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SparkFunLSM6DSO.cpp
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2108 lines (1725 loc) · 49.4 KB
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/******************************************************************************
SparkFunLSM6DSO.cpp
LSM6DSO Arduino and Teensy Driver
Marshall Taylor @ SparkFun Electronics
May 20, 2015
https://github.com/sparkfun/LSM6DSO_Breakout
https://github.com/sparkfun/SparkFun_LSM6DSO_Arduino_Library
Resources:
Uses Wire.h for i2c operation
Uses SPI.h for SPI operation
Either can be omitted if not used
Development environment specifics:
Arduino IDE 1.6.4
Teensy loader 1.23
0
This code is released under the [MIT License](http://opensource.org/licenses/MIT).
Please review the LICENSE.md file included with this example. If you have any questions
or concerns with licensing, please contact techsupport@sparkfun.com.
Distributed as-is; no warranty is given.
******************************************************************************/
#include "SparkFunLSM6DSO.h"
LSM6DSOCore::LSM6DSOCore() { }
status_t LSM6DSOCore::beginCore(uint8_t deviceAddress, TwoWire &i2cPort)
{
commInterface = I2C_MODE;
_i2cPort = &i2cPort;
I2CAddress = deviceAddress;
uint8_t partID;
status_t returnError = readRegister(&partID, WHO_AM_I_REG);
if( partID != 0x6C && returnError != IMU_SUCCESS)
return returnError;
else
return IMU_SUCCESS;
}
status_t LSM6DSOCore::beginSPICore(uint8_t csPin, uint32_t spiPortSpeed, SPIClass &spiPort){
commInterface = SPI_MODE;
_spiPort = &spiPort;
chipSelectPin = csPin;
#ifdef __AVR__
mySpiSettings = SPISettings(spiPortSpeed, MSBFIRST, SPI_MODE1);
#endif
// MODE0 for Teensy 3.1 operation
#ifdef __MK20DX256__
mySpiSettings = SPISettings(spiPortSpeed, MSBFIRST, SPI_MODE0);
#endif
#ifdef ESP32
mySpiSettings = SPISettings(spiPortSpeed, SPI_MSBFIRST, SPI_MODE0);
#endif
pinMode(chipSelectPin, OUTPUT);
digitalWrite(chipSelectPin, HIGH);
uint8_t partID;
readRegister(&partID, WHO_AM_I_REG);
if( partID != 0x6C )
return IMU_HW_ERROR;
else
return IMU_SUCCESS;
}
//****************************************************************************//
//
// ReadRegisterRegion
//
// Parameters:
// *outputPointer -- Pass &variable (base address of) to save read data to
// address -- register to read
// numBytes -- number of bytes to read
//
// Note: Does not know if the target memory space is an array or not, or
// if there is the array is big enough. if the variable passed is only
// two bytes long and 3 bytes are requested, this will over-write some
// other memory!
