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soypat
234 lines
6.1 KiB
Go
234 lines
6.1 KiB
Go
// Package lsm6ds3 implements a driver for the LSM6DS3 a 6 axis Inertial
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// Measurement Unit (IMU)
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//
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// Datasheet: https://www.st.com/resource/en/datasheet/lsm6ds3.pdf
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package lsm6ds3 // import "tinygo.org/x/drivers/lsm6ds3"
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import (
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"errors"
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"tinygo.org/x/drivers"
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"tinygo.org/x/drivers/internal/legacy"
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)
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type AccelRange uint8
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type AccelSampleRate uint8
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type AccelBandwidth uint8
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type GyroRange uint8
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type GyroSampleRate uint8
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// Device wraps an I2C connection to a LSM6DS3 device.
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type Device struct {
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bus drivers.I2C
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Address uint16
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accelRange AccelRange
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accelSampleRate AccelSampleRate
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accelBandWidth AccelBandwidth
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gyroRange GyroRange
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gyroSampleRate GyroSampleRate
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buf [6]uint8
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}
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// Configuration for LSM6DS3 device.
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type Configuration struct {
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AccelRange AccelRange
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AccelSampleRate AccelSampleRate
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AccelBandWidth AccelBandwidth
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GyroRange GyroRange
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GyroSampleRate GyroSampleRate
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IsPedometer bool
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ResetStepCounter bool
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}
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var errNotConnected = errors.New("lsm6ds3: failed to communicate with acel/gyro sensor")
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// New creates a new LSM6DS3 connection. The I2C bus must already be configured.
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//
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// This function only creates the Device object, it does not touch the device.
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func New(bus drivers.I2C) *Device {
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return &Device{
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bus: bus,
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Address: Address,
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}
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}
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// Configure sets up the device for communication.
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func (d *Device) Configure(cfg Configuration) (err error) {
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// Verify unit communication
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if !d.Connected() {
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return errNotConnected
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}
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if cfg.AccelRange != 0 {
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d.accelRange = cfg.AccelRange
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} else {
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d.accelRange = ACCEL_2G
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}
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if cfg.AccelSampleRate != 0 {
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d.accelSampleRate = cfg.AccelSampleRate
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} else {
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d.accelSampleRate = ACCEL_SR_104
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}
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if cfg.AccelBandWidth != 0 {
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d.accelBandWidth = cfg.AccelBandWidth
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} else {
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d.accelBandWidth = ACCEL_BW_100
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}
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if cfg.GyroRange != 0 {
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d.gyroRange = cfg.GyroRange
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} else {
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d.gyroRange = GYRO_2000DPS
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}
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if cfg.GyroSampleRate != 0 {
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d.gyroSampleRate = cfg.GyroSampleRate
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} else {
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d.gyroSampleRate = GYRO_SR_104
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}
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data := d.buf[:1]
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if cfg.IsPedometer { // CONFIGURE AS PEDOMETER
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// Configure accelerometer: 2G + 26Hz
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data[0] = uint8(ACCEL_2G) | uint8(ACCEL_SR_26)
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err = legacy.WriteRegister(d.bus, uint8(d.Address), CTRL1_XL, data)
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if err != nil {
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return
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}
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// Configure Zen_G, Yen_G, Xen_G, reset steps
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data[0] = 0x3C
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if cfg.ResetStepCounter {
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data[0] |= 0x02
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}
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err = legacy.WriteRegister(d.bus, uint8(d.Address), CTRL10_C, data)
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if err != nil {
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return
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}
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// Enable pedometer
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data[0] = 0x40
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err = legacy.WriteRegister(d.bus, uint8(d.Address), TAP_CFG, data)
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if err != nil {
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return
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}
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} else { // NORMAL USE
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// Configure accelerometer
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data[0] = uint8(d.accelRange) | uint8(d.accelSampleRate) | uint8(d.accelBandWidth)
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err = legacy.WriteRegister(d.bus, uint8(d.Address), CTRL1_XL, data)
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if err != nil {
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return
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}
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// Set ODR bit
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err = legacy.ReadRegister(d.bus, uint8(d.Address), CTRL4_C, data)
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if err != nil {
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return
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}
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data[0] = data[0] &^ BW_SCAL_ODR_ENABLED
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data[0] |= BW_SCAL_ODR_ENABLED
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err = legacy.WriteRegister(d.bus, uint8(d.Address), CTRL4_C, data)
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if err != nil {
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return
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}
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// Configure gyroscope
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data[0] = uint8(d.gyroRange) | uint8(d.gyroSampleRate)
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err = legacy.WriteRegister(d.bus, uint8(d.Address), CTRL2_G, data)
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if err != nil {
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return
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}
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}
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return nil
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}
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// Connected returns whether a LSM6DS3 has been found.
