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sensor.imu.9dof.lsm9ds1.spin
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{
----------------------------------------------------------------------------------------------------
Filename: sensor.imu.9dof.lsm9ds1.spin
Description: Driver for the ST LSM9DS1 9DoF/3-axis IMU
Author: Jesse Burt
Started: Aug 12, 2017
Updated: Jan 21, 2024
Copyright (c) 2024 - See end of file for terms of use.
---------------------------------------------------------------------------------------------------
}
#include "sensor.accel.common.spinh"
#include "sensor.gyroscope.common.spinh"
#include "sensor.magnetometer.common.spinh"
#include "sensor.temp.common.spinh"
CON
{ default I/O configuration - these can be overridden by the parent object }
{ /// I2C /// }
SCL = 28
SDA = 29
I2C_FREQ = 100_000
I2C_ADDR = 0
{ /// SPI /// }
CS_AG = 0
CS_M = 1
SCK = 2
MOSI = 3
MISO = 4
SPI_FREQ = 1_000_000
DEF_SCL = 28
DEF_SDA = 29
DEF_HZ = 100_000
I2C_MAX_FREQ = core.I2C_MAX_FREQ
' Indicate to user apps how many Degrees of Freedom each sub-sensor has
' (also imply whether or not it has a particular sensor)
ACCEL_DOF = 3
GYRO_DOF = 3
MAG_DOF = 3
BARO_DOF = 0
DOF = ACCEL_DOF + GYRO_DOF + MAG_DOF + BARO_DOF
' Scales and data rates used during calibration/bias/offset process
CAL_XL_SCL = 2
CAL_G_SCL = 245
CAL_M_SCL = 4
CAL_XL_DR = 238
CAL_G_DR = 238
CAL_M_DR = 80
' Constants used in low-level SPI read/write
READ = 1 << 7
WRITE = 0
MS = 1 << 6
' Axis-specific constants
X_AXIS = 0
Y_AXIS = 1
Z_AXIS = 2
ALL_AXIS = 3
' Temperature scale constants
C = 0
F = 1
' Output data byte order
LSBF = 0
MSBF = 1
' Interrupt active states (applies to both XLG and Mag)
ACTIVE_HIGH = 0
ACTIVE_LOW = 1
' FIFO settings
FIFO_OFF = core.FIFO_OFF
FIFO_THS = core.FIFO_THS
FIFO_CONT_TRIG = core.FIFO_CONT_TRIG
FIFO_OFF_TRIG = core.FIFO_OFF_TRIG
FIFO_CONT = core.FIFO_CONT
' Sensor-specific constants
XLG = 0
MAG = 1
BOTH = 2
' Magnetometer operation modes
MAG_OPMODE_CONT = %00
MAG_OPMODE_SINGLE = %01
MAG_OPMODE_POWERDOWN = %10
' Magnetometer performance setting
MAG_PERF_LOW = %00
MAG_PERF_MED = %01
MAG_PERF_HIGH = %10
MAG_PERF_ULTRA = %11
' Accel & gyro interrupts
XLG_INT = 1 << 6
Z_HIGH = 1 << 5
Z_LOW = 1 << 4
Y_HIGH = 1 << 3
Y_LOW = 1 << 2
X_HIGH = 1 << 1
X_LOW = 1
' INT1 pin interrupts
INT1_IG_G = 1 << 7
INT1_IG_XL = 1 << 6
INT1_FSS5 = 1 << 5
INT1_OVR = 1 << 4
INT1_FTH = 1 << 3
INT1_BOOT = 1 << 2
INT1_DRDY_G = 1 << 1
INT1_DRDY_XL = 1
' INT2 pin interrupts
INT2_IG_G = 1 << 7
INT2_FSS5 = 1 << 5
INT2_OVR = 1 << 4
INT2_FTH = 1 << 3
INT2_DRDY_TEMP = 1 << 2
INT2_DRDY_G = 1 << 1
INT2_DRDY_XL = 1
OBJ
{ SPI? }
#ifdef LSM9DS1_SPI
{ decide: Bytecode SPI engine, or PASM? Default is PASM if BC isn't specified }
# ifdef LSM9DS1_SPI_BC
spi: "com.spi.25khz.nocog" ' BC SPI engine
# else
spi: "com.spi.1mhz" ' PASM SPI engine
# endif
#else
{ no, not SPI - default to I2C }
# define LSM9DS1_I2C
{ decide: Bytecode I2C engine, or PASM? Default is PASM if BC isn't specified }
# ifdef LSM9DS1_I2C_BC
i2c: "com.i2c.nocog" ' BC I2C engine
# else
i2c: "com.i2c" ' PASM I2C engine
# endif
#endif
core: "core.con.lsm9ds1"
time: "time"
VAR
long _CS_AG, _CS_M
byte _spi_wire_md
byte _addr_bits
PUB null()
' This is not a top-level object
#ifdef LSM9DS1_I2C
PUB start(): status
' Start the driver using default settings
return startx(SCL, SDA, I2C_FREQ, I2C_ADDR)
PUB startx(SCL_PIN, SDA_PIN, I2C_HZ, ADDR_BITS): status
' Start using custom I/O pins
if ( lookdown(SCL_PIN: 0..31) and lookdown(SDA_PIN: 0..31) )
if ( status := i2c.init(SCL_PIN, SDA_PIN, I2C_HZ) )
time.usleep(core.TPOR) ' startup time
_addr_bits := (ADDR_BITS << 1)
if ( dev_id() == core.WHOAMI_BOTH_RESP )
xlg_soft_reset() ' reset/initialize to
mag_soft_reset() ' POR defaults
return status ' validate device
' if this point is reached, something above failed
' Double check I/O pin assignments, connections, power
' Lastly - make sure you have at least one free core/cog
return FALSE
#elseifdef LSM9DS1_SPI
PUB start(): status
' Start the driver using default settings
return startx(CS_AG, CS_M, SCK, MOSI, MISO)
PUB startx(CS_AG_PIN, CS_M_PIN, SCL_PIN, SDA_PIN, SDO_PIN): status
' Start using custom I/O pins
if ( lookdown(SCL_PIN: 0..31) and lookdown(SDA_PIN: 0..31) and ...