//
//****************************************************************************//
status_t LSM6DSOCore::readMultipleRegisters(uint8_t outputPointer[], uint8_t address, uint8_t numBytes)
{
status_t returnError;
uint8_t byteReturn;
switch( commInterface ){
case I2C_MODE:
_i2cPort->beginTransmission(I2CAddress);
_i2cPort->write(address);
if( _i2cPort->endTransmission(false) != 0 )
return IMU_HW_ERROR;
byteReturn = _i2cPort->requestFrom(static_cast<uint8_t>(I2CAddress), static_cast<uint8_t>(numBytes));
if( byteReturn == 0 )
return IMU_HW_ERROR;
for(size_t i = 0; i < numBytes; i++){
outputPointer[i] = _i2cPort->read();
}
return IMU_SUCCESS;
case SPI_MODE:
_spiPort->beginTransaction(mySpiSettings);
digitalWrite(chipSelectPin, LOW);
_spiPort->transfer(address | SPI_READ_COMMAND);
for(size_t i = 0; i < numBytes; i++ ) {
outputPointer[i] = _spiPort->transfer(0x00); // receive a byte as character
}
digitalWrite(chipSelectPin, HIGH);
_spiPort->endTransaction();
return IMU_SUCCESS;
default:
return IMU_GENERIC_ERROR;
}
}
//****************************************************************************//
// readRegister
//
// Parameters:
// *outputPointer -- Pass &variable (address of) to save read data to
// address -- register to read
//****************************************************************************//
status_t LSM6DSOCore::readRegister(uint8_t* outputPointer, uint8_t address) {
status_t returnError;
uint8_t byteReturn;
switch (commInterface) {
case I2C_MODE:
_i2cPort->beginTransmission(I2CAddress);
_i2cPort->write(address);
if( _i2cPort->endTransmission() != 0 )
return IMU_HW_ERROR;
byteReturn = _i2cPort->requestFrom(static_cast<uint8_t>(I2CAddress), static_cast<uint8_t>(1));
if( byteReturn == 0 )
return IMU_HW_ERROR;
*outputPointer = _i2cPort->read(); // receive a byte as a proper uint8_t
return IMU_SUCCESS;
case SPI_MODE:
// take the chip select low to select the device:
digitalWrite(chipSelectPin, LOW);
_spiPort->beginTransaction(mySpiSettings);
_spiPort->transfer(address | SPI_READ_COMMAND);
*outputPointer = _spiPort->transfer(0x00);
digitalWrite(chipSelectPin, HIGH);
_spiPort->endTransaction();
return IMU_SUCCESS;
default:
return IMU_GENERIC_ERROR;
}
}
//****************************************************************************//
// readRegisterInt16
//
// Parameters:
// *outputPointer -- Pass &variable (base address of) to save read data to
// address -- register to read
//****************************************************************************//
status_t LSM6DSOCore::readRegisterInt16(int16_t* outputPointer, uint8_t address)
{
uint8_t myBuffer[2];
status_t returnError = readMultipleRegisters(myBuffer, address, 2); //Does memory transfer
int16_t output = myBuffer[0] | static_cast<uint16_t>(myBuffer[1] << 8);
*outputPointer = output;
return returnError;
}
//****************************************************************************//
// writeRegister
//
// Parameters:
// address -- register to write
// dataToWrite -- 8 bit data to write to register
//****************************************************************************//
status_t LSM6DSOCore::writeRegister(uint8_t address, uint8_t dataToWrite) {
status_t returnError;
switch (commInterface) {
case I2C_MODE:
//Write the byte
_i2cPort->beginTransmission(I2CAddress);
_i2cPort->write(address);
_i2cPort->write(dataToWrite);
if( _i2cPort->endTransmission() != 0 )
return IMU_HW_ERROR;
break;
case SPI_MODE:
// take the chip select low to select the device:
_spiPort->beginTransaction(mySpiSettings);
digitalWrite(chipSelectPin, LOW);
_spiPort->transfer(address);
_spiPort->transfer(dataToWrite);
digitalWrite(chipSelectPin, HIGH);
_spiPort->endTransaction();
break;
default:
break;
}
return IMU_SUCCESS;
}
//****************************************************************************//
// writeMultipleRegisters
//
// Parameters:
// inputPointer -- array to be written to device
// address -- register to write
// numBytes -- number of bytes contained in the array
//****************************************************************************//
status_t LSM6DSOCore::writeMultipleRegisters(uint8_t inputPointer[], uint8_t address, uint8_t numBytes) {
