LSM9DS1.hpp

/******************************************************************************
  SFE_LSM9DS1.h
  SFE_LSM9DS1 Library Header File
  Jim Lindblom @ SparkFun Electronics
  Original Creation Date: February 27, 2015
https://github.com/sparkfun/LSM9DS1_Breakout
This file prototypes the LSM9DS1 class, implemented in SFE_LSM9DS1.cpp. In
addition, it defines every register in the LSM9DS1 (both the Gyro and Accel/
Magnetometer registers).

This code is beerware; if you see me (or any other SparkFun employee) at the
local, and you've found our code helpful, please buy us a round!

Distributed as-is; no warranty is given.
 ******************************************************************************/
#ifndef LSM9DS1_H
#define LSM9DS1_H

#include "LSM9DS1_Registers.h"
#include "LSM9DS1_Types.h"
#include "i2c.h"

#define LSM9DS1_AG_ADDR(sa0)    ((sa0) == 0 ? 0x6A : 0x6B)
#define LSM9DS1_M_ADDR(sa1)     ((sa1) == 0 ? 0x1C : 0x1E)

enum lsm9ds1_axis {
    X_AXIS,
    Y_AXIS,
    Z_AXIS,
    ALL_AXIS
};

class LSM9DS1
{
    public:
        IMUSettings settings;

        // We'll store the gyro, accel, and magnetometer readings in a series of
        // public class variables. Each sensor gets three variables -- one for each
        // axis. Call readGyro(), readAccel(), and readMag() first, before using
        // these variables!
        // These values are the RAW signed 16-bit readings from the sensors.
        int16_t gx, gy, gz; // x, y, and z axis readings of the gyroscope
        int16_t ax, ay, az; // x, y, and z axis readings of the accelerometer
        int16_t mx, my, mz; // x, y, and z axis readings of the magnetometer
        int16_t temperature; // Chip temperature
        float gBias[3], aBias[3], mBias[3];
        int16_t gBiasRaw[3], aBiasRaw[3], mBiasRaw[3];

        // LSM9DS1 -- LSM9DS1 class constructor
        // The constructor will set up a handful of private variables, and set the
        // communication mode as well.
        // Input:
        //  - interface = Either IMU_MODE_SPI or IMU_MODE_I2C, whichever you're using
        //              to talk to the IC.
        //  - xgAddr = If IMU_MODE_I2C, this is the I2C address of the accel/gyroscope.
        //              If IMU_MODE_SPI, this is the chip select pin of the gyro (CS_AG)
        //  - mAddr = If IMU_MODE_I2C, this is the I2C address of the magnetometer.
        //              If IMU_MODE_SPI, this is the cs pin of the magnetometer (CS_M)
        LSM9DS1(interface_mode interface, uint8_t xgAddr, uint8_t mAddr);
        LSM9DS1();

        // begin() -- Initialize the gyro, accelerometer, and magnetometer.
        // This will set up the scale and output rate of each sensor. The values set
        // in the IMUSettings struct will take effect after calling this function.
        uint16_t begin();

        void calibrate(bool autoCalc = true);
        void calibrateMag(bool loadIn = true);
        void magOffset(uint8_t axis, int16_t offset);

        // accelAvailable() -- Polls the accelerometer status register to check
        // if new data is available.
        // Output:  1 - New data available
        //          0 - No new data available
        uint8_t accelAvailable();

        // gyroAvailable() -- Polls the gyroscope status register to check
        // if new data is available.
        // Output:  1 - New data available
        //          0 - No new data available
        uint8_t gyroAvailable();

        // tempAvailable() -- Polls the temperature status register to check
        // if new data is available.
        // Output:  1 - New data available
        //          0 - No new data available
        uint8_t tempAvailable();

