8_REG 0x35 |
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#define LSM6DSM_SENSORHUB9_REG 0x36 |
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#define LSM6DSM_SENSORHUB10_REG 0x37 |
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#define LSM6DSM_SENSORHUB11_REG 0x38 |
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#define LSM6DSM_SENSORHUB12_REG 0x39 |
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#define LSM6DSM_FIFO_STATUS1 0x3A |
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#define LSM6DSM_FIFO_STATUS2 0x3B |
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#define LSM6DSM_FIFO_STATUS3 0x3C |
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#define LSM6DSM_FIFO_STATUS4 0x3D |
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#define LSM6DSM_FIFO_DATA_OUT_L 0x3E |
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#define LSM6DSM_FIFO_DATA_OUT_H 0x3F |
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#define LSM6DSM_TIMESTAMP0_REG 0x40 |
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#define LSM6DSM_TIMESTAMP1_REG 0x41 |
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#define LSM6DSM_TIMESTAMP2_REG 0x42 |
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#define LSM6DSM_STEP_TIMESTAMP_L 0x49 |
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#define LSM6DSM_STEP_TIMESTAMP_H 0x4A |
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#define LSM6DSM_STEP_COUNTER_L 0x4B |
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#define LSM6DSM_STEP_COUNTER_H 0x4C |
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#define LSM6DSM_SENSORHUB13_REG 0x4D |
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#define LSM6DSM_SENSORHUB14_REG 0x4E |
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#define LSM6DSM_SENSORHUB15_REG 0x4F |
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#define LSM6DSM_SENSORHUB16_REG 0x50 |
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#define LSM6DSM_SENSORHUB17_REG 0x51 |
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#define LSM6DSM_SENSORHUB18_REG 0x52 |
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#define LSM6DSM_FUNC_SRC1 0x53 |
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#define LSM6DSM_FUNC_SRC2 0x54 |
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#define LSM6DSM_WRIST_TILT_IA 0x55 |
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#define LSM6DSM_TAP_CFG 0x58 |
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#define LSM6DSM_TAP_THS_6D 0x59 |
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#define LSM6DSM_INT_DUR2 0x5A |
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#define LSM6DSM_WAKE_UP_THS 0x5B |
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#define LSM6DSM_WAKE_UP_DUR 0x5C |
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#define LSM6DSM_FREE_FALL 0x5D |
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#define LSM6DSM_MD1_CFG 0x5E |
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#define LSM6DSM_MD2_CFG 0x5F |
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#define LSM6DSM_MASTER_MODE_CODE 0x60 |
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#define LSM6DSM_SENS_SYNC_SPI_ERROR_CODE 0x61 |
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#define LSM6DSM_OUT_MAG_RAW_X_L 0x66 |
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#define LSM6DSM_OUT_MAG_RAW_X_H 0x67 |
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#define LSM6DSM_OUT_MAG_RAW_Y_L 0x68 |
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#define LSM6DSM_OUT_MAG_RAW_Y_H 0x69 |
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#define LSM6DSM_OUT_MAG_RAW_Z_L 0x6A |
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#define LSM6DSM_OUT_MAG_RAW_Z_H 0x6B |
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#define LSM6DSM_INT_OIS 0x6F |
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#define LSM6DSM_CTRL1_OIS 0x70 |
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#define LSM6DSM_CTRL2_OIS 0x71 |
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#define LSM6DSM_CTRL3_OIS 0x72 |
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#define LSM6DSM_X_OFS_USR 0x73 |
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#define LSM6DSM_Y_OFS_USR 0x74 |
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#define LSM6DSM_Z_OFS_USR 0x75 |
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#define LSM6DSM_ADDRESS 0x6A // Address of LSM6DSM accel/gyro when ADO = 0 |
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#define AFS_2G 0x00 |
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#define AFS_4G 0x02 |
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#define AFS_8G 0x03 |
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#define AFS_16G 0x01 |
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#define GFS_245DPS 0x00 |
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#define GFS_500DPS 0x01 |
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#define GFS_1000DPS 0x02 |
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#define GFS_2000DPS 0x03 |
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#define AODR_12_5Hz 0x01 // same for accel and gyro in normal mode |
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#define AODR_26Hz 0x02 |
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#define AODR_52Hz 0x03 |
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#define AODR_104Hz 0x04 |
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#define AODR_208Hz 0x05 |
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#define AODR_416Hz 0x06 |
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#define AODR_833Hz 0x07 |
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#define AODR_1660Hz 0x08 |
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#define AODR_3330Hz 0x09 |
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#define AODR_6660Hz 0x0A |
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#define GODR_12_5Hz 0x01 |
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#define GODR_26Hz 0x02 |
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#define GODR_52Hz 0x03 |
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#define GODR_104Hz 0x04 |
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#define GODR_208Hz 0x05 |
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#define GODR_416Hz 0x06 |
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#define GODR_833Hz 0x07 |
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#define GODR_1660Hz 0x08 |
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#define GODR_3330Hz 0x09 |
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#define GODR_6660Hz 0x0A |
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class LSM6DSM |
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{ |
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public: |
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LSM6DSM(uint8_t intPin1, uint8_t intPin2); |
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float getAres(uint8_t Ascale); |
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float getGres(uint8_t Gscale); |
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uint8_t getChipID(); |
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void init(uint8_t Ascale, uint8_t Gscale, uint8_t AODR, uint8_t GODR); |
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void offsetBias(float * dest1, float * dest2); |
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void reset(); |
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void selfTest(); |
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void readData(int16_t * destination); |
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void I2Cscan(); |
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void writeByte(uint8_t address, uint8_t subAddress, uint8_t data); |
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uint8_t readByte(uint8_t address, uint8_t subAddress); |
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void readBytes(uint8_t address, uint8_t subAddress, uint8_t count, uint8_t * dest); |
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private: |
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uint8_t _intPin1; |
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uint8_t _intPin2; |
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float _aRes, _gRes; |
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}; |
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#endif
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