status_t returnError;
switch( commInterface ){
case I2C_MODE:
_i2cPort->beginTransmission(I2CAddress);
_i2cPort->write(address);
for(size_t i = 0; i < numBytes; i++){
_i2cPort->write(inputPointer[i]);
}
if( _i2cPort->endTransmission() != 0 )
return IMU_HW_ERROR;
else
return IMU_SUCCESS;
case SPI_MODE:
_spiPort->beginTransaction(mySpiSettings);
digitalWrite(chipSelectPin, LOW);
_spiPort->transfer(inputPointer, 2);
digitalWrite(chipSelectPin, HIGH);
_spiPort->endTransaction();
return IMU_SUCCESS;
default:
return IMU_GENERIC_ERROR;
}
}
status_t LSM6DSOCore::enableEmbeddedFunctions(bool enable)
{
uint8_t tempVal;
readRegister(&tempVal, FUNC_CFG_ACCESS);
tempVal &= 0x7F;
if( enable )
tempVal |= 0x80;
else
tempVal |= 0x7F;
status_t returnError = writeRegister( FUNC_CFG_ACCESS, tempVal );
return returnError;
}
//****************************************************************************//
//
// Main user class -- wrapper for the core class + maths
//
// Construct with same rules as the core ( uint8_t busType, uint8_t inputArg )
//
//****************************************************************************//
LSM6DSO::LSM6DSO()
{
//Construct with these default imuSettings
imuSettings.gyroEnabled = true; //Can be 0 or 1
imuSettings.gyroRange = 500; //Max deg/s. Can be: 125, 250, 500, 1000, 2000
imuSettings.gyroSampleRate = 416; //Hz. Can be: 13, 26, 52, 104, 208, 416, 833, 1666
imuSettings.gyroBandWidth = 400; //Hz. Can be: 50, 100, 200, 400;
imuSettings.gyroFifoEnabled = 1; //Set to include gyro in FIFO
imuSettings.gyroAccelDecimation = 1; //Set to include gyro in FIFO
imuSettings.accelEnabled = true;
imuSettings.accelRange = 8; //Max G force readable. Can be: 2, 4, 8, 16
imuSettings.accelSampleRate = 416; //Hz. Can be: 1.6 (16), 12.5 (125), 26, 52, 104, 208, 416, 833, 1660, 3330, 6660
imuSettings.accelFifoEnabled = 1; //Set to include accelerometer in the FIFO
imuSettings.fifoEnabled = true;
imuSettings.fifoThreshold = 3000; //Can be 0 to 4096 (16 bit bytes)
imuSettings.fifoSampleRate = 416;
imuSettings.fifoModeWord = 0; //Default off
allOnesCounter = 0;
nonSuccessCounter = 0;
}
bool LSM6DSO::begin(uint8_t address, TwoWire &i2cPort){
if( address != DEFAULT_ADDRESS && address != ALT_ADDRESS )
return false;
uint8_t regVal;
status_t returnError = beginCore(address, i2cPort);
if( returnError != IMU_SUCCESS )
return false;
else
return true;
}
bool LSM6DSO::beginSPI(uint8_t csPin, uint32_t spiPortSpeed, SPIClass &spiPort){
status_t returnError = beginSPICore(csPin, spiPortSpeed, spiPort);
if( returnError != IMU_SUCCESS )
return false;
else
return true;
}
bool LSM6DSO::initialize(uint8_t settings){
setIncrement();
if( settings == BASIC_SETTINGS ){
setAccelRange(8);
setAccelDataRate(416);
setGyroRange(500);
setGyroDataRate(416);
setBlockDataUpdate(true);
}
else if( settings == SOFT_INT_SETTINGS ){
setAccelRange(8);
setAccelDataRate(416);
setGyroRange(500);
setGyroDataRate(416);
}
else if( settings == HARD_INT_SETTINGS ){
setInterruptOne(INT1_DRDY_XL_ENABLED);
setInterruptTwo(INT2_DRDY_G_ENABLED);
setAccelRange(8);
setAccelDataRate(416);
setGyroRange(500);
setGyroDataRate(416);
}
else if( settings == FIFO_SETTINGS ){
setFifoDepth(500); // bytes
//setTSDecimation(); // FIFO_CTRL4
//getSamplesStored(); // FIFO_STATUS1 and STATUS2
setAccelBatchDataRate(417);
setGyroBatchDataRate(417);
setFifoMode(FIFO_MODE_STOP_WHEN_FULL);
setAccelRange(8);
setAccelDataRate(833);
setGyroRange(500);
setGyroDataRate(833);
}
else if( settings == PEDOMETER_SETTINGS ){
enableEmbeddedFunctions(true);
setAccelDataRate(52);
enablePedometer(true);
}
else if( settings == TAP_SETTINGS ){
setAccelRange(2);
setAccelDataRate(417); // Must be at least 417
enableTap(true, true, true, true);
setTapDirPrior( TAP_PRIORITY_YXZ );
setXThreshold(9);
configureTap(0x06);
routeHardInterOne(INT1_SINGLE_TAP_ENABLED);
//setTapClearOnRead(true); //TAP_CFG0
}
else if( settings == FREE_FALL_SETTINGS ){
enableEmbeddedFunctions(true);
//setFreeFall(true);
// getFreeFall();
}
return true;
}
status_t LSM6DSO::beginSettings() {
uint8_t dataToWrite = 0; //Temporary variable
//Setup the accelerometer******************************
dataToWrite = 0; //Start Fresh!