        // magAvailable() -- Polls the accelerometer status register to check
        // if new data is available.
        // Input:
        //  - axis can be either X_AXIS, Y_AXIS, Z_AXIS, to check for new data
        //    on one specific axis. Or ALL_AXIS (default) to check for new data
        //    on all axes.
        // Output:  1 - New data available
        //          0 - No new data available
        uint8_t magAvailable(lsm9ds1_axis axis = ALL_AXIS);

        // readGyro() -- Read the gyroscope output registers.
        // This function will read all six gyroscope output registers.
        // The readings are stored in the class' gx, gy, and gz variables. Read
        // those _after_ calling readGyro().
        void readGyro();

        // int16_t readGyro(axis) -- Read a specific axis of the gyroscope.
        // [axis] can be any of X_AXIS, Y_AXIS, or Z_AXIS.
        // Input:
        //  - axis: can be either X_AXIS, Y_AXIS, or Z_AXIS.
        // Output:
        //  A 16-bit signed integer with sensor data on requested axis.
        int16_t readGyro(lsm9ds1_axis axis);

        // readAccel() -- Read the accelerometer output registers.
        // This function will read all six accelerometer output registers.
        // The readings are stored in the class' ax, ay, and az variables. Read
        // those _after_ calling readAccel().
        void readAccel();

        // int16_t readAccel(axis) -- Read a specific axis of the accelerometer.
        // [axis] can be any of X_AXIS, Y_AXIS, or Z_AXIS.
        // Input:
        //  - axis: can be either X_AXIS, Y_AXIS, or Z_AXIS.
        // Output:
        //  A 16-bit signed integer with sensor data on requested axis.
        int16_t readAccel(lsm9ds1_axis axis);

        // readMag() -- Read the magnetometer output registers.
        // This function will read all six magnetometer output registers.
        // The readings are stored in the class' mx, my, and mz variables. Read
        // those _after_ calling readMag().
        void readMag();

        // int16_t readMag(axis) -- Read a specific axis of the magnetometer.
        // [axis] can be any of X_AXIS, Y_AXIS, or Z_AXIS.
        // Input:
        //  - axis: can be either X_AXIS, Y_AXIS, or Z_AXIS.
        // Output:
        //  A 16-bit signed integer with sensor data on requested axis.
        int16_t readMag(lsm9ds1_axis axis);

        // readTemp() -- Read the temperature output register.
        // This function will read two temperature output registers.
        // The combined readings are stored in the class' temperature variables. Read
        // those _after_ calling readTemp().
        void readTemp();

        // calcGyro() -- Convert from RAW signed 16-bit value to degrees per second
        // This function reads in a signed 16-bit value and returns the scaled
        // DPS. This function relies on gScale and gRes being correct.
        // Input:
        //  - gyro = A signed 16-bit raw reading from the gyroscope.
        float calcGyro(int16_t gyro);

        // calcAccel() -- Convert from RAW signed 16-bit value to gravity (g's).
        // This function reads in a signed 16-bit value and returns the scaled
        // g's. This function relies on aScale and aRes being correct.
        // Input:
        //  - accel = A signed 16-bit raw reading from the accelerometer.
        float calcAccel(int16_t accel);

        // calcMag() -- Convert from RAW signed 16-bit value to Gauss (Gs)
        // This function reads in a signed 16-bit value and returns the scaled
        // Gs. This function relies on mScale and mRes being correct.
        // Input:
        //  - mag = A signed 16-bit raw reading from the magnetometer.
        float calcMag(int16_t mag);

        // setGyroScale() -- Set the full-scale range of the gyroscope.
        // This function can be called to set the scale of the gyroscope to 
        // 245, 500, or 200 degrees per second.
        // Input:
        //  - gScl = The desired gyroscope scale. Must be one of three possible
        //      values from the gyro_scale.
        void setGyroScale(uint16_t gScl);

        // setAccelScale() -- Set the full-scale range of the accelerometer.
        // This function can be called to set the scale of the accelerometer to
        // 2, 4, 6, 8, or 16 g's.
        // Input:
        //  - aScl = The desired accelerometer scale. Must be one of five possible
        //      values from the accel_scale.
        void setAccelScale(uint8_t aScl);