lookdown(CS_AG_PIN: 0..31) and lookdown(CS_M_PIN: 0..31) and ...
lookdown(SDO_PIN: 0..31) )
if ( status := spi.init(SCL_PIN, SDA_PIN, SDO_PIN, core.SPI_MODE) )
longmove(@_CS_AG, @CS_AG_PIN, 2)
outa[_CS_AG] := 1 ' make sure CS starts
outa[_CS_M] := 1 ' high
dira[_CS_AG] := 1
dira[_CS_M] := 1
time.usleep(core.TPOR) ' startup time
{ if SDA_PIN and SDO_PIN are the same, }
{ assume 3-wire SPI mode is wanted }
if ( SDA_PIN == SDO_PIN )
spi_mode(3)
else
spi_mode(4)
xlg_soft_reset() ' reset/initialize to
mag_soft_reset() ' POR defaults
if ( dev_id() == core.WHOAMI_BOTH_RESP )
xlg_soft_reset() ' reset/initialize to
mag_soft_reset() ' POR defaults
return status ' validate device
' if this point is reached, something above failed
' Double check I/O pin assignments, connections, power
' Lastly - make sure you have at least one free core/cog
return FALSE
#endif
PUB stop()
' Stop the driver
#ifdef LSM9DS1_I2C
i2c.deinit()
#elseifdef LSM9DS1_SPI
spi.deinit()
#endif
PUB defaults()
' Factory default settings
xlg_soft_reset()
mag_soft_reset()
time.usleep(core.TPOR)
PUB preset_active()
' Like defaults(), but
' * enables output data (XL/G: 59Hz, Mag: 40Hz)
xlg_soft_reset()
mag_soft_reset()
time.usleep(core.TPOR)
addr_auto_inc_ena(TRUE)
#ifdef LSM9DS1_I2C
mag_i2c_ena(TRUE) ' enable mag I2C interface
#elseifdef LSM9DS1_SPI
mag_i2c_ena(FALSE) ' disable mag I2C interface
#endif
blk_updt_ena()
xlg_data_rate(59) ' arbitrary
mag_data_rate(40) '
gyro_scale(245) ' already the POR defaults,
accel_scale(2) ' but still need to call these
mag_scale(4) ' to set scale factor hub vars
mag_opmode(MAG_OPMODE_CONT)
PUB accel_axis_ena(mask): curr_mask
' Enable data output for accelerometer - per axis
' Valid values: FALSE (0) or TRUE (1 or -1), for each axis
' Any other value polls the chip and returns the current setting
curr_mask := 0
readreg(XLG, core.CTRL_REG5_XL, 1, @curr_mask)
case mask
%000..%111:
mask <<= core.XEN_XL
other:
return ((curr_mask >> core.EN_XL) & core.EN_XL_BITS)
mask := ((curr_mask & core.EN_XL_MASK) | mask)
writereg(XLG, core.CTRL_REG5_XL, 1, @mask)
PUB accel_bias(x, y, z)
' Read accelerometer calibration offset values
' x, y, z: pointers to copy offsets to
long[x] := _abias[X_AXIS]
long[y] := _abias[Y_AXIS]
long[z] := _abias[Z_AXIS]
PUB accel_set_bias(x, y, z)
' Write accelerometer calibration offset values
' Valid values:
' -32768..32767 (clamped to range)
_abias[X_AXIS] := -32768 #> x <# 32767
_abias[Y_AXIS] := -32768 #> y <# 32767
_abias[Z_AXIS] := -32768 #> z <# 32767
PUB accel_data(ax, ay, az) | tmp[2]
' Reads the accelerometer output registers
readreg(XLG, core.OUT_X_L_XL, 6, @tmp)
{ accel ADC words are 15-bit signed - extend sign and }
{ cancel out bias }
long[ax] := ~~tmp.word[X_AXIS] - _abias[X_AXIS]
long[ay] := ~~tmp.word[Y_AXIS] - _abias[Y_AXIS]
long[az] := ~~tmp.word[Z_AXIS] - _abias[Z_AXIS]
PUB accel_data_byte_order(order): curr_order
' Byte order of accelerometer output data
' Valid values: LSBF (0) or MSBF (1)
' Any other value polls the chip and returns the current setting
' NOTE: This setting also affects gyroscope output data
' (hardware limitation)
curr_order := 0
readreg(XLG, core.CTRL_REG8, 1, @curr_order)
case order
LSBF, MSBF:
order := order << core.BLE
other:
return ((curr_order >> core.BLE) & 1)
order := ((curr_order & core.BLE_MASK) | order)
writereg(XLG, core.CTRL_REG8, 1, @order)
PUB accel_data_rate(rate): curr_rate
' Set accelerometer output data rate, in Hz
' NOTE: This is locked with the gyroscope output data rate
' (hardware limitation)
return xlg_data_rate(rate)