if ( imuSettings.accelEnabled == 1) {
//Range
switch (imuSettings.accelRange) {
case 2:
dataToWrite |= FS_XL_2g;
break;
case 4:
dataToWrite |= FS_XL_4g;
break;
case 8:
dataToWrite |= FS_XL_8g;
break;
default: //set default case to 16(max)
case 16:
dataToWrite |= FS_XL_16g;
break;
}
// Accelerometer ODR
switch (imuSettings.accelSampleRate) {
case 16:
dataToWrite |= ODR_XL_1_6Hz;
break;
case 125:
dataToWrite |= ODR_XL_12_5Hz;
break;
case 26:
dataToWrite |= ODR_XL_26Hz;
break;
case 52:
dataToWrite |= ODR_XL_52Hz;
break;
default: //Set default to 104
case 104:
dataToWrite |= ODR_XL_104Hz;
break;
case 208:
dataToWrite |= ODR_XL_208Hz;
break;
case 416:
dataToWrite |= ODR_XL_416Hz;
break;
case 833:
dataToWrite |= ODR_XL_833Hz;
break;
case 1660:
dataToWrite |= ODR_XL_1660Hz;
break;
case 3330:
dataToWrite |= ODR_XL_3330Hz;
break;
case 6660:
dataToWrite |= ODR_XL_6660Hz;
break;
}
}
// Write Accelerometer Settings....
writeRegister(CTRL1_XL, dataToWrite);
//Setup the gyroscope**********************************************
dataToWrite = 0; // Clear variable
if ( imuSettings.gyroEnabled == 1) {
switch (imuSettings.gyroRange) {
case 125:
dataToWrite |= FS_G_125dps;
break;
case 245:
dataToWrite |= FS_G_250dps;
break;
case 500:
dataToWrite |= FS_G_500dps;
break;
case 1000:
dataToWrite |= FS_G_1000dps;
break;
default: //Default to full 2000DPS range
case 2000:
dataToWrite |= FS_G_2000dps;
break;
}
switch (imuSettings.gyroSampleRate) {
case 125:
dataToWrite |= ODR_GYRO_12_5Hz;
break;
case 26:
dataToWrite |= ODR_GYRO_26Hz;
break;
case 52:
dataToWrite |= ODR_GYRO_52Hz;
break;
default: //Set default to 104
case 104:
dataToWrite |= ODR_GYRO_104Hz;
break;
case 208:
dataToWrite |= ODR_GYRO_208Hz;
break;
case 416:
dataToWrite |= ODR_GYRO_416Hz;
break;
case 833:
dataToWrite |= ODR_GYRO_833Hz;
break;
case 1660:
dataToWrite |= ODR_GYRO_1660Hz;
break;
case 3330:
dataToWrite |= ODR_GYRO_3330Hz;
break;
case 6660:
dataToWrite |= ODR_GYRO_6660Hz;
break;
}
}
// Write the gyroscope imuSettings.
