void LSM9DS0_readAccel(LSM9DS0_t* lsm_t)
{
uint8_t temp[6]; // We'll read six bytes from the accelerometer into temp
xmReadBytes(lsm_t,OUT_X_L_A, temp, 6); // Read 6 bytes, beginning at OUT_X_L_A
lsm_t->ax = (temp[1] << 8) | temp[0]; // Store x-axis values into ax
lsm_t->ay = (temp[3] << 8) | temp[2]; // Store y-axis values into ay
lsm_t->az = (temp[5] << 8) | temp[4]; // Store z-axis values into az
}
void LSM330D::readAccel()
{
uint8_t temp[6]; // We'll read six bytes from the accelerometer into temp
xmReadBytes(OUT_X_L_A, temp, 6); // Read 6 bytes, beginning at OUT_X_L_A
ax = (temp[1] << 8) | temp[0]; // Store x-axis values into ax
ay = (temp[3] << 8) | temp[2]; // Store y-axis values into ay
az = (temp[5] << 8) | temp[4]; // Store z-axis values into az
}
void LSM9DS0_readMag(LSM9DS0_t* lsm_t)
{
uint8_t temp[6]; // We'll read six bytes from the mag into temp
xmReadBytes(lsm_t,OUT_X_L_M, temp, 6); // Read 6 bytes, beginning at OUT_X_L_M
lsm_t->mx = (temp[1] << 8) | temp[0]; // Store x-axis values into mx
lsm_t->my = (temp[3] << 8) | temp[2]; // Store y-axis values into my
lsm_t->mz = (temp[5] << 8) | temp[4]; // Store z-axis values into mz
}
void LSM9DS0::readMag()
{
uint8_t temp[6]; // We'll read six bytes from the mag into temp
xmReadBytes(OUT_X_L_M, temp, 6); // Read 6 bytes, beginning at OUT_X_L_M
mx = (temp[1] << 8) | temp[0]; // Store x-axis values into mx
my = (temp[3] << 8) | temp[2]; // Store y-axis values into my
mz = (temp[5] << 8) | temp[4]; // Store z-axis values into mz
}
bool LSM9DS0::readAccel()
{
//uint8_t temp[6]; // We'll read six bytes from the accelerometer into temp
//xmReadBytes(OUT_X_L_A, temp, 6); // Read 6 bytes, beginning at OUT_X_L_A
uint8_t temp[7]; // We'll read six bytes from the accelerometer into temp
xmReadBytes(STATUS_REG_A, temp, 7); // Read 6 bytes, beginning at OUT_X_L_A
if ( temp[0] & BIT_ZYXxDA ) {
ax = (temp[2] << 8) | temp[1]; // Store x-axis values into ax
ay = (temp[4] << 8) | temp[3]; // Store y-axis values into ay
az = (temp[6] << 8) | temp[5]; // Store z-axis values into az
return true;
}
return false;
}
bool LSM9DS0::readMag()
{
//uint8_t temp[6]; // We'll read six bytes from the mag into temp
uint8_t temp[7];
//xmReadBytes(OUT_X_L_M, temp, 6); // Read 6 bytes, beginning at OUT_X_L_M
xmReadBytes(STATUS_REG_M, temp, 7); // Read 6 bytes, beginning at OUT_X_L_M
if ( temp[0] & BIT_ZYXxDA) {
mx = (temp[2] << 8) | temp[1]; // Store x-axis values into mx
my = (temp[4] << 8) | temp[3]; // Store y-axis values into my
mz = (temp[6] << 8) | temp[5]; // Store z-axis values into mz
return true;
}
return false;
}
void LSM330D::calLSM330D(float * gbias, float * abias)
{
uint8_t data[6] = {0, 0, 0, 0, 0, 0};
int32_t gyro_bias[3] = {0, 0, 0}, accel_bias[3] = {0, 0, 0};
uint16_t samples, ii;
// First get gyro bias
byte c = gReadByte(CTRL_REG5_G);
gWriteByte(CTRL_REG5_G, c | 0x40); // Enable gyro FIFO
delay(20); // Wait for change to take effect
gWriteByte(FIFO_CTRL_REG_G, 0x20 | 0x1F); // Enable gyro FIFO stream mode and set watermark at 32 samples
delay(1000); // delay 1000 milliseconds to collect FIFO samples
samples = (gReadByte(FIFO_SRC_REG_G) & 0x1F); // Read number of stored samples
for(ii = 0; ii < samples ; ii++) { // Read the gyro data stored in the FIFO
int16_t gyro_temp[3] = {0, 0, 0};
gReadBytes(OUT_X_L_G, &data[0], 6);
gyro_temp[0] = (int16_t) (((int16_t)data[1] << 8) | data[0]); // Form signed 16-bit integer for each sample in FIFO
gyro_temp[1] = (int16_t) (((int16_t)data[3] << 8) | data[2]);