PUB accel_data_rdy(): f | tmp
' Flag indicating new accelerometer data available
' Returns TRUE or FALSE
tmp := 0
readreg(XLG, core.STATUS_REG, 1, @tmp)
return (((tmp >> core.XLDA) & 1) == 1)
PUB accel_high_res_ena(state): curr_state
' Enable high resolution mode for accelerometer
' Valid values: FALSE (0) or TRUE (1 or -1)
' Any other value polls the chip and returns the current setting
return bool_choice(XLG, core.CTRL_REG7_XL, core.HR, core.HR, core.CTRL_REG7_XL_MASK, state, 1)
PUB accel_int(): int_src
' Read accelerometer interrupts
' Bit 6..0
' 6: one or more interrupts have been generated
' 5: Z-axis high
' 4: Z-axis low
' 3: Y-axis high
' 2: Y-axis low
' 1: X-axis high
' 0: X-axis low
' NOTE: Calling this method will clear the interrupts
int_src := 0
readreg(XLG, core.INT_GEN_SRC_XL, 1, @int_src)
PUB accel_int_duration(samples): curr_smp
' Set number of samples accelerometer data must be past threshold to be
' considered an interrupt
' Valid values: 0..127
' Any other value polls the chip and returns the current setting
curr_smp := 0
readreg(XLG, core.INT_GEN_DUR_XL, 1, @curr_smp)
case samples
0..127:
other:
return (curr_smp & core.SAMPLES_BITS)
samples := ((curr_smp & core.SAMPLES_MASK) | samples)
writereg(XLG, core.INT_GEN_DUR_XL, 1, @samples)
PUB accel_int_hyst(state): curr_state
' Enable accelerometer interrupt hysteresis
' Valid values: TRUE (-1 or 1), FALSE (0)
' Any other value polls the chip and returns the current setting
' NOTE: The hysteresis used is equivalent to/set by the interrupt
' duration time AccelIntDur()
curr_state := 0
readreg(XLG, core.INT_GEN_DUR_XL, 1, @curr_state)
case ||(state)
0, 1:
state := ||(state) << core.WAIT_XL
other:
return ((curr_state >> core.WAIT_XL) & 1) == 1
state := ((curr_state & core.WAIT_XL_MASK) | state)
writereg(XLG, core.INT_GEN_DUR_XL, 1, @state)
PUB accel_int_mask(): mask
' Get accelerometer interrupt mask
' Valid values:
' bits 7..0
' 7: *OR (0)/AND (1) interrupt events
' 6: 6-direction detection
' 5: Z-axis high
' 4: Z-axis low
' 3: Y-axis high
' 2: Y-axis low
' 1: Z-axis high
' 0: Z-axis low
mask := 0
readreg(XLG, core.INT_GEN_CFG_XL, 1, @mask)
PUB accel_int_set_mask(mask)
' Set accelerometer interrupt mask
' Valid values:
' bits 7..0
' 7: *OR (0)/AND (1) interrupt events
' 6: 6-direction detection
' 5: Z-axis high
' 4: Z-axis low
' 3: Y-axis high
' 2: Y-axis low
' 1: Z-axis high
' 0: Z-axis low
' Any other value polls the chip and returns the current setting
mask &= %1111_1111
writereg(XLG, core.INT_GEN_CFG_XL, 1, @mask)
PUB accel_int_thresh_x(): thresh | ascl, lsb
' Get accelerometer interrupt threshold, X-axis
' Returns: micro-g's
ascl := (accel_scale(-2) * 1_000000)
lsb := (ascl / 256)
tmp := 0
readreg(XLG, core.INT_GEN_THS_X_XL, 1, @tmp)
return (tmp * lsb) ' scale to micro-g's
PUB accel_int_thresh_y(): thresh | ascl, lsb
' Get accelerometer interrupt threshold, Y-axis
' Returns: micro-g's
ascl := (accel_scale(-2) * 1_000000)
lsb := (ascl / 256)
tmp := 0
readreg(XLG, core.INT_GEN_THS_Y_XL, 1, @tmp)
return (tmp * lsb) ' scale to micro-g's
PUB accel_int_thresh_z(): thresh | ascl, lsb
' Get accelerometer interrupt threshold, Z-axis
' Returns: micro-g's
ascl := (accel_scale(-2) * 1_000000)
lsb := (ascl / 256)
tmp := 0
readreg(XLG, core.INT_GEN_THS_Z_XL, 1, @tmp)
return (tmp * lsb) ' scale to micro-g's
PUB accel_int_set_thresh_x(thresh) | ascl, lsb
' Set accelerometer interrupt thresholds per axis, in micro-g's (unsigned)
' Valid values: 0..(full-scale * 1_000_000)
ascl := (accel_scale(-2) * 1_000000)