writeRegister(CTRL2_G, dataToWrite);
return IMU_SUCCESS;
}
// Address: 0x1E , bit[2:0]: default value is: 0x00
// Checks if there is new accelerometer, gyro, or temperature data.
uint8_t LSM6DSO::listenDataReady(){
uint8_t regVal;
status_t returnError = readRegister(®Val, STATUS_REG);
if( returnError != IMU_SUCCESS )
return IMU_GENERIC_ERROR;
else
return regVal;
}
// Address:0x12 CTRL3_C , bit[6] default value is: 0x00
// This function sets the BDU (Block Data Update) bit. Use when not employing
// the FIFO buffer.
bool LSM6DSO::setBlockDataUpdate(bool enable){
uint8_t regVal;
status_t returnError = readRegister(®Val, CTRL3_C);
if( returnError != IMU_SUCCESS )
return false;
regVal &= 0xBF;
regVal |= BDU_BLOCK_UPDATE;
returnError = writeRegister(CTRL3_C, regVal);
if( returnError != IMU_SUCCESS )
return false;
else
return true;
}
// Address:0x0D , bit[7:0]: default value is: 0x00
// Sets whether the accelerometer, gyroscope, or FIFO trigger on hardware
// interrupt one. Error checking for the user's argument is tricky (could be a
// long list of "if not this and not this and not this" instead the function relies on the
// user to set the correct value.
bool LSM6DSO::setInterruptOne(uint8_t setting) {
uint8_t regVal;
status_t returnError = readRegister(®Val, INT1_CTRL);
if( returnError != IMU_SUCCESS )
return false;
regVal &= 0xFE;
regVal |= setting;
returnError = writeRegister(INT1_CTRL, regVal);
if( returnError != IMU_SUCCESS )
return false;
else
return true;
}
// Address:0x0D , bit[7:0]: default value is: 0x00
// Gets whether the accelerometer, gyroscope, or FIFO trigger on hardware
// interrupt one.
uint8_t LSM6DSO::getInterruptOne() {
uint8_t regVal;
status_t returnError = readRegister(®Val, INT1_CTRL);
if( returnError != IMU_SUCCESS )
return false;
else
return regVal;
}
// Address: 0x12, bit[5,4]: default value is: 0x00
// Configures the polarity of the hardware interrupts and whether they are
// push-pull or open-drain.
bool LSM6DSO::configHardOutInt(uint8_t polarity, uint8_t pushOrDrain) {
uint8_t regVal;
status_t returnError = readRegister(®Val, CTRL3_C);
if( returnError != IMU_SUCCESS )
return false;
regVal &= 0xCF;
regVal |= polarity;
regVal |= pushOrDrain;
returnError = writeRegister(CTRL3_C, regVal);
if( returnError != IMU_SUCCESS )
return false;
else
return true;
}
// Address:0x0E , bit[7:0]: default value is: 0x00
// Sets whether the accelerometer, gyroscope, temperature sensor or FIFO trigger on hardware
// interrupt two. Error checking for the user's argument is tricky (could be a
// long list of "if not this and not this and not this" instead the function relies on the
// user to set the correct value.
bool LSM6DSO::setInterruptTwo(uint8_t setting) {
status_t returnError = writeRegister(INT2_CTRL, setting);
if( returnError != IMU_SUCCESS )
return false;
else
return true;
}
// Address:0x15 , bit[4]: default value is: 0x00
// Sets whether high performance mode is on for the acclerometer, by default it is ON.
bool LSM6DSO::setHighPerfAccel(bool enable){
uint8_t regVal;
status_t returnError = readRegister(®Val, CTRL6_C);
if( returnError != IMU_SUCCESS )
return false;
if( enable )
regVal |= HIGH_PERF_ACC_ENABLE;
else
regVal |= HIGH_PERF_ACC_DISABLE;
returnError = writeRegister(CTRL6_C, regVal);
if( returnError != IMU_SUCCESS )
return false;
else
return true;
}
// Address:0x16 , bit[7]: default value is: 0x00
// Sets whether high performance mode is on for the gyroscope, by default it is ON.