        // setMagScale() -- Set the full-scale range of the magnetometer.
        // This function can be called to set the scale of the magnetometer to
        // 2, 4, 8, or 12 Gs.
        // Input:
        //  - mScl = The desired magnetometer scale. Must be one of four possible
        //      values from the mag_scale.
        void setMagScale(uint8_t mScl);

        // setGyroODR() -- Set the output data rate and bandwidth of the gyroscope
        // Input:
        //  - gRate = The desired output rate and cutoff frequency of the gyro.
        void setGyroODR(uint8_t gRate);

        // setAccelODR() -- Set the output data rate of the accelerometer
        // Input:
        //  - aRate = The desired output rate of the accel.
        void setAccelODR(uint8_t aRate);    

        // setMagODR() -- Set the output data rate of the magnetometer
        // Input:
        //  - mRate = The desired output rate of the mag.
        void setMagODR(uint8_t mRate);

        // configInactivity() -- Configure inactivity interrupt parameters
        // Input:
        //  - duration = Inactivity duration - actual value depends on gyro ODR
        //  - threshold = Activity Threshold
        //  - sleepOn = Gyroscope operating mode during inactivity.
        //    true: gyroscope in sleep mode
        //    false: gyroscope in power-down
        void configInactivity(uint8_t duration, uint8_t threshold, bool sleepOn);

        // configAccelInt() -- Configure Accelerometer Interrupt Generator
        // Input:
        //  - generator = Interrupt axis/high-low events
        //    Any OR'd combination of ZHIE_XL, ZLIE_XL, YHIE_XL, YLIE_XL, XHIE_XL, XLIE_XL
        //  - andInterrupts = AND/OR combination of interrupt events
        //    true: AND combination
        //    false: OR combination
        void configAccelInt(uint8_t generator, bool andInterrupts = false);

        // configAccelThs() -- Configure the threshold of an accelereomter axis
        // Input:
        //  - threshold = Interrupt threshold. Possible values: 0-255.
        //    Multiply by 128 to get the actual raw accel value.
        //  - axis = Axis to be configured. Either X_AXIS, Y_AXIS, or Z_AXIS
        //  - duration = Duration value must be above or below threshold to trigger interrupt
        //  - wait = Wait function on duration counter
        //    true: Wait for duration samples before exiting interrupt
        //    false: Wait function off
        void configAccelThs(uint8_t threshold, lsm9ds1_axis axis, uint8_t duration = 0, bool wait = 0);

        // configGyroInt() -- Configure Gyroscope Interrupt Generator
        // Input:
        //  - generator = Interrupt axis/high-low events
        //    Any OR'd combination of ZHIE_G, ZLIE_G, YHIE_G, YLIE_G, XHIE_G, XLIE_G
        //  - aoi = AND/OR combination of interrupt events
        //    true: AND combination
        //    false: OR combination
        //  - latch: latch gyroscope interrupt request.
        void configGyroInt(uint8_t generator, bool aoi, bool latch);

        // configGyroThs() -- Configure the threshold of a gyroscope axis
        // Input:
        //  - threshold = Interrupt threshold. Possible values: 0-0x7FF.
        //    Value is equivalent to raw gyroscope value.
        //  - axis = Axis to be configured. Either X_AXIS, Y_AXIS, or Z_AXIS
        //  - duration = Duration value must be above or below threshold to trigger interrupt
        //  - wait = Wait function on duration counter
        //    true: Wait for duration samples before exiting interrupt
        //    false: Wait function off
        void configGyroThs(int16_t threshold, lsm9ds1_axis axis, uint8_t duration, bool wait);