lsb := (ascl / 256)
thresh := (0 #> thresh <# ascl) / lsb
writereg(XLG, core.INT_GEN_THS_X_XL, 1, @thresh)
PUB accel_int_set_thresh_y(thresh) | ascl, lsb
' Set accelerometer interrupt thresholds per axis, in micro-g's (unsigned)
' Valid values: 0..(full-scale * 1_000_000)
ascl := (accel_scale(-2) * 1_000000)
lsb := (ascl / 256)
thresh := (0 #> thresh <# ascl) / lsb
writereg(XLG, core.INT_GEN_THS_Y_XL, 1, @thresh)
PUB accel_int_set_thresh_z(thresh) | ascl, lsb
' Set accelerometer interrupt thresholds per axis, in micro-g's (unsigned)
' Valid values: 0..(full-scale * 1_000_000)
ascl := (accel_scale(-2) * 1_000000)
lsb := (ascl / 256)
thresh := (0 #> thresh <# ascl) / lsb
writereg(XLG, core.INT_GEN_THS_Z_XL, 1, @thresh)
PUB accel_scale(scale): curr_scl
' Sets the full-scale range of the accelerometer, in g's
' Valid values: 2, 4, 8, 16
' Any other value polls the chip and returns the current setting
curr_scl := 0
readreg(XLG, core.CTRL_REG6_XL, 1, @curr_scl)
case scale
2, 4, 8, 16:
scale := lookdownz(scale: 2, 16, 4, 8)
_ares := lookupz(scale: 0_000061, 0_000732, 0_000122, 0_000244)
scale <<= core.FS_XL
other:
curr_scl := ((curr_scl >> core.FS_XL) & core.FS_XL_BITS) + 1
return lookup(curr_scl: 2, 16, 4, 8)
scale := ((curr_scl & core.FS_XL_MASK) | scale)
writereg(XLG, core.CTRL_REG6_XL, 1, @scale)
PUB dev_id(): id | tmp[2]
' Read device identification
' Returns: $683D
id := 0
readreg(XLG, core.WHO_AM_I_XG, 1, @tmp[1])
readreg(MAG, core.WHO_AM_I_M, 1, @tmp[0])
id.byte[1] := tmp[1]
id.byte[0] := tmp[0]
PUB fifo_ena(state): curr_state
' Enable FIFO memory
' Valid values: FALSE (0), TRUE(1 or -1)
' Any other value polls the chip and returns the current setting
return bool_choice( XLG, core.CTRL_REG9, core.FIFO_EN, core.FIFO_EN, core.CTRL_REG9_MASK, ...
state, 1)
PUB fifo_full(): flag
' FIFO Threshold status
' Returns: FALSE (0): lower than threshold level, TRUE(-1): at or higher than threshold level
flag := 0
readreg(XLG, core.FIFO_SRC, 1, @flag)
return (((flag >> core.FTH_STAT) & 1) == 1)
PUB fifo_mode(mode): curr_mode
' Set FIFO behavior
' Valid values:
' FIFO_OFF (%000) - Bypass mode - FIFO off
' FIFO_THS (%001) - Stop collecting data when FIFO full
' FIFO_CONT_TRIG (%011) - Continuous mode until trigger is deasserted,
' then FIFO mode
' FIFO_OFF_TRIG (%100) - FIFO off until trigger is deasserted,
' then continuous mode
' FIFO_CONT (%110) - Continuous mode. If FIFO full, new sample
' overwrites older sample
' Any other value polls the chip and returns the current setting
curr_mode := 0
readreg(XLG, core.FIFO_CTRL, 1, @curr_mode)
case mode
FIFO_OFF, FIFO_THS, FIFO_CONT_TRIG, FIFO_OFF_TRIG, FIFO_CONT:
mode <<= core.FMODE
other:
return (curr_mode >> core.FMODE) & core.FMODE_BITS
mode := ((curr_mode & core.FMODE_MASK) | mode)
writereg(XLG, core.FIFO_CTRL, 1, @mode)
PUB fifo_data_overrun(): flag
' Flag indicating FIFO has overrun
' Returns:
' TRUE (-1) if at least one sample has been overwritten
' FALSE (0) otherwise
flag := 0
readreg(XLG, core.FIFO_SRC, 1, @flag)
return ((flag >> core.OVRN) & 1) == 1
PUB fifo_thresh(level): curr_lvl
' Set FIFO threshold level
' Valid values: 0..31
' Any other value polls the chip and returns the current setting
curr_lvl := 0
readreg(XLG, core.FIFO_CTRL, 1, @curr_lvl)
case level
0..31:
other:
return curr_lvl & core.FTH_BITS
level := ((curr_lvl & core.FTH_MASK) | level)
writereg(XLG, core.FIFO_CTRL, 1, @level)
PUB fifo_nr_unread(): nr_samples
' Number of unread samples stored in FIFO
' Returns: 0 (empty) .. 32
nr_samples := 0
readreg(XLG, core.FIFO_SRC, 1, @nr_samples)