bool LSM6DSO::setHighPerfGyro(bool enable){
uint8_t regVal;
status_t returnError = readRegister(®Val, CTRL7_G);
if( returnError != IMU_SUCCESS )
return false;
if( enable )
regVal |= HIGH_PERF_GYRO_ENABLE;
else
regVal |= HIGH_PERF_GYRO_DISABLE;
returnError = writeRegister(CTRL7_G, regVal);
if( returnError != IMU_SUCCESS )
return false;
else
return true;
}
//****************************************************************************//
//
// Accelerometer section
//
//****************************************************************************//
// Address: 0x10 , bit[4:3]: default value is: 0x00 (2g)
// Sets the acceleration range of the accleromter portion of the IMU.
bool LSM6DSO::setAccelRange(uint8_t range) {
if( range < 0 | range > 16)
return false;
uint8_t regVal;
uint8_t fullScale;
status_t returnError = readRegister(®Val, CTRL1_XL);
if( returnError != IMU_SUCCESS )
return false;
fullScale = getAccelFullScale();
// Can't have 16g with XL_FS_MODE == 1
if( fullScale == 1 && range == 16 )
range = 8;
regVal &= FS_XL_MASK;
switch( range ) {
case 2:
regVal |= FS_XL_2g;
break;
case 4:
regVal |= FS_XL_4g;
break;
case 8:
regVal |= FS_XL_8g;
break;
case 16:
regVal |= FS_XL_16g;
break;
default:
break;
}
returnError = writeRegister(CTRL1_XL, regVal);
if( returnError != IMU_SUCCESS )
return false;
else
return true;
}
// Address: 0x10 , bit[4:3]: default value is: 0x00 (2g)
// Gets the acceleration range of the accleromter portion of the IMU.
// The value is dependent on the full scale bit (see getAccelFullScale).
uint8_t LSM6DSO::getAccelRange(){
uint8_t regVal;
uint8_t fullScale;
status_t returnError = readRegister(®Val, CTRL1_XL);
if( returnError != IMU_SUCCESS )
return IMU_GENERIC_ERROR;
fullScale = getAccelFullScale();
regVal = (regVal & 0x0C) >> 2;
if( fullScale == 1 ){
switch( regVal ){
case 0:
return 2;
case 1:
return 2;
case 2:
return 4;
case 3:
return 8;
default:
return IMU_GENERIC_ERROR;
}
}
else if( fullScale == 0 ){
switch( regVal ){
case 0:
return 2;
case 1:
return 16;
case 2:
return 4;
case 3:
return 8;
default:
return IMU_GENERIC_ERROR;
}
}
else
return IMU_GENERIC_ERROR;
}
// Address: 0x10, bit[7:4]: default value is: 0x00 (Power Down)
// Sets the output data rate of the accelerometer there-by enabling it.
bool LSM6DSO::setAccelDataRate(uint16_t rate) {
if( rate < 16 | rate > 6660)
return false;
uint8_t regVal;
uint8_t highPerf;
status_t returnError = readRegister(®Val, CTRL1_XL);
if( returnError != IMU_SUCCESS )
return false;
highPerf = getAccelHighPerf();
// Can't have 1.6Hz and have high performance mode enabled.
if( highPerf == 0 && rate == 16 )
rate = 125;
regVal &= ODR_XL_MASK;
switch ( rate ) {
case 0:
regVal |= ODR_XL_DISABLE;
break;
case 16:
regVal |= ODR_XL_1_6Hz;
break;
case 125:
regVal |= ODR_XL_12_5Hz;
break;
case 26:
regVal |= ODR_XL_26Hz;
break;
case 52:
regVal |= ODR_XL_52Hz;
break;
case 104:
regVal |= ODR_XL_104Hz;
break;
case 208:
regVal |= ODR_XL_208Hz;
break;
case 416:
regVal |= ODR_XL_416Hz;
break;
case 833:
regVal |= ODR_XL_833Hz;
break;
case 1660:
regVal |= ODR_XL_1660Hz;
break;
case 3330:
regVal |= ODR_XL_3330Hz;
break;
case 6660:
regVal |= ODR_XL_6660Hz;
break;
default:
break;
}
returnError = writeRegister(CTRL1_XL, regVal);
if( returnError != IMU_SUCCESS )
return false;
else
return true;
}
// Address: 0x10, bit[7:4]: default value is: 0x00 (Power Down)
// Gets the output data rate of the accelerometer checking if high performance
// mode is enabled in which case the lowest possible data rate is 12.5Hz.
