mirror of
https://github.com/Lurkars/esp-ena.git
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138 lines
4.0 KiB
C
138 lines
4.0 KiB
C
/*
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Note: The MPU6886 is an I2C sensor and uses the Arduino Wire library.
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Because the sensor is not 5V tolerant, we are using a 3.3 V 8 MHz Pro Mini or
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a 3.3 V Teensy 3.1. We have disabled the internal pull-ups used by the Wire
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library in the Wire.h/twi.c utility file. We are also using the 400 kHz fast
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I2C mode by setting the TWI_FREQ to 400000L /twi.h utility file.
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*/
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#ifndef _IMU_LSM9DS1_H_
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#define _IMU_LSM9DS1_H_
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#include "stdio.h"
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#define ID_AG 0x6F
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#define ID_A 0x6F
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#define ID_G 0x6F
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#define ID_M 0x3D
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#define FILENAME "/dev/i2c-1"
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#define MAG_ADDR 0x1E
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#define ACC_ADDR 0x6B
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#define GYR_ADDR 0x6B
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// Shared Accelerometer/Gyroscope Addresses
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#define WHO_AM_I_AG 0x0F
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#define CTRL_REG1_AG 0x10
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#define CTRL_REG2_AG 0x11
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#define CTRL_REG3_AG 0x12
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#define OUT_TEMP_L_AG 0x15
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#define OUT_TEMP_H_AG 0x16
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#define REG_STATUS_REG_AG 0x17
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#define CTRL_REG4_AG 0x1E
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#define CTRL_REG5_AG 0x1F
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#define CTRL_REG6_AG 0x20
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#define CTRL_REG7_AG 0x21
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#define CTRL_REG8_AG 0x22
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#define CTRL_REG9_AG 0x23
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#define CTRL_REG10_AG 0x24
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// Gyroscope addresses
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#define WHO_AM_I_G 0x0F
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#define CTRL_REG1_G 0x10
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#define CTRL_REG2_G 0x11
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#define CTRL_REG3_G 0x12
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#define OUT_X_L_G 0x18
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#define OUT_X_H_G 0x19
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#define OUT_Y_L_G 0x1A
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#define OUT_Y_H_G 0x1B
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#define OUT_Z_L_G 0x1C
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#define OUT_Z_H_G 0x1D
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// Accelerometer addresses
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#define WHO_AM_I_A 0x0F
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#define CTRL_REG5_A 0x1F
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#define CTRL_REG6_A 0x20
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#define CTRL_REG7_A 0x21
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#define OUT_X_L_A 0x28
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#define OUT_X_H_A 0x29
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#define OUT_Y_L_A 0x2A
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#define OUT_Y_H_A 0x2B
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#define OUT_Z_L_A 0x2C
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#define OUT_Z_H_A 0x2D
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// Magnetometer addresses
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#define WHO_AM_I_M 0x0F
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#define CTRL_REG1_M 0x20
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#define CTRL_REG2_M 0x21
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#define CTRL_REG3_M 0x22
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#define CTRL_REG4_M 0x23
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#define CTRL_REG5_M 0x24
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#define REG_STATUS_REG_M 0x27
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#define OUT_X_L_M 0x28
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#define OUT_X_H_M 0x29
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#define OUT_Y_L_M 0x2A
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#define OUT_Y_H_M 0x2B
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#define OUT_Z_L_M 0x2C
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#define OUT_Z_H_M 0x2D
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#define REG_CFG_M 0x30
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#define INT_SRC_M 0x31
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// Settings
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#define ACCELRANGE_2G 0x0 << 3
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#define ACCELRANGE_16G 0x1 << 3
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#define ACCELRANGE_4G 0x2 << 3
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#define ACCELRANGE_8G 0x3 << 3
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#define ACCELDATARATE_POWERDOWN 0x0 << 4
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#define ACCELDATARATE_3_125HZ 0x1 << 4
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#define ACCELDATARATE_6_25HZ 0x2 << 4
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#define ACCELDATARATE_12_5HZ 0x3 << 4
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#define ACCELDATARATE_25HZ 0x4 << 4
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#define ACCELDATARATE_50HZ 0x5 << 4
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#define ACCELDATARATE_100HZ 0x6 << 4
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#define ACCELDATARATE_200HZ 0x7 << 4
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#define ACCELDATARATE_400HZ 0x8 << 4
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#define ACCELDATARATE_800HZ 0x9 << 4
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#define ACCELDATARATE_1600HZ 0xa << 4
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#define MAGGAIN_4GAUSS 0x0 << 5
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#define MAGGAIN_8GAUSS 0x1 << 5
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#define MAGGAIN_12GAUSS 0x2 << 5
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#define MAGGAIN_16GAUSS 0x3 << 5
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#define MAGDATARATE_3_125HZ 0x0 << 2
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#define MAGDATARATE_6_25HZ 0x1 << 2
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#define MAGDATARATE_12_5HZ 0x2 << 2
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#define MAGDATARATE_25HZ 0x3 << 2
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#define MAGDATARATE_50HZ 0x4 << 2
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#define MAGDATARATE_100HZ 0x5 << 2
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#define GYROSCALE_245DPS 0x0 << 4
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#define GYROSCALE_500DPS 0x1 << 4
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#define GYROSCALE_2000DPS 0x2 << 4
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/* Conversions */
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#define GRAVITY (9.80665F)
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#define ACCEL_MG_LSB_2G (0.061F)
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#define ACCEL_MG_LSB_4G (0.122F)
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#define ACCEL_MG_LSB_8G (0.244F)
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#define ACCEL_MG_LSB_16G (0.732F) // Is this right? Was expecting 0.488F
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#define MAG_MGAUSS_4GAUSS (0.16F)
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#define MAG_MGAUSS_8GAUSS (0.32F)
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#define MAG_MGAUSS_12GAUSS (0.48F)
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#define MAG_MGAUSS_16GAUSS (0.58F)
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#define GYRO_DPS_DIGIT_245DPS (0.00875F)
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#define GYRO_DPS_DIGIT_500DPS (0.01750F)
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#define GYRO_DPS_DIGIT_2000DPS (0.07000F)
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int lsm9ds1_start(void);
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void lsm9ds1_get_accel_adc(int16_t *ax, int16_t *ay, int16_t *az);
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void lsm9ds1_get_gyro_adc(int16_t *gx, int16_t *gy, int16_t *gz);
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void lsm9ds1_get_accel_data(float *ax, float *ay, float *az);
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void lsm9ds1_get_gyro_data(float *gx, float *gy, float *gz);
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#endif |