return nr_samples & core.FSS_BITS
PUB gyro_axis_ena(mask): curr_mask
' Enable gyroscope data output, per axis mask
' Valid values: 0 or 1, for each axis
' Any other value polls the chip and returns the current setting
curr_mask := 0
readreg(XLG, core.CTRL_REG4, 1, @curr_mask)
case mask
%000..%111:
mask <<= core.XEN_G
other:
return (curr_mask >> core.XEN_G) & core.EN_G_BITS
mask := ((curr_mask & core.EN_G_MASK) | mask)
writereg(XLG, core.CTRL_REG4, 1, @mask)
PUB gyro_bias(x, y, z)
' Read gyroscope calibration offset values
' x, y, z: pointers to copy offsets to
long[x] := _gbias[X_AXIS]
long[y] := _gbias[Y_AXIS]
long[z] := _gbias[Z_AXIS]
PUB gyro_set_bias(x, y, z)
' Write gyroscope calibration offset values
' Valid values:
' -32768..32767
_gbias[X_AXIS] := -32768 #> x <# 32767
_gbias[Y_AXIS] := -32768 #> y <# 32767
_gbias[Z_AXIS] := -32768 #> z <# 32767
PUB gyro_data(ptr_x, ptr_y, ptr_z) | tmp[2]
' Read gyroscope data
longfill(@tmp, 0, 2)
readreg(XLG, core.OUT_X_G_L, 6, @tmp)
long[ptr_x] := ~~tmp.word[X_AXIS] - _gbias[X_AXIS]
long[ptr_y] := ~~tmp.word[Y_AXIS] - _gbias[Y_AXIS]
long[ptr_z] := ~~tmp.word[Z_AXIS] - _gbias[Z_AXIS]
PUB gyro_data_byte_order(order): curr_order
' Byte order of gyroscope output data
' Valid values: LSBF (0) or MSBF (1)
' Any other value polls the chip and returns the current setting
' NOTE: This setting also affects accelerometer output data
' (hardware limitation)
return accel_data_byte_order(order)
PUB gyro_data_rate(rate): curr_rate
' Set gyroscope output data rate, in Hz
' Valid values: 0, 15, 60, 119, 238, 476, 952
' Any other value polls the chip and returns the current setting
' NOTE: 0 powers down the gyroscope
' NOTE: 15 and 60 are rounded up from the datasheet specifications of 14.9
' and 59.5, respectively
curr_rate := 0
readreg(XLG, core.CTRL_REG1_G, 1, @curr_rate)
case rate
0, 15, 60, 119, 238, 476, 952:
rate := lookdownz(rate: 0, 15, 60, 119, 238, 476, 952) << core.ODR
other:
curr_rate := ((curr_rate >> core.ODR) & core.ODR_BITS)
return lookupz(curr_rate: 0, 15, 60, 119, 238, 476, 952)
rate := ((curr_rate & core.ODR_MASK) | rate)
writereg(XLG, core.CTRL_REG1_G, 1, @rate)
PUB gyro_data_rdy(): flag
' Flag indicating new gyroscope data available
' Returns TRUE or FALSE
flag := 0
readreg(XLG, core.STATUS_REG, 1, @flag)
return (((flag >> core.GDA) & 1) == 1)
PUB gyro_hpf_freq(freq): curr_freq
' Set gyroscope high-pass filter cutoff frequency, in milli-Hz
' Valid values: dependent on gyro_data_rate(), see table below
' Any other value polls the chip and returns the current setting
curr_freq := 0
readreg(XLG, core.CTRL_REG3_G, 1, @curr_freq)
case gyro_data_rate(-2)
15:
case freq
0_001, 0_002, 0_005, 0_010, 0_020, 0_050, 0_100, 0_200, 0_500, 1_000:
freq := lookdownz(freq: 1_000, 0_500, 0_200, 0_100, 0_050, 0_020, 0_010, ...
0_005, 0_002, 0_001) << core.HPCF_G
other:
curr_freq := (curr_freq >> core.HPCF_G) & core.HPCF_G_BITS
return lookupz(curr_freq: 1_000, 0_500, 0_200, 0_100, 0_050, 0_020, ...
0_010, 0_005, 0_002, 0_001)
60:
case freq
0_005, 0_010, 0_020, 0_050, 0_100, 0_200, 0_500, 1_000, 2_000, 4_000:
freq := lookdownz(freq: 4_000, 2_000, 1_000, 0_500, 0_200, 0_100, 0_050, ...
0_020, 0_010, 0_005) << core.HPCF_G
other:
curr_freq := (curr_freq >> core.HPCF_G) & core.HPCF_G_BITS
return lookupz(curr_freq: 1_000, 0_500, 0_200, 0_100, 0_050, 0_020, ...
0_010, 0_005, 0_002, 0_001)
119:
case freq
0_010, 0_020, 0_050, 0_100, 0_200, 0_500, 1_000, 2_000, 4_000, 8_000:
freq := lookdownz(freq: 8_000, 4_000, 2_000, 1_000, 0_500, 0_200, 0_100, ...