float LSM6DSO::getAccelDataRate(){
uint8_t regVal;
uint8_t highPerf;
status_t returnError = readRegister(®Val, CTRL1_XL);
highPerf = getAccelHighPerf();
if( returnError != IMU_SUCCESS )
return static_cast<float>( IMU_GENERIC_ERROR );
regVal &= ~ODR_XL_MASK;
switch( regVal ){
case 0:
return ODR_XL_DISABLE;
case ODR_XL_1_6Hz: // Can't have 1.6 and high performance mode
if( highPerf == 0 )
return 12.5;
return 1.6;
case ODR_XL_12_5Hz:
return 12.5;
case ODR_XL_26Hz:
return 26.0;
case ODR_XL_52Hz:
return 52.0;
case ODR_XL_104Hz:
return 104.0;
case ODR_XL_208Hz:
return 208.0;
case ODR_XL_416Hz:
return 416.0;
case ODR_XL_833Hz:
return 833.0;
case ODR_XL_1660Hz:
return 1660.0;
case ODR_XL_3330Hz:
return 3330.0;
case ODR_XL_6660Hz:
return 6660.0;
default:
return static_cast<float>(IMU_GENERIC_ERROR);
}
}
// Address: 0x15, bit[4]: default value is: 0x00 (Enabled)
// Checks wheter high performance is enabled or disabled.
uint8_t LSM6DSO::getAccelHighPerf(){
uint8_t regVal;
status_t returnError = readRegister(®Val, CTRL6_C);
if( returnError != IMU_SUCCESS )
return IMU_GENERIC_ERROR;
else
return ((regVal & 0x10) >> 4);
}
// Address: 0x17, bit[2]: default value is: 0x00
// Checks whether the acclerometer is using "old" full scale or "new", see
// datasheet for more information.
uint8_t LSM6DSO::getAccelFullScale(){
uint8_t regVal;
status_t returnError = readRegister(®Val, CTRL8_XL);
if( returnError != IMU_SUCCESS )
return IMU_GENERIC_ERROR;
else
return ((regVal & 0x02) >> 1);
}
int16_t LSM6DSO::readRawAccelX() {
int16_t output;
status_t errorLevel = readRegisterInt16( &output, OUTX_L_A );
if( errorLevel != IMU_SUCCESS )
{
if( errorLevel == IMU_ALL_ONES_WARNING )
allOnesCounter++;
else
nonSuccessCounter++;
}
return output;
}
float LSM6DSO::readFloatAccelX() {
float output = calcAccel(readRawAccelX());
return output;
}
int16_t LSM6DSO::readRawAccelY()
{
int16_t output;
status_t errorLevel = readRegisterInt16( &output, OUTY_L_A );
if( errorLevel != IMU_SUCCESS )
{
if( errorLevel == IMU_ALL_ONES_WARNING )
allOnesCounter++;
else
nonSuccessCounter++;
}
return output;
}
float LSM6DSO::readFloatAccelY()
{
float output = calcAccel(readRawAccelY());
return output;
}
int16_t LSM6DSO::readRawAccelZ()
{
int16_t output;
status_t errorLevel = readRegisterInt16( &output, OUTZ_L_A );
if( errorLevel != IMU_SUCCESS )
{
if( errorLevel == IMU_ALL_ONES_WARNING )
allOnesCounter++;
else
nonSuccessCounter++;