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// It does a "who am I" request and checks the response.
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func (d *Device) Connected() bool {
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data := d.buf[:1]
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legacy.ReadRegister(d.bus, uint8(d.Address), WHO_AM_I, data)
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return data[0] == 0x69
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}
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// ReadAcceleration reads the current acceleration from the device and returns
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// it in µg (micro-gravity). When one of the axes is pointing straight to Earth
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// and the sensor is not moving the returned value will be around 1000000 or
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// -1000000.
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func (d *Device) ReadAcceleration() (x, y, z int32, err error) {
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data := d.buf[:6]
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err = legacy.ReadRegister(d.bus, uint8(d.Address), OUTX_L_XL, data)
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if err != nil {
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return
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}
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// k comes from "Table 3. Mechanical characteristics" 3 of the datasheet * 1000
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k := int32(61) // 2G
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if d.accelRange == ACCEL_4G {
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k = 122
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} else if d.accelRange == ACCEL_8G {
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k = 244
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} else if d.accelRange == ACCEL_16G {
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k = 488
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}
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x = int32(int16((uint16(data[1])<<8)|uint16(data[0]))) * k
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y = int32(int16((uint16(data[3])<<8)|uint16(data[2]))) * k
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z = int32(int16((uint16(data[5])<<8)|uint16(data[4]))) * k
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return
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}
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// ReadRotation reads the current rotation from the device and returns it in
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// µ°/s (micro-degrees/sec). This means that if you were to do a complete
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// rotation along one axis and while doing so integrate all values over time,
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// you would get a value close to 360000000.
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func (d *Device) ReadRotation() (x, y, z int32, err error) {
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data := d.buf[:6]
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err = legacy.ReadRegister(d.bus, uint8(d.Address), OUTX_L_G, data)
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if err != nil {
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return
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}
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// k comes from "Table 3. Mechanical characteristics" 3 of the datasheet * 1000
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k := int32(4375) // 125DPS
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if d.gyroRange == GYRO_250DPS {
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k = 8750
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} else if d.gyroRange == GYRO_500DPS {
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k = 17500
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} else if d.gyroRange == GYRO_1000DPS {
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k = 35000
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} else if d.gyroRange == GYRO_2000DPS {
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k = 70000
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}
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x = int32(int16((uint16(data[1])<<8)|uint16(data[0]))) * k
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y = int32(int16((uint16(data[3])<<8)|uint16(data[2]))) * k
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z = int32(int16((uint16(data[5])<<8)|uint16(data[4]))) * k
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return
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}
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// ReadTemperature returns the temperature in celsius milli degrees (°C/1000)
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func (d *Device) ReadTemperature() (t int32, err error) {
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data := d.buf[:2]
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err = legacy.ReadRegister(d.bus, uint8(d.Address), OUT_TEMP_L, data)
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if err != nil {
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return
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}
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// From "Table 5. Temperature sensor characteristics"
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// temp = value/16 + 25
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t = 25000 + (int32(int16((int16(data[1])<<8)|int16(data[0])))*125)/2
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return
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}
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// ReadSteps returns the steps of the pedometer
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func (d *Device) ReadSteps() (s int32, err error) {
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data := d.buf[:2]
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err = legacy.ReadRegister(d.bus, uint8(d.Address), STEP_COUNTER_L, data)
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if err != nil {
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return
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}
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s = int32(int16((uint16(data[1]) << 8) | uint16(data[0])))
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return
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}
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