0_050, 0_020, 0_010) << core.HPCF_G
other:
curr_freq := (curr_freq >> core.HPCF_G) & core.HPCF_G_BITS
return lookupz(curr_freq: 1_000, 0_500, 0_200, 0_100, 0_050, 0_020, ...
0_010, 0_005, 0_002, 0_001)
238:
case freq
0_020, 0_050, 0_100, 0_200, 0_500, 1_000, 2_000, 4_000, 8_000, 15_000:
freq := lookdownz(freq: 15_000, 8_000, 4_000, 2_000, 1_000, 0_500, 0_200, ...
0_100, 0_050, 0_020) << core.HPCF_G
other:
curr_freq := (curr_freq >> core.HPCF_G) & core.HPCF_G_BITS
return lookupz(curr_freq: 1_000, 0_500, 0_200, 0_100, 0_050, 0_020, ...
0_010, 0_005, 0_002, 0_001)
476:
case freq
0_050, 0_100, 0_200, 0_500, 1_000, 2_000, 4_000, 8_000, 15_000, 30_000:
freq := lookdownz(freq: 30_000, 15_000, 8_000, 4_000, 2_000, 1_000, 0_500, ...
0_200, 0_100, 0_050) << core.HPCF_G
other:
curr_freq := (curr_freq >> core.HPCF_G) & core.HPCF_G_BITS
return lookupz(curr_freq: 1_000, 0_500, 0_200, 0_100, 0_050, 0_020, ...
0_010, 0_005, 0_002, 0_001)
952:
case freq
0_100, 0_200, 0_500, 1_000, 2_000, 4_000, 8_000, 15_000, 30_000, 57_000:
freq := lookdownz(freq: 57_000, 30_000, 15_000, 8_000, 4_000, 2_000, ...
1_000, 0_500, 0_200, 0_100) << core.HPCF_G
other:
curr_freq := (curr_freq >> core.HPCF_G) & core.HPCF_G_BITS
return lookupz(curr_freq: 1_000, 0_500, 0_200, 0_100, 0_050, 0_020, ...
0_010, 0_005, 0_002, 0_001)
freq := ((curr_freq & core.HPCF_G_MASK) | freq)
writereg(XLG, core.CTRL_REG3_G, 1, @freq)
PUB gyro_inact_dur(): dur
' Get gyroscope inactivity timer
dur := 0
readreg(XLG, core.ACT_DUR, 1, @dur)
PUB gyro_inact_set_dur(dur)
' Set gyroscope inactivity timer (use gyro_inact_sleep_ena() to define behavior on
' inactivity)
' Valid values: 0..255 (0 effectively disables the feature)
writereg(XLG, core.ACT_DUR, 1, @dur)
PUB gyro_inact_thresh(thresh): curr_thr
' Set gyroscope inactivity threshold (use gyro_inact_sleep_ena() to define
' behavior on inactivity)
' Valid values: 0..127 (0 effectively disables the feature)
' Any other value polls the chip and returns the current setting
curr_thr := 0
readreg(XLG, core.ACT_THS, 1, @curr_thr)
case thresh
0..127:
other:
return curr_thr & core.ACT_THR_BITS
thresh := ((curr_thr & core.ACT_THR_MASK) | thresh)
writereg(XLG, core.ACT_THS, 1, @thresh)
PUB gyro_inact_sleep_ena(state): curr_state
' Enable gyroscope sleep mode when inactive (see gyro_inact_thresh())
' Valid values:
' FALSE (0): gyroscope powers down
' TRUE (1 or -1) gyroscope enters sleep mode
' Any other value polls the chip and returns the current setting
return bool_choice( XLG, core.ACT_THS, core.SLP_ON_INACT, core.SLP_ON_INACT_MASK, ...