gyro_temp[2] = (int16_t) (((int16_t)data[5] << 8) | data[4]);
gyro_bias[0] += (int32_t) gyro_temp[0]; // Sum individual signed 16-bit biases to get accumulated signed 32-bit biases
gyro_bias[1] += (int32_t) gyro_temp[1];
gyro_bias[2] += (int32_t) gyro_temp[2];
}
gyro_bias[0] /= samples; // average the data
gyro_bias[1] /= samples;
gyro_bias[2] /= samples;
gbias[0] = (float)gyro_bias[0]*gRes; // Properly scale the data to get deg/s
gbias[1] = (float)gyro_bias[1]*gRes;
gbias[2] = (float)gyro_bias[2]*gRes;
c = gReadByte(CTRL_REG5_G);
gWriteByte(CTRL_REG5_G, c & ~0x40); // Disable gyro FIFO
delay(20);
gWriteByte(FIFO_CTRL_REG_G, 0x00); // Enable gyro bypass mode
// Now get the accelerometer biases
c = xmReadByte(CTRL_REG5_A);
xmWriteByte(CTRL_REG5_A, c | 0x40); // Enable accelerometer FIFO
delay(20); // Wait for change to take effect
xmWriteByte(FIFO_CTRL_REG, 0x40 | 0x1F); // Enable accelerometer FIFO stream mode and set watermark at 32 samples
delay(1000); // delay 1000 milliseconds to collect FIFO samples
samples = (xmReadByte(FIFO_SRC_REG) & 0x1F); // Read number of stored accelerometer samples
for(ii = 0; ii < samples ; ii++) { // Read the accelerometer data stored in the FIFO
int16_t accel_temp[3] = {0, 0, 0};
xmReadBytes(OUT_X_L_A, &data[0], 6);
accel_temp[0] = (int16_t) (((int16_t)data[1] << 8) | data[0]);// Form signed 16-bit integer for each sample in FIFO
accel_temp[1] = (int16_t) (((int16_t)data[3] << 8) | data[2]);
accel_temp[2] = (int16_t) (((int16_t)data[5] << 8) | data[4]);
accel_bias[0] += (int32_t) accel_temp[0]; // Sum individual signed 16-bit biases to get accumulated signed 32-bit biases
accel_bias[1] += (int32_t) accel_temp[1];
accel_bias[2] += (int32_t) accel_temp[2];
}
accel_bias[0] /= samples; // average the data
accel_bias[1] /= samples;
accel_bias[2] /= samples;
if(accel_bias[2] > 0L) {accel_bias[2] -= (int32_t) (1.0/aRes);} // Remove gravity from the z-axis accelerometer bias calculation
else {accel_bias[2] += (int32_t) (1.0/aRes);}
abias[0] = (float)accel_bias[0]*aRes; // Properly scale data to get gs
abias[1] = (float)accel_bias[1]*aRes;
abias[2] = (float)accel_bias[2]*aRes;
c = xmReadByte(CTRL_REG5_A);
xmWriteByte(CTRL_REG5_A, c & ~0x40); // Disable accelerometer FIFO
delay(20);
xmWriteByte(FIFO_CTRL_REG, 0x00); // Enable accelerometer bypass mode
}
void LSM9DS0_readTemp(LSM9DS0_t* lsm_t)
{
uint8_t temp[2]; // We'll read two bytes from the temperature sensor into temp
xmReadBytes(lsm_t,OUT_TEMP_L_XM, temp, 2); // Read 2 bytes, beginning at OUT_TEMP_L_M
lsm_t->temperature = (((int16_t) temp[1] << 12) | temp[0] << 4 ) >> 4; // Temperature is a 12-bit signed integer
}
void LSM9DS0_readTest(LSM9DS0_t* lsm_t)
{
uint8_t temp[2]; // We'll read six bytes from the mag into temp
xmReadBytes(lsm_t,OUT_X_L_M, temp, 2); // Read 6 bytes, beginning at OUT_X_L_M
lsm_t->mx = (temp[1] << 8) | temp[0]; // Store x-axis values into mx
}
// This is a function that uses the FIFO to accumulate sample of accelerometer and gyro data, average
// them, scales them to gs and deg/s, respectively, and then passes the biases to the main sketch
// for subtraction from all subsequent data. There are no gyro and accelerometer bias registers to store
// the data as there are in the ADXL345, a precursor to the LSM9DS0, or the MPU-9150, so we have to
// subtract the biases ourselves. This results in a more accurate measurement in general and can
// remove errors due to imprecise or varying initial placement. Calibration of sensor data in this manner
// is good practice.
void calLSM9DS0(LSM9DS0_t* lsm_t, float * gbias, float * abias)
{
uint8_t data[6] = {0, 0, 0, 0, 0, 0};
int16_t
gyro_bias[3] = {0, 0, 0},
accel_bias[3] = {0, 0, 0};
int samples, ii;
// First get gyro bias
uint8_t c = gReadByte(lsm_t,CTRL_REG5_G); //read modify write
gWriteByte(lsm_t, CTRL_REG5_G, c | 0x40); // Enable gyro FIFO
delay(20); // Wait for change to take effect
gWriteByte(lsm_t, FIFO_CTRL_REG_G, 0x20 | 0x1F); // Enable gyro FIFO stream mode and set watermark at 32 samples
delay(1000); // delay 1000 milliseconds to collect FIFO samples
samples = (gReadByte(lsm_t,FIFO_SRC_REG_G) & 0x1F); // Read number of stored samples
for(ii = 0; ii < samples ; ii++) { // Read the gyro data stored in the FIFO
gReadBytes(lsm_t,OUT_X_L_G, &data[0], 6);
gyro_bias[0] += (((int16_t)data[1] << 8) | data[0]);
gyro_bias[1] += (((int16_t)data[3] << 8) | data[2]);
gyro_bias[2] += (((int16_t)data[5] << 8) | data[4]);
}
gyro_bias[0] /= samples; // average the data
gyro_bias[1] /= samples;
gyro_bias[2] /= samples;
gbias[0] = (float)gyro_bias[0]*lsm_t->gRes; // Properly scale the data to get deg/s
gbias[1] = (float)gyro_bias[1]*lsm_t->gRes;
gbias[2] = (float)gyro_bias[2]*lsm_t->gRes;
c = gReadByte(lsm_t,CTRL_REG5_G);
gWriteByte(lsm_t, CTRL_REG5_G, c & ~0x40); // Disable gyro FIFO
delay(20);
gWriteByte(lsm_t, FIFO_CTRL_REG_G, 0x00); // Enable gyro bypass mode
// Now get the accelerometer biases
c = xmReadByte(lsm_t,CTRL_REG0_XM);
xmWriteByte(lsm_t,CTRL_REG0_XM, c | 0x40); // Enable accelerometer FIFO
delay(20); // Wait for change to take effect
xmWriteByte(lsm_t,FIFO_CTRL_REG, 0x20 | 0x1F); // Enable accelerometer FIFO stream mode and set watermark at 32 samples
delay(1000); // delay 1000 milliseconds to collect FIFO samples
samples = (xmReadByte(lsm_t,FIFO_SRC_REG) & 0x1F); // Read number of stored accelerometer samples
for(ii = 0; ii < samples ; ii++) { // Read the accelerometer data stored in the FIFO
xmReadBytes(lsm_t,OUT_X_L_A, &data[0], 6);
accel_bias[0] += (((int16_t)data[1] << 8) | data[0]);
accel_bias[1] += (((int16_t)data[3] << 8) | data[2]);
accel_bias[2] += (((int16_t)data[5] << 8) | data[4]) - (int16_t)(1.0f/lsm_t->aRes); // Assumes sensor facing up!
}
accel_bias[0] /= samples; // average the data
accel_bias[1] /= samples;
accel_bias[2] /= samples;
abias[0] = (float)accel_bias[0]*lsm_t->aRes; // Properly scale data to get gs
abias[1] = (float)accel_bias[1]*lsm_t->aRes;
abias[2] = (float)accel_bias[2]*lsm_t->aRes;
c = xmReadByte(lsm_t,CTRL_REG0_XM);
xmWriteByte(lsm_t,CTRL_REG0_XM, c & ~0x40); // Disable accelerometer FIFO
delay(20);
xmWriteByte(lsm_t,FIFO_CTRL_REG, 0x00); // Enable accelerometer bypass mode
}
void LSM9DS0::readTemp()
{
uint8_t temp[2]; // We'll read two bytes from the temperature sensor into temp
xmReadBytes(OUT_TEMP_L_XM, temp, 2); // Read 2 bytes, beginning at OUT_TEMP_L_M
temperature = int16_t(temp[0]) + (int16_t(temp[1])<<8) ; // Temperature is a 12-bit signed integer
}