        // configInt() -- Configure INT1 or INT2 (Gyro and Accel Interrupts only)
        // Input:
        //  - interrupt = Select INT1 or INT2
        //    Possible values: XG_INT1 or XG_INT2
        //  - generator = Or'd combination of interrupt generators.
        //    Possible values: INT_DRDY_XL, INT_DRDY_G, INT1_BOOT (INT1 only), INT2_DRDY_TEMP (INT2 only)
        //    INT_FTH, INT_OVR, INT_FSS5, INT_IG_XL (INT1 only), INT1_IG_G (INT1 only), INT2_INACT (INT2 only)
        //  - activeLow = Interrupt active configuration
        //    Can be either INT_ACTIVE_HIGH or INT_ACTIVE_LOW
        //  - pushPull =  Push-pull or open drain interrupt configuration
        //    Can be either INT_PUSH_PULL or INT_OPEN_DRAIN
        void configInt(interrupt_select interupt, uint8_t generator,
                h_lactive activeLow = INT_ACTIVE_LOW, pp_od pushPull = INT_PUSH_PULL);

        // configMagInt() -- Configure Magnetometer Interrupt Generator
        // Input:
        //  - generator = Interrupt axis/high-low events
        //    Any OR'd combination of ZIEN, YIEN, XIEN
        //  - activeLow = Interrupt active configuration
        //    Can be either INT_ACTIVE_HIGH or INT_ACTIVE_LOW
        //  - latch: latch gyroscope interrupt request.
        void configMagInt(uint8_t generator, h_lactive activeLow, bool latch = true);

        // configMagThs() -- Configure the threshold of a gyroscope axis
        // Input:
        //  - threshold = Interrupt threshold. Possible values: 0-0x7FF.
        //    Value is equivalent to raw magnetometer value.
        void configMagThs(uint16_t threshold);

        // getGyroIntSrc() -- Get contents of Gyroscope interrupt source register
        uint8_t getGyroIntSrc();

        // getGyroIntSrc() -- Get contents of accelerometer interrupt source register
        uint8_t getAccelIntSrc();

        // getGyroIntSrc() -- Get contents of magnetometer interrupt source register
        uint8_t getMagIntSrc();

        // getGyroIntSrc() -- Get status of inactivity interrupt
        uint8_t getInactivity();

        // sleepGyro() -- Sleep or wake the gyroscope
        // Input:
        //  - enable: True = sleep gyro. False = wake gyro.
        void sleepGyro(bool enable = true);

        // enableFIFO() - Enable or disable the FIFO
        // Input:
        //  - enable: true = enable, false = disable.
        void enableFIFO(bool enable = true);

        // setFIFO() - Configure FIFO mode and Threshold
        // Input:
        //  - fifoMode: Set FIFO mode to off, FIFO (stop when full), continuous, bypass
        //    Possible inputs: FIFO_OFF, FIFO_THS, FIFO_CONT_TRIGGER, FIFO_OFF_TRIGGER, FIFO_CONT
        //  - fifoThs: FIFO threshold level setting
        //    Any value from 0-0x1F is acceptable.
        void setFIFO(fifoMode_type fifoMode, uint8_t fifoThs);

        // getFIFOSamples() - Get number of FIFO samples
        uint8_t getFIFOSamples();


    protected:  
        // x_mAddress and gAddress store the I2C address or SPI chip select pin
        // for each sensor.
        uint8_t _mAddress, _xgAddress;

        // gRes, aRes, and mRes store the current resolution for each sensor. 
        // Units of these values would be DPS (or g's or Gs's) per ADC tick.
        // This value is calculated as (sensor scale) / (2^15).
        float gRes, aRes, mRes;

        // _autoCalc keeps track of whether we're automatically subtracting off
        // accelerometer and gyroscope bias calculated in calibrate().
        bool _autoCalc;