core.ACT_THS_MASK, state, 1)
PUB gyro_int(): int_src
' Read gyroscope interrupts
' Bit 6..0
' 6: one or more interrupts have been generated
' 5: Yaw/Z-axis high
' 4: Yaw/Z-axis low
' 3: Roll/Y-axis high
' 2: Roll/Y-axis low
' 1: Pitch/X-axis high
' 0: Pitch/X-axis low
' NOTE: Calling this method will clear the interrupts
int_src := 0
readreg(XLG, core.INT_GEN_SRC_G, 1, @int_src)
PUB gyro_int_data_filt(mode): curr_mode
' Set gyroscope interrupt filter path
' Valid values:
' %00: interrupt generator uses data fed by LPF (low-pass filtered) only
' %01: interrupt generator uses data fed by LPF->HPF (high-pass filtered)
' (effective only if high-pass filter is enabled)
' %10, %11: interrupt generator uses data fed by LPF->HPF->2nd LPF
' Any other value polls the chip and returns the current setting
curr_mode := 0
readreg(XLG, core.CTRL_REG2_G, 1, @curr_mode)
case mode
%00..%11:
mode := mode << core.INT_SEL
other:
return (curr_mode >> core.INT_SEL) & core.INT_SEL_BITS
mode := ((curr_mode & core.INT_SEL_MASK) | mode)
writereg(XLG, core.CTRL_REG2_G, 1, @mode)
PUB gyro_int_duration(samples): curr_smp
' Set number of samples gyroscope data must be past threshold to be considered an interrupt
' Valid values: 0..127
' Any other value polls the chip and returns the current setting
curr_smp := 0
readreg(XLG, core.INT_GEN_DUR_G, 1, @curr_smp)
case samples
0..127:
other:
return curr_smp & core.SAMPLES_BITS
samples := ((curr_smp & core.SAMPLES_MASK) | samples)
writereg(XLG, core.INT_GEN_DUR_G, 1, @samples)
PUB gyro_int_hyst_ena(state): curr_state
' Enable gyroscope interrupt hysteresis
' Valid values: TRUE (-1 or 1), FALSE (0)
' Any other value polls the chip and returns the current setting
' NOTE: The hysteresis used is equivalent to/set by the interrupt
' duration time gyro_int_duration()
curr_state := 0
readreg(XLG, core.INT_GEN_DUR_G, 1, @curr_state)
case ||(state)
0, 1:
state := ||(state) << core.WAIT_G
other:
return ((curr_state >> core.WAIT_G) & 1) == 1
state := ((curr_state & core.WAIT_G_MASK) | state)
writereg(XLG, core.INT_GEN_DUR_G, 1, @state)
PUB gyro_int_thresh_x(): thresh | gscl, lsb
' Get gyroscope interrupt threshold, X-axis
' Returns: micro-g's
gscl := (gyro_scale(-2) * 1_000000)
lsb := (gscl / 16384)
thresh := 0
readreg(XLG, core.INT_GEN_THS_XH_G, 2, @thresh)
thresh := (((thresh & core.INT_G_BITS) << 1) ~> 1)
return (~~thresh * lsb)
PUB gyro_int_thresh_y(): thresh | gscl, lsb
' Get gyroscope interrupt threshold, X-axis
' Returns: micro-g's
gscl := (gyro_scale(-2) * 1_000000)
lsb := (gscl / 16384)
thresh := 0
readreg(XLG, core.INT_GEN_THS_YH_G, 2, @thresh)
thresh := (((thresh & core.INT_G_BITS) << 1) ~> 1)
return (~~thresh * lsb)
PUB gyro_int_thresh_z(): thresh | gscl, lsb
' Get gyroscope interrupt threshold, X-axis
' Returns: micro-g's
gscl := (gyro_scale(-2) * 1_000000)
lsb := (gscl / 16384)
thresh := 0
readreg(XLG, core.INT_GEN_THS_ZH_G, 2, @thresh)
thresh := (((thresh & core.INT_G_BITS) << 1) ~> 1)
return (~~thresh * lsb)
PUB gyro_int_set_thresh_x(thresh) | gscl, lsb
' Set gyroscope interrupt thresholds per axis, in micro-g's (unsigned)
' Valid values: 0..(full-scale * 1_000_000)
gscl := (gyro_scale(-2) * 1_000000)
lsb := (gscl / 16384)
thresh := (0 #> thresh <# gscl) / lsb
writereg(XLG, core.INT_GEN_THS_XH_G, 2, @thresh)
PUB gyro_int_set_thresh_y(thresh) | gscl, lsb
' Set gyroscope interrupt thresholds per axis, in micro-g's (unsigned)
' Valid values: 0..(full-scale * 1_000_000)
gscl := (gyro_scale(-2) * 1_000000)
lsb := (gscl / 16384)
thresh := (0 #> thresh <# gscl) / lsb
writereg(XLG, core.INT_GEN_THS_YH_G, 2, @thresh)
PUB gyro_int_set_thresh_z(thresh) | gscl, lsb
' Set gyroscope interrupt thresholds per axis, in micro-g's (unsigned)
' Valid values: 0..(full-scale * 1_000_000)
gscl := (gyro_scale(-2) * 1_000000)
lsb := (gscl / 16384)
thresh := (0 #> thresh <# gscl) / lsb
writereg(XLG, core.INT_GEN_THS_ZH_G, 2, @thresh)
PUB gyro_low_pwr_ena(state): curr_state
' Enable low-power mode
' Valid values: FALSE (0), TRUE (1 or -1)
' Any other value polls the chip and returns the current setting
return bool_choice(XLG, core.CTRL_REG3_G, core.LP_MODE, {
} core.LP_MODE_MASK, core.CTRL_REG3_G_MASK, state, 1)
PUB gyro_scale(scale): curr_scale
' Set full scale of gyroscope output, in degrees per second (dps)
' Valid values: 245, 500, 2000
' Any other value polls the chip and returns the current setting
curr_scale := 0
readreg(XLG, core.CTRL_REG1_G, 1, @curr_scale)
case scale
245, 500, 2000:
scale := lookdownz(scale: 245, 500, 0, 2000)
_gres := lookupz(scale: 0_008750, 0_017500, 0, 0_070000)
scale <<= core.FS
other:
curr_scale := ((curr_scale >> core.FS) & core.FS_BITS) + 1
return lookup(curr_scale: 245, 500, 0, 2000)
scale := ((curr_scale & core.FS_MASK) | scale)
writereg(XLG, core.CTRL_REG1_G, 1, @scale)
PUB gyro_sleep(state): curr_state
' Enable gyroscope sleep mode
' Valid values: FALSE (0), TRUE (1 or -1)
' Any other value polls the chip and returns the current setting
' NOTE: If state, the gyro output will contain the last measured values
return bool_choice(XLG, core.CTRL_REG9, core.SLP_G, core.SLP_G_MASK,{
} core.CTRL_REG9_MASK, state, 1)
PUB int1_mask(): mask
' Get interrupt enable mask on INT1 pin
' Bits: 7..0 (1 = enabled, 0 = disabled)
' 7: gyroscope interrupt
' 6: accelerometer interrupt
' 5: FSS5 interrupt
' 4: data overrun interrupt
' 3: FIFO threshold interrupt
' 2: boot status interrupt
' 1: gyroscope data ready interrupt
' 0: accelerometer data ready interrupt
mask := 0
readreg(XLG, core.INT1_CTRL, 1, @mask)
PUB int1_set_mask(mask)
' Set interrupt enable mask on INT1 pin
' Bits: 7..0 (1=enable interrupt, 0=disable interrupt)
' 7: gyroscope interrupt
' 6: accelerometer interrupt
' 5: FSS5 interrupt
' 4: data overrun interrupt
' 3: FIFO threshold interrupt
' 2: boot status interrupt
' 1: gyroscope data ready interrupt
' 0: accelerometer data ready interrupt
mask &= %1111_1111
writereg(XLG, core.INT1_CTRL, 1, @mask)
PUB int2_mask(): mask
' Get interrupt enable mask on INT2 pin
' Bits: 7..0 (1 = enabled, 0 = disabled)
' 7: gyroscope interrupt
' 6: - N/A -
' 5: FSS5 interrupt
' 4: data overrun interrupt
' 3: FIFO threshold interrupt
' 2: boot status interrupt
' 1: gyroscope data ready interrupt
' 0: accelerometer data ready interrupt
mask := 0
readreg(XLG, core.INT2_CTRL, 1, @mask)
PUB int2_set_mask(mask)
' Set interrupt enable mask on INT2 pin
' Bits: 7..0 (1=enable interrupt, 0=disable interrupt)
' 7: gyroscope interrupt
' 6: - N/A -
' 5: FSS5 interrupt
' 4: data overrun interrupt
' 3: FIFO threshold interrupt
' 2: boot status interrupt
' 1: gyroscope data ready interrupt
' 0: accelerometer data ready interrupt
mask &= core.INT2_CTRL_MASK ' mask off bit 6 (unused)
writereg(XLG, core.INT2_CTRL, 1, @mask)
PUB interrupt(): flag
' Flag indicating one or more interrupts asserted
' Returns TRUE if one or more interrupts asserted, FALSE if not
flag := 0
readreg(XLG, core.INT_GEN_SRC_XL, 1, @flag)
return (((flag >> core.IA_XL) & 1) == 1)
PUB int_inactivity(): flag
' Flag indicating inactivity interrupt asserted
' Returns TRUE if interrupt asserted, FALSE if not
flag := 0
readreg(XLG, core.STATUS_REG, 1, @flag)
return (((flag >> core.INACT) & 1) == 1)
PUB mag_bias(x, y, z) | tmp[2]
' Read magnetometer calibration offset values
' x, y, z: pointers to copy offsets to
longfill(@tmp, 0, 2)
readreg(MAG, core.OFFSET_X_REG_L_M, 6, @tmp)
long[x] := ~~tmp.word[X_AXIS]
long[y] := ~~tmp.word[Y_AXIS]
long[z] := ~~tmp.word[Z_AXIS]
PUB mag_set_bias(x, y, z)
' Write magnetometer calibration offset values
' Valid values:
' -32768..32767 (clamped to range)
x := -32768 #> x <# 32767
y := -32768 #> y <# 32767
z := -32768 #> z <# 32767
writereg(MAG, core.OFFSET_X_REG_L_M, 2, @x)
writereg(MAG, core.OFFSET_Y_REG_L_M, 2, @y)
writereg(MAG, core.OFFSET_Z_REG_L_M, 2, @z)
PUB mag_data(ptr_x, ptr_y, ptr_z) | tmp[2]
' Read the magnetometer output registers
longfill(@tmp, 0, 2)
readreg(MAG, core.OUT_X_L_M, 6, @tmp)
long[ptr_x] := ~~tmp.word[X_AXIS] ' no offset correction
long[ptr_y] := ~~tmp.word[Y_AXIS] ' because the mag has
long[ptr_z] := ~~tmp.word[Z_AXIS] ' offset registers built-in
PUB mag_data_order(order): curr_order
' Byte order of magnetometer output data
' Valid values: LSBF (0) or MSBF (1)
' Any other value polls the chip and returns the current setting
curr_order := 0
readreg(MAG, core.CTRL_REG4_M, 1, @curr_order)
case order
LSBF, MSBF:
order := order << core.BLE_M
other:
return ((curr_order >> core.BLE_M) & 1)
order := ((curr_order & core.BLE_M_MASK) | order)
writereg(MAG, core.CTRL_REG4_M, 1, @order)
PUB mag_data_overrun(): status
' Magnetometer data overrun