        // init() -- Sets up gyro, accel, and mag settings to default.
        // - interface - Sets the interface mode (IMU_MODE_I2C or IMU_MODE_SPI)
        // - xgAddr - Sets either the I2C address of the accel/gyro or SPI chip 
        //   select pin connected to the CS_XG pin.
        // - mAddr - Sets either the I2C address of the magnetometer or SPI chip 
        //   select pin connected to the CS_M pin.
        void init(interface_mode interface, uint8_t xgAddr, uint8_t mAddr);

        // initGyro() -- Sets up the gyroscope to begin reading.
        // This function steps through all five gyroscope control registers.
        // Upon exit, the following parameters will be set:
        //  - CTRL_REG1_G = 0x0F: Normal operation mode, all axes enabled. 
        //      95 Hz ODR, 12.5 Hz cutoff frequency.
        //  - CTRL_REG2_G = 0x00: HPF set to normal mode, cutoff frequency
        //      set to 7.2 Hz (depends on ODR).
        //  - CTRL_REG3_G = 0x88: Interrupt enabled on INT_G (set to push-pull and
        //      active high). Data-ready output enabled on DRDY_G.
        //  - CTRL_REG4_G = 0x00: Continuous update mode. Data LSB stored in lower
        //      address. Scale set to 245 DPS. SPI mode set to 4-wire.
        //  - CTRL_REG5_G = 0x00: FIFO disabled. HPF disabled.
        void initGyro();

        // initAccel() -- Sets up the accelerometer to begin reading.
        // This function steps through all accelerometer related control registers.
        // Upon exit these registers will be set as:
        //  - CTRL_REG0_XM = 0x00: FIFO disabled. HPF bypassed. Normal mode.
        //  - CTRL_REG1_XM = 0x57: 100 Hz data rate. Continuous update.
        //      all axes enabled.
        //  - CTRL_REG2_XM = 0x00:  2g scale. 773 Hz anti-alias filter BW.
        //  - CTRL_REG3_XM = 0x04: Accel data ready signal on INT1_XM pin.
        void initAccel();

        // initMag() -- Sets up the magnetometer to begin reading.
        // This function steps through all magnetometer-related control registers.
        // Upon exit these registers will be set as:
        //  - CTRL_REG4_XM = 0x04: Mag data ready signal on INT2_XM pin.
        //  - CTRL_REG5_XM = 0x14: 100 Hz update rate. Low resolution. Interrupt
        //      requests don't latch. Temperature sensor disabled.
        //  - CTRL_REG6_XM = 0x00:  2 Gs scale.
        //  - CTRL_REG7_XM = 0x00: Continuous conversion mode. Normal HPF mode.
        //  - INT_CTRL_REG_M = 0x09: Interrupt active-high. Enable interrupts.
        void initMag();

        // gReadByte() -- Reads a byte from a specified gyroscope register.
        // Input:
        //  - subAddress = Register to be read from.
        // Output:
        //  - An 8-bit value read from the requested address.
        uint8_t mReadByte(uint8_t subAddress);

        // gReadBytes() -- Reads a number of bytes -- beginning at an address
        // and incrementing from there -- from the gyroscope.
        // Input:
        //  - subAddress = Register to be read from.
        //  - * dest = A pointer to an array of uint8_t's. Values read will be
        //      stored in here on return.
        //  - count = The number of bytes to be read.
        // Output: No value is returned, but the `dest` array will store
        //  the data read upon exit.
        uint8_t mReadBytes(uint8_t subAddress, uint8_t * dest, uint8_t count);

        // gWriteByte() -- Write a byte to a register in the gyroscope.
        // Input:
        //  - subAddress = Register to be written to.
        //  - data = data to be written to the register.
        void mWriteByte(uint8_t subAddress, uint8_t data);

        // xmReadByte() -- Read a byte from a register in the accel/mag sensor
        // Input:
        //  - subAddress = Register to be read from.
        // Output:
        //  - An 8-bit value read from the requested register.
        uint8_t xgReadByte(uint8_t subAddress);

        // xmReadBytes() -- Reads a number of bytes -- beginning at an address
        // and incrementing from there -- from the accelerometer/magnetometer.
        // Input:
        //  - subAddress = Register to be read from.
        //  - * dest = A pointer to an array of uint8_t's. Values read will be
        //      stored in here on return.
        //  - count = The number of bytes to be read.
        // Output: No value is returned, but the `dest` array will store
        //  the data read upon exit.
        uint8_t xgReadBytes(uint8_t subAddress, uint8_t * dest, uint8_t count);

        // xmWriteByte() -- Write a byte to a register in the accel/mag sensor.
        // Input:
        //  - subAddress = Register to be written to.
        //  - data = data to be written to the register.
        void xgWriteByte(uint8_t subAddress, uint8_t data);

        // calcgRes() -- Calculate the resolution of the gyroscope.
        // This function will set the value of the gRes variable. gScale must
        // be set prior to calling this function.
        void calcgRes();

        // calcmRes() -- Calculate the resolution of the magnetometer.
        // This function will set the value of the mRes variable. mScale must
        // be set prior to calling this function.
        void calcmRes();

        // calcaRes() -- Calculate the resolution of the accelerometer.
        // This function will set the value of the aRes variable. aScale must
        // be set prior to calling this function.
        void calcaRes();

        // Helper Functions //
        void constrainScales();

        // SPI Functions //
        // initSPI() -- Initialize the SPI hardware.
        // This function will setup all SPI pins and related hardware.
        void initSPI();

        // SPIwriteByte() -- Write a byte out of SPI to a register in the device
        // Input:
        //  - csPin = The chip select pin of the slave device.
        //  - subAddress = The register to be written to.
        //  - data = Byte to be written to the register.
        void SPIwriteByte(uint8_t csPin, uint8_t subAddress, uint8_t data);

        // SPIreadByte() -- Read a single byte from a register over SPI.
        // Input:
        //  - csPin = The chip select pin of the slave device.
        //  - subAddress = The register to be read from.
        // Output:
        //  - The byte read from the requested address.
        uint8_t SPIreadByte(uint8_t csPin, uint8_t subAddress);

        // SPIreadBytes() -- Read a series of bytes, starting at a register via SPI
        // Input:
        //  - csPin = The chip select pin of a slave device.
        //  - subAddress = The register to begin reading.
        //  - * dest = Pointer to an array where we'll store the readings.
        //  - count = Number of registers to be read.
        // Output: No value is returned by the function, but the registers read are
        //      all stored in the *dest array given.
        uint8_t SPIreadBytes(uint8_t csPin, uint8_t subAddress, 
                uint8_t * dest, uint8_t count);

        // I2C Functions //
        // initI2C() -- Initialize the I2C hardware.
        // This function will setup all I2C pins and related hardware.
        void initI2C();

        // I2CwriteByte() -- Write a byte out of I2C to a register in the device
        // Input:
        //  - address = The 7-bit I2C address of the slave device.
        //  - subAddress = The register to be written to.
        //  - data = Byte to be written to the register.
        void I2CwriteByte(uint8_t address, uint8_t subAddress, uint8_t data);

        // I2CreadByte() -- Read a single byte from a register over I2C.
        // Input:
        //  - address = The 7-bit I2C address of the slave device.
        //  - subAddress = The register to be read from.
        // Output:
        //  - The byte read from the requested address.
        uint8_t I2CreadByte(uint8_t address, uint8_t subAddress);

        // I2CreadBytes() -- Read a series of bytes, starting at a register via SPI
        // Input:
        //  - address = The 7-bit I2C address of the slave device.
        //  - subAddress = The register to begin reading.
        //  - * dest = Pointer to an array where we'll store the readings.
        //  - count = Number of registers to be read.
        // Output: No value is returned by the function, but the registers read are
        //      all stored in the *dest array given.
        uint8_t I2CreadBytes(uint8_t address, uint8_t subAddress, uint8_t * dest, uint8_t count);
};

#endif // SFE_LSM9